make changes on buffer serial
control_toolbox/SetPidGains.h@2:3f1139cf73be, 2021-05-19 (annotated)
- Committer:
- howanglam3
- Date:
- Wed May 19 09:50:43 2021 +0000
- Revision:
- 2:3f1139cf73be
- Parent:
- 0:04ac6be8229a
updated buffer serial
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | #ifndef _ROS_SERVICE_SetPidGains_h |
Gary Servin |
0:04ac6be8229a | 2 | #define _ROS_SERVICE_SetPidGains_h |
Gary Servin |
0:04ac6be8229a | 3 | #include <stdint.h> |
Gary Servin |
0:04ac6be8229a | 4 | #include <string.h> |
Gary Servin |
0:04ac6be8229a | 5 | #include <stdlib.h> |
Gary Servin |
0:04ac6be8229a | 6 | #include "ros/msg.h" |
Gary Servin |
0:04ac6be8229a | 7 | |
Gary Servin |
0:04ac6be8229a | 8 | namespace control_toolbox |
Gary Servin |
0:04ac6be8229a | 9 | { |
Gary Servin |
0:04ac6be8229a | 10 | |
Gary Servin |
0:04ac6be8229a | 11 | static const char SETPIDGAINS[] = "control_toolbox/SetPidGains"; |
Gary Servin |
0:04ac6be8229a | 12 | |
Gary Servin |
0:04ac6be8229a | 13 | class SetPidGainsRequest : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 14 | { |
Gary Servin |
0:04ac6be8229a | 15 | public: |
Gary Servin |
0:04ac6be8229a | 16 | typedef double _p_type; |
Gary Servin |
0:04ac6be8229a | 17 | _p_type p; |
Gary Servin |
0:04ac6be8229a | 18 | typedef double _i_type; |
Gary Servin |
0:04ac6be8229a | 19 | _i_type i; |
Gary Servin |
0:04ac6be8229a | 20 | typedef double _d_type; |
Gary Servin |
0:04ac6be8229a | 21 | _d_type d; |
Gary Servin |
0:04ac6be8229a | 22 | typedef double _i_clamp_type; |
Gary Servin |
0:04ac6be8229a | 23 | _i_clamp_type i_clamp; |
Gary Servin |
0:04ac6be8229a | 24 | typedef bool _antiwindup_type; |
Gary Servin |
0:04ac6be8229a | 25 | _antiwindup_type antiwindup; |
Gary Servin |
0:04ac6be8229a | 26 | |
Gary Servin |
0:04ac6be8229a | 27 | SetPidGainsRequest(): |
Gary Servin |
0:04ac6be8229a | 28 | p(0), |
Gary Servin |
0:04ac6be8229a | 29 | i(0), |
Gary Servin |
0:04ac6be8229a | 30 | d(0), |
Gary Servin |
0:04ac6be8229a | 31 | i_clamp(0), |
Gary Servin |
0:04ac6be8229a | 32 | antiwindup(0) |
Gary Servin |
0:04ac6be8229a | 33 | { |
Gary Servin |
0:04ac6be8229a | 34 | } |
Gary Servin |
0:04ac6be8229a | 35 | |
Gary Servin |
0:04ac6be8229a | 36 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 37 | { |
Gary Servin |
0:04ac6be8229a | 38 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 39 | union { |
Gary Servin |
0:04ac6be8229a | 40 | double real; |
Gary Servin |
0:04ac6be8229a | 41 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 42 | } u_p; |
Gary Servin |
0:04ac6be8229a | 43 | u_p.real = this->p; |
Gary Servin |
0:04ac6be8229a | 44 | *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 45 | *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 46 | *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 47 | *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 48 | *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 49 | *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 50 | *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 51 | *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 52 | offset += sizeof(this->p); |
Gary Servin |
0:04ac6be8229a | 53 | union { |
Gary Servin |
0:04ac6be8229a | 54 | double real; |
Gary Servin |
0:04ac6be8229a | 55 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 56 | } u_i; |
Gary Servin |
0:04ac6be8229a | 57 | u_i.real = this->i; |
Gary Servin |
0:04ac6be8229a | 58 | *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 59 | *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 60 | *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 61 | *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 62 | *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 63 | *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 64 | *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 65 | *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 66 | offset += sizeof(this->i); |
Gary Servin |
0:04ac6be8229a | 67 | union { |
Gary Servin |
0:04ac6be8229a | 68 | double real; |
Gary Servin |
0:04ac6be8229a | 69 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 70 | } u_d; |
Gary Servin |
0:04ac6be8229a | 71 | u_d.real = this->d; |
Gary Servin |
