John Lam / ros_lib_melodic_

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

controller_manager_msgs/ControllerState.h@2:4480021e9f58, 23 months ago (annotated)

Committer:
howanglam3
Date:
Thu Aug 18 07:35:12 2022 +0000
Revision:
2:4480021e9f58
Parent:
0:04ac6be8229a 
unchanged

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_controller_manager_msgs_ControllerState_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_controller_manager_msgs_ControllerState_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "controller_manager_msgs/HardwareInterfaceResources.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace controller_manager_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class ControllerState : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 17 _name_type name;
Gary Servin 0:04ac6be8229a 18 typedef const char* _state_type;
Gary Servin 0:04ac6be8229a 19 _state_type state;
Gary Servin 0:04ac6be8229a 20 typedef const char* _type_type;
Gary Servin 0:04ac6be8229a 21 _type_type type;
Gary Servin 0:04ac6be8229a 22 uint32_t claimed_resources_length;
Gary Servin 0:04ac6be8229a 23 typedef controller_manager_msgs::HardwareInterfaceResources _claimed_resources_type;
Gary Servin 0:04ac6be8229a 24 _claimed_resources_type st_claimed_resources;
Gary Servin 0:04ac6be8229a 25 _claimed_resources_type * claimed_resources;
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 ControllerState():
Gary Servin 0:04ac6be8229a 28 name(""),
Gary Servin 0:04ac6be8229a 29 state(""),
Gary Servin 0:04ac6be8229a 30 type(""),
Gary Servin 0:04ac6be8229a 31 claimed_resources_length(0), claimed_resources(NULL)
Gary Servin 0:04ac6be8229a 32 {
Gary Servin 0:04ac6be8229a 33 }
Gary Servin 0:04ac6be8229a 34
Gary Servin 0:04ac6be8229a 35 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 int offset = 0;
Gary Servin 0:04ac6be8229a 38 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 39 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 40 offset += 4;
Gary Servin 0:04ac6be8229a 41 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 42 offset += length_name;
Gary Servin 0:04ac6be8229a 43 uint32_t length_state = strlen(this->state);
Gary Servin 0:04ac6be8229a 44 varToArr(outbuffer + offset, length_state);
Gary Servin 0:04ac6be8229a 45 offset += 4;
Gary Servin 0:04ac6be8229a 46 memcpy(outbuffer + offset, this->state, length_state);
Gary Servin 0:04ac6be8229a 47 offset += length_state;
Gary Servin 0:04ac6be8229a 48 uint32_t length_type = strlen(this->type);
Gary Servin 0:04ac6be8229a 49 varToArr(outbuffer + offset, length_type);
Gary Servin 0:04ac6be8229a 50 offset += 4;
Gary Servin 0:04ac6be8229a 51 memcpy(outbuffer + offset, this->type, length_type);
Gary Servin 0:04ac6be8229a 52 offset += length_type;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (this->claimed_resources_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 1) = (this->claimed_resources_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 2) = (this->claimed_resources_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 3) = (this->claimed_resources_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 offset += sizeof(this->claimed_resources_length);
Gary Servin 0:04ac6be8229a 58 for( uint32_t i = 0; i < claimed_resources_length; i++){
Gary Servin 0:04ac6be8229a 59 offset += this->claimed_resources[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 60 }
Gary Servin 0:04ac6be8229a 61 return offset;
Gary Servin 0:04ac6be8229a 62 }
Gary Servin 0:04ac6be8229a 63
Gary Servin 0:04ac6be8229a 64 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 65 {
Gary Servin 0:04ac6be8229a 66 int offset = 0;
Gary Servin 0:04ac6be8229a 67 uint32_t length_name;
Gary Servin 0:04ac6be8229a 68 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 69 offset += 4;
Gary Servin 0:04ac6be8229a 70 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 71 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 74 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 75 offset += length_name;
Gary Servin 0:04ac6be8229a 76 uint32_t length_state;
Gary Servin 0:04ac6be8229a 77 arrToVar(length_state, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 78 offset += 4;
Gary Servin 0:04ac6be8229a 79 for(unsigned int k= offset; k< offset+length_state; ++k){
Gary Servin 0:04ac6be8229a 80 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 81 }
Gary Servin 0:04ac6be8229a 82 inbuffer[offset+length_state-1]=0;
Gary Servin 0:04ac6be8229a 83 this->state = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 84 offset += length_state;
Gary Servin 0:04ac6be8229a 85 uint32_t length_type;
Gary Servin 0:04ac6be8229a 86 arrToVar(length_type, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 87 offset += 4;
Gary Servin 0:04ac6be8229a 88 for(unsigned int k= offset; k< offset+length_type; ++k){
Gary Servin 0:04ac6be8229a 89 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 90 }
Gary Servin 0:04ac6be8229a 91 inbuffer[offset+length_type-1]=0;
Gary Servin 0:04ac6be8229a 92 this->type = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 93 offset += length_type;
Gary Servin 0:04ac6be8229a 94 uint32_t claimed_resources_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 95 claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 96 claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 97 claimed_resources_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->claimed_resources_length);
Gary Servin 0:04ac6be8229a 99 if(claimed_resources_lengthT > claimed_resources_length)
Gary Servin 0:04ac6be8229a 100 this->claimed_resources = (controller_manager_msgs::HardwareInterfaceResources*)realloc(this->claimed_resources, claimed_resources_lengthT * sizeof(controller_manager_msgs::HardwareInterfaceResources));
Gary Servin 0:04ac6be8229a 101 claimed_resources_length = claimed_resources_lengthT;
Gary Servin 0:04ac6be8229a 102 for( uint32_t i = 0; i < claimed_resources_length; i++){
Gary Servin 0:04ac6be8229a 103 offset += this->st_claimed_resources.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 104 memcpy( &(this->claimed_resources[i]), &(this->st_claimed_resources), sizeof(controller_manager_msgs::HardwareInterfaceResources));
Gary Servin 0:04ac6be8229a 105 }
Gary Servin 0:04ac6be8229a 106 return offset;
Gary Servin 0:04ac6be8229a 107 }
Gary Servin 0:04ac6be8229a 108
Gary Servin 0:04ac6be8229a 109 const char * getType(){ return "controller_manager_msgs/ControllerState"; };
Gary Servin 0:04ac6be8229a 110 const char * getMD5(){ return "aeb6b261d97793ab74099a3740245272"; };
Gary Servin 0:04ac6be8229a 111
Gary Servin 0:04ac6be8229a 112 };
Gary Servin 0:04ac6be8229a 113
Gary Servin 0:04ac6be8229a 114 }
Gary Servin 0:04ac6be8229a 115 #endif