Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/FollowJointTrajectoryFeedback.h@2:9114cc24ddcf, 2017-10-17 (annotated)

Committer:
jacobepfl1692
Date:
Tue Oct 17 18:49:03 2017 +0000
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5 
I increased the channels of the ADC to 6 (hence change in checksum) because my application needed it (STM32f407V6)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryFeedback_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_FollowJointTrajectoryFeedback_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9 #include "trajectory_msgs/JointTrajectoryPoint.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace control_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class FollowJointTrajectoryFeedback : public ros::Msg
garyservin 0:9e9b7db60fd5 15 {
garyservin 0:9e9b7db60fd5 16 public:
garyservin 0:9e9b7db60fd5 17 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 18 _header_type header;
garyservin 0:9e9b7db60fd5 19 uint32_t joint_names_length;
garyservin 0:9e9b7db60fd5 20 typedef char* _joint_names_type;
garyservin 0:9e9b7db60fd5 21 _joint_names_type st_joint_names;
garyservin 0:9e9b7db60fd5 22 _joint_names_type * joint_names;
garyservin 0:9e9b7db60fd5 23 typedef trajectory_msgs::JointTrajectoryPoint _desired_type;
garyservin 0:9e9b7db60fd5 24 _desired_type desired;
garyservin 0:9e9b7db60fd5 25 typedef trajectory_msgs::JointTrajectoryPoint _actual_type;
garyservin 0:9e9b7db60fd5 26 _actual_type actual;
garyservin 0:9e9b7db60fd5 27 typedef trajectory_msgs::JointTrajectoryPoint _error_type;
garyservin 0:9e9b7db60fd5 28 _error_type error;
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 FollowJointTrajectoryFeedback():
garyservin 0:9e9b7db60fd5 31 header(),
garyservin 0:9e9b7db60fd5 32 joint_names_length(0), joint_names(NULL),
garyservin 0:9e9b7db60fd5 33 desired(),
garyservin 0:9e9b7db60fd5 34 actual(),
garyservin 0:9e9b7db60fd5 35 error()
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 }
garyservin 0:9e9b7db60fd5 38
garyservin 0:9e9b7db60fd5 39 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 40 {
garyservin 0:9e9b7db60fd5 41 int offset = 0;
garyservin 0:9e9b7db60fd5 42 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 48 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 49 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:9e9b7db60fd5 50 varToArr(outbuffer + offset, length_joint_namesi);
garyservin 0:9e9b7db60fd5 51 offset += 4;
garyservin 0:9e9b7db60fd5 52 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:9e9b7db60fd5 53 offset += length_joint_namesi;
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 offset += this->desired.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 56 offset += this->actual.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 57 offset += this->error.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 58 return offset;
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 int offset = 0;
garyservin 0:9e9b7db60fd5 64 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 65 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 66 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 67 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 68 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 70 if(joint_names_lengthT > joint_names_length)
garyservin 0:9e9b7db60fd5 71 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 72 joint_names_length = joint_names_lengthT;
garyservin 0:9e9b7db60fd5 73 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 74 uint32_t length_st_joint_names;
garyservin 0:9e9b7db60fd5 75 arrToVar(length_st_joint_names, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 76 offset += 4;
garyservin 0:9e9b7db60fd5 77 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:9e9b7db60fd5 78 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 79 }
garyservin 0:9e9b7db60fd5 80 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:9e9b7db60fd5 81 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 82 offset += length_st_joint_names;
garyservin 0:9e9b7db60fd5 83 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 offset += this->desired.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 86 offset += this->actual.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 87 offset += this->error.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 88 return offset;
garyservin 0:9e9b7db60fd5 89 }
garyservin 0:9e9b7db60fd5 90
garyservin 0:9e9b7db60fd5 91 const char * getType(){ return "control_msgs/FollowJointTrajectoryFeedback"; };
garyservin 0:9e9b7db60fd5 92 const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
garyservin 0:9e9b7db60fd5 93
garyservin 0:9e9b7db60fd5 94 };
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 }
garyservin 0:9e9b7db60fd5 97 #endif