0:04ac6be8229a | 72 | *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 73 | *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 74 | *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 75 | *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 76 | *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 77 | *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 78 | *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 79 | *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 80 | offset += sizeof(this->d); |
Gary Servin |
0:04ac6be8229a | 81 | union { |
Gary Servin |
0:04ac6be8229a | 82 | double real; |
Gary Servin |
0:04ac6be8229a | 83 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 84 | } u_i_clamp; |
Gary Servin |
0:04ac6be8229a | 85 | u_i_clamp.real = this->i_clamp; |
Gary Servin |
0:04ac6be8229a | 86 | *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 87 | *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 88 | *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 89 | *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 90 | *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 91 | *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 92 | *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 93 | *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 94 | offset += sizeof(this->i_clamp); |
Gary Servin |
0:04ac6be8229a | 95 | union { |
Gary Servin |
0:04ac6be8229a | 96 | bool real; |
Gary Servin |
0:04ac6be8229a | 97 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 98 | } u_antiwindup; |
Gary Servin |
0:04ac6be8229a | 99 | u_antiwindup.real = this->antiwindup; |
Gary Servin |
0:04ac6be8229a | 100 | *(outbuffer + offset + 0) = (u_antiwindup.base >> (8 * 0)) & 0xFF; |
Gary Servin |
0:04ac6be8229a | 101 | offset += sizeof(this->antiwindup); |
Gary Servin |
0:04ac6be8229a | 102 | return offset; |
Gary Servin |
0:04ac6be8229a | 103 | } |
Gary Servin |
0:04ac6be8229a | 104 | |
Gary Servin |
0:04ac6be8229a | 105 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 106 | { |
Gary Servin |
0:04ac6be8229a | 107 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 108 | union { |
Gary Servin |
0:04ac6be8229a | 109 | double real; |
Gary Servin |
0:04ac6be8229a | 110 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 111 | } u_p; |
Gary Servin |
0:04ac6be8229a | 112 | u_p.base = 0; |
Gary Servin |
0:04ac6be8229a | 113 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 114 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 115 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 116 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 117 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 118 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 119 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 120 | u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 121 | this->p = u_p.real; |
Gary Servin |
0:04ac6be8229a | 122 | offset += sizeof(this->p); |
Gary Servin |
0:04ac6be8229a | 123 | union { |
Gary Servin |
0:04ac6be8229a | 124 | double real; |
Gary Servin |
0:04ac6be8229a | 125 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 126 | } u_i; |
Gary Servin |
0:04ac6be8229a | 127 | u_i.base = 0; |
Gary Servin |
0:04ac6be8229a | 128 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 129 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 130 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 131 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 132 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 133 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 134 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 135 | u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 136 | this->i = u_i.real; |
Gary Servin |
0:04ac6be8229a | 137 | offset += sizeof(this->i); |
Gary Servin |
0:04ac6be8229a | 138 | union { |
Gary Servin |
0:04ac6be8229a | 139 | double real; |
Gary Servin |
0:04ac6be8229a | 140 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 141 | } u_d; |
Gary Servin |
0:04ac6be8229a | 142 | u_d.base = 0; |
Gary Servin |
