make changes on buffer serial
Diff: control_msgs/FollowJointTrajectoryGoal.h
- Revision:
- 0:04ac6be8229a
diff -r 000000000000 -r 04ac6be8229a control_msgs/FollowJointTrajectoryGoal.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/control_msgs/FollowJointTrajectoryGoal.h Fri Nov 08 14:38:09 2019 -0300 @@ -0,0 +1,119 @@ +#ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h +#define _ROS_control_msgs_FollowJointTrajectoryGoal_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "trajectory_msgs/JointTrajectory.h" +#include "control_msgs/JointTolerance.h" +#include "ros/duration.h" + +namespace control_msgs +{ + + class FollowJointTrajectoryGoal : public ros::Msg + { + public: + typedef trajectory_msgs::JointTrajectory _trajectory_type; + _trajectory_type trajectory; + uint32_t path_tolerance_length; + typedef control_msgs::JointTolerance _path_tolerance_type; + _path_tolerance_type st_path_tolerance; + _path_tolerance_type * path_tolerance; + uint32_t goal_tolerance_length; + typedef control_msgs::JointTolerance _goal_tolerance_type; + _goal_tolerance_type st_goal_tolerance; + _goal_tolerance_type * goal_tolerance; + typedef ros::Duration _goal_time_tolerance_type; + _goal_time_tolerance_type goal_time_tolerance; + + FollowJointTrajectoryGoal(): + trajectory(), + path_tolerance_length(0), path_tolerance(NULL), + goal_tolerance_length(0), goal_tolerance(NULL), + goal_time_tolerance() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->trajectory.serialize(outbuffer + offset); + *(outbuffer + offset + 0) = (this->path_tolerance_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->path_tolerance_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->path_tolerance_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->path_tolerance_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->path_tolerance_length); + for( uint32_t i = 0; i < path_tolerance_length; i++){ + offset += this->path_tolerance[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->goal_tolerance_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->goal_tolerance_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->goal_tolerance_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->goal_tolerance_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->goal_tolerance_length); + for( uint32_t i = 0; i < goal_tolerance_length; i++){ + offset += this->goal_tolerance[i].serialize(outbuffer + offset); + } + *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF; + offset += sizeof(this->goal_time_tolerance.sec); + *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF; + offset += sizeof(this->goal_time_tolerance.nsec); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->trajectory.deserialize(inbuffer + offset); + uint32_t path_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); + path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + path_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->path_tolerance_length); + if(path_tolerance_lengthT > path_tolerance_length) + this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); + path_tolerance_length = path_tolerance_lengthT; + for( uint32_t i = 0; i < path_tolerance_length; i++){ + offset += this->st_path_tolerance.deserialize(inbuffer + offset); + memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance)); + } + uint32_t goal_tolerance_lengthT = ((uint32_t) (*(inbuffer + offset))); + goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + goal_tolerance_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->goal_tolerance_length); + if(goal_tolerance_lengthT > goal_tolerance_length) + this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance)); + goal_tolerance_length = goal_tolerance_lengthT; + for( uint32_t i = 0; i < goal_tolerance_length; i++){ + offset += this->st_goal_tolerance.deserialize(inbuffer + offset); + memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance)); + } + this->goal_time_tolerance.sec = ((uint32_t) (*(inbuffer + offset))); + this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->goal_time_tolerance.sec); + this->goal_time_tolerance.nsec = ((uint32_t) (*(inbuffer + offset))); + this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->goal_time_tolerance.nsec); + return offset; + } + + const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; }; + const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; }; + + }; + +} +#endif