John Lam
make changes on buffer serial
Diff: control_toolbox/SetPidGains.h
- Revision:
- 0:04ac6be8229a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/control_toolbox/SetPidGains.h Fri Nov 08 14:38:09 2019 -0300
@@ -0,0 +1,216 @@
+#ifndef _ROS_SERVICE_SetPidGains_h
+#define _ROS_SERVICE_SetPidGains_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_toolbox
+{
+
+static const char SETPIDGAINS[] = "control_toolbox/SetPidGains";
+
+ class SetPidGainsRequest : public ros::Msg
+ {
+ public:
+ typedef double _p_type;
+ _p_type p;
+ typedef double _i_type;
+ _i_type i;
+ typedef double _d_type;
+ _d_type d;
+ typedef double _i_clamp_type;
+ _i_clamp_type i_clamp;
+ typedef bool _antiwindup_type;
+ _antiwindup_type antiwindup;
+
+ SetPidGainsRequest():
+ p(0),
+ i(0),
+ d(0),
+ i_clamp(0),
+ antiwindup(0)
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ union {
+ double real;
+ uint64_t base;
+ } u_p;
+ u_p.real = this->p;
+ *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->p);
+ union {
+ double real;
+ uint64_t base;
+ } u_i;
+ u_i.real = this->i;
+ *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i);
+ union {
+ double real;
+ uint64_t base;
+ } u_d;
+ u_d.real = this->d;
+ *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->d);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_clamp;
+ u_i_clamp.real = this->i_clamp;
+ *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
+ *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
+ *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
+ *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
+ *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
+ *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
+ *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
+ *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
+ offset += sizeof(this->i_clamp);
+ union {
+ bool real;
+ uint8_t base;
+ } u_antiwindup;
+ u_antiwindup.real = this->antiwindup;
+ *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF;
+ offset += sizeof(this->antiwindup);
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ union {
+ double real;
+ uint64_t base;
+ } u_p;
+ u_p.base = 0;
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->p = u_p.real;
+ offset += sizeof(this->p);
+ union {
+ double real;
+ uint64_t base;
+ } u_i;
+ u_i.base = 0;
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i = u_i.real;
+ offset += sizeof(this->i);
+ union {
+ double real;
+ uint64_t base;
+ } u_d;
+ u_d.base = 0;
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->d = u_d.real;
+ offset += sizeof(this->d);
+ union {
+ double real;
+ uint64_t base;
+ } u_i_clamp;
+ u_i_clamp.base = 0;
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+ u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+ this->i_clamp = u_i_clamp.real;
+ offset += sizeof(this->i_clamp);
+ union {
+ bool real;
+ uint8_t base;
+ } u_antiwindup;
+ u_antiwindup.base = 0;
+ u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+ this->antiwindup = u_antiwindup.real;
+ offset += sizeof(this->antiwindup);
+ return offset;
+ }
+
+ const char * getType(){ return SETPIDGAINS; };
+ const char * getMD5(){ return "4a43159879643e60937bf2893b633607"; };
+
+ };
+
+ class SetPidGainsResponse : public ros::Msg
+ {
+ public:
+
+ SetPidGainsResponse()
+ {
+ }
+
+ virtual int serialize(unsigned char *outbuffer) const
+ {
+ int offset = 0;
+ return offset;
+ }
+
+ virtual int deserialize(unsigned char *inbuffer)
+ {
+ int offset = 0;
+ return offset;
+ }
+
+ const char * getType(){ return SETPIDGAINS; };
+ const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+ };
+
+ class SetPidGains {
+ public:
+ typedef SetPidGainsRequest Request;
+ typedef SetPidGainsResponse Response;
+ };
+
+}
+#endif