0:04ac6be8229a | 143 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 144 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 145 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 146 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 147 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 148 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 149 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 150 | u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 151 | this->d = u_d.real; |
Gary Servin |
0:04ac6be8229a | 152 | offset += sizeof(this->d); |
Gary Servin |
0:04ac6be8229a | 153 | union { |
Gary Servin |
0:04ac6be8229a | 154 | double real; |
Gary Servin |
0:04ac6be8229a | 155 | uint64_t base; |
Gary Servin |
0:04ac6be8229a | 156 | } u_i_clamp; |
Gary Servin |
0:04ac6be8229a | 157 | u_i_clamp.base = 0; |
Gary Servin |
0:04ac6be8229a | 158 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 159 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); |
Gary Servin |
0:04ac6be8229a | 160 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); |
Gary Servin |
0:04ac6be8229a | 161 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); |
Gary Servin |
0:04ac6be8229a | 162 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); |
Gary Servin |
0:04ac6be8229a | 163 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); |
Gary Servin |
0:04ac6be8229a | 164 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); |
Gary Servin |
0:04ac6be8229a | 165 | u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); |
Gary Servin |
0:04ac6be8229a | 166 | this->i_clamp = u_i_clamp.real; |
Gary Servin |
0:04ac6be8229a | 167 | offset += sizeof(this->i_clamp); |
Gary Servin |
0:04ac6be8229a | 168 | union { |
Gary Servin |
0:04ac6be8229a | 169 | bool real; |
Gary Servin |
0:04ac6be8229a | 170 | uint8_t base; |
Gary Servin |
0:04ac6be8229a | 171 | } u_antiwindup; |
Gary Servin |
0:04ac6be8229a | 172 | u_antiwindup.base = 0; |
Gary Servin |
0:04ac6be8229a | 173 | u_antiwindup.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
Gary Servin |
0:04ac6be8229a | 174 | this->antiwindup = u_antiwindup.real; |
Gary Servin |
0:04ac6be8229a | 175 | offset += sizeof(this->antiwindup); |
Gary Servin |
0:04ac6be8229a | 176 | return offset; |
Gary Servin |
0:04ac6be8229a | 177 | } |
Gary Servin |
0:04ac6be8229a | 178 | |
Gary Servin |
0:04ac6be8229a | 179 | const char * getType(){ return SETPIDGAINS; }; |
Gary Servin |
0:04ac6be8229a | 180 | const char * getMD5(){ return "4a43159879643e60937bf2893b633607"; }; |
Gary Servin |
0:04ac6be8229a | 181 | |
Gary Servin |
0:04ac6be8229a | 182 | }; |
Gary Servin |
0:04ac6be8229a | 183 | |
Gary Servin |
0:04ac6be8229a | 184 | class SetPidGainsResponse : public ros::Msg |
Gary Servin |
0:04ac6be8229a | 185 | { |
Gary Servin |
0:04ac6be8229a | 186 | public: |
Gary Servin |
0:04ac6be8229a | 187 | |
Gary Servin |
0:04ac6be8229a | 188 | SetPidGainsResponse() |
Gary Servin |
0:04ac6be8229a | 189 | { |
Gary Servin |
0:04ac6be8229a | 190 | } |
Gary Servin |
0:04ac6be8229a | 191 | |
Gary Servin |
0:04ac6be8229a | 192 | virtual int serialize(unsigned char *outbuffer) const |
Gary Servin |
0:04ac6be8229a | 193 | { |
Gary Servin |
0:04ac6be8229a | 194 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 195 | return offset; |
Gary Servin |
0:04ac6be8229a | 196 | } |
Gary Servin |
0:04ac6be8229a | 197 | |
Gary Servin |
0:04ac6be8229a | 198 | virtual int deserialize(unsigned char *inbuffer) |
Gary Servin |
0:04ac6be8229a | 199 | { |
Gary Servin |
0:04ac6be8229a | 200 | int offset = 0; |
Gary Servin |
0:04ac6be8229a | 201 | return offset; |
Gary Servin |
0:04ac6be8229a | 202 | } |
Gary Servin |
0:04ac6be8229a | 203 | |
Gary Servin |
0:04ac6be8229a | 204 | const char * getType(){ return SETPIDGAINS; }; |
Gary Servin |
0:04ac6be8229a | 205 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
Gary Servin |
0:04ac6be8229a | 206 | |
Gary Servin |
0:04ac6be8229a | 207 | }; |
Gary Servin |
0:04ac6be8229a | 208 | |
Gary Servin |
0:04ac6be8229a | 209 | class SetPidGains { |
Gary Servin |
0:04ac6be8229a | 210 | public: |
Gary Servin |
0:04ac6be8229a | 211 | typedef SetPidGainsRequest Request; |
Gary Servin |
0:04ac6be8229a | 212 | typedef SetPidGainsResponse Response; |
Gary Servin |
0:04ac6be8229a | 213 | }; |
Gary Servin |
0:04ac6be8229a | 214 | |
Gary Servin |
0:04ac6be8229a | 215 | } |
Gary Servin |
0:04ac6be8229a | 216 | #endif |