make changes on buffer serial
Diff: control_msgs/JointJog.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_msgs/JointJog.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,217 @@ +#ifndef _ROS_control_msgs_JointJog_h +#define _ROS_control_msgs_JointJog_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace control_msgs +{ + + class JointJog : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + uint32_t joint_names_length; + typedef char* _joint_names_type; + _joint_names_type st_joint_names; + _joint_names_type * joint_names; + uint32_t displacements_length; + typedef double _displacements_type; + _displacements_type st_displacements; + _displacements_type * displacements; + uint32_t velocities_length; + typedef double _velocities_type; + _velocities_type st_velocities; + _velocities_type * velocities; + typedef double _duration_type; + _duration_type duration; + + JointJog(): + header(), + joint_names_length(0), joint_names(NULL), + displacements_length(0), displacements(NULL), + velocities_length(0), velocities(NULL), + duration(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->joint_names_length); + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_joint_namesi = strlen(this->joint_names[i]); + varToArr(outbuffer + offset, length_joint_namesi); + offset += 4; + memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi); + offset += length_joint_namesi; + } + *(outbuffer + offset + 0) = (this->displacements_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->displacements_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->displacements_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->displacements_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->displacements_length); + for( uint32_t i = 0; i < displacements_length; i++){ + union { + double real; + uint64_t base; + } u_displacementsi; + u_displacementsi.real = this->displacements[i]; + *(outbuffer + offset + 0) = (u_displacementsi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_displacementsi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_displacementsi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_displacementsi.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_displacementsi.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_displacementsi.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_displacementsi.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_displacementsi.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->displacements[i]); + } + *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->velocities_length); + for( uint32_t i = 0; i < velocities_length; i++){ + union { + double real; + uint64_t base; + } u_velocitiesi; + u_velocitiesi.real = this->velocities[i]; + *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->velocities[i]); + } + union { + double real; + uint64_t base; + } u_duration; + u_duration.real = this->duration; + *(outbuffer + offset + 0) = (u_duration.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_duration.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_duration.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_duration.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_duration.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_duration.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_duration.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_duration.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->duration); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->joint_names_length); + if(joint_names_lengthT > joint_names_length) + this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*)); + joint_names_length = joint_names_lengthT; + for( uint32_t i = 0; i < joint_names_length; i++){ + uint32_t length_st_joint_names; + arrToVar(length_st_joint_names, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_st_joint_names-1]=0; + this->st_joint_names = (char *)(inbuffer + offset-1); + offset += length_st_joint_names; + memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*)); + } + uint32_t displacements_lengthT = ((uint32_t) (*(inbuffer + offset))); + displacements_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + displacements_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + displacements_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->displacements_length); + if(displacements_lengthT > displacements_length) + this->displacements = (double*)realloc(this->displacements, displacements_lengthT * sizeof(double)); + displacements_length = displacements_lengthT; + for( uint32_t i = 0; i < displacements_length; i++){ + union { + double real; + uint64_t base; + } u_st_displacements; + u_st_displacements.base = 0; + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_displacements = u_st_displacements.real; + offset += sizeof(this->st_displacements); + memcpy( &(this->displacements[i]), &(this->st_displacements), sizeof(double)); + } + uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); + velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->velocities_length); + if(velocities_lengthT > velocities_length) + this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double)); + velocities_length = velocities_lengthT; + for( uint32_t i = 0; i < velocities_length; i++){ + union { + double real; + uint64_t base; + } u_st_velocities; + u_st_velocities.base = 0; + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->st_velocities = u_st_velocities.real; + offset += sizeof(this->st_velocities); + memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double)); + } + union { + double real; + uint64_t base; + } u_duration; + u_duration.base = 0; + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_duration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->duration = u_duration.real; + offset += sizeof(this->duration); + return offset; + } + + const char * getType(){ return "control_msgs/JointJog"; }; + const char * getMD5(){ return "1685da700c8c2e1254afc92a5fb89c96"; }; + + }; + +} +#endif