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/FollowJointTrajectoryResult.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_FollowJointTrajectoryResult_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_FollowJointTrajectoryResult_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
garyservin 0:9e9b7db60fd5 9 namespace control_msgs
garyservin 0:9e9b7db60fd5 10 {
garyservin 0:9e9b7db60fd5 11
garyservin 0:9e9b7db60fd5 12 class FollowJointTrajectoryResult : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef int32_t _error_code_type;
garyservin 0:9e9b7db60fd5 16 _error_code_type error_code;
garyservin 0:9e9b7db60fd5 17 typedef const char* _error_string_type;
garyservin 0:9e9b7db60fd5 18 _error_string_type error_string;
garyservin 0:9e9b7db60fd5 19 enum { SUCCESSFUL = 0 };
garyservin 0:9e9b7db60fd5 20 enum { INVALID_GOAL = -1 };
garyservin 0:9e9b7db60fd5 21 enum { INVALID_JOINTS = -2 };
garyservin 0:9e9b7db60fd5 22 enum { OLD_HEADER_TIMESTAMP = -3 };
garyservin 0:9e9b7db60fd5 23 enum { PATH_TOLERANCE_VIOLATED = -4 };
garyservin 0:9e9b7db60fd5 24 enum { GOAL_TOLERANCE_VIOLATED = -5 };
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 FollowJointTrajectoryResult():
garyservin 0:9e9b7db60fd5 27 error_code(0),
garyservin 0:9e9b7db60fd5 28 error_string("")
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 union {
garyservin 0:9e9b7db60fd5 36 int32_t real;
garyservin 0:9e9b7db60fd5 37 uint32_t base;
garyservin 0:9e9b7db60fd5 38 } u_error_code;
garyservin 0:9e9b7db60fd5 39 u_error_code.real = this->error_code;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->error_code);
garyservin 0:9e9b7db60fd5 45 uint32_t length_error_string = strlen(this->error_string);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_error_string);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->error_string, length_error_string);
garyservin 0:9e9b7db60fd5 49 offset += length_error_string;
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 union {
garyservin 0:9e9b7db60fd5 57 int32_t real;
garyservin 0:9e9b7db60fd5 58 uint32_t base;
garyservin 0:9e9b7db60fd5 59 } u_error_code;
garyservin 0:9e9b7db60fd5 60 u_error_code.base = 0;
garyservin 0:9e9b7db60fd5 61 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 62 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 63 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 64 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 65 this->error_code = u_error_code.real;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->error_code);
garyservin 0:9e9b7db60fd5 67 uint32_t length_error_string;
garyservin 0:9e9b7db60fd5 68 arrToVar(length_error_string, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 69 offset += 4;
garyservin 0:9e9b7db60fd5 70 for(unsigned int k= offset; k< offset+length_error_string; ++k){
garyservin 0:9e9b7db60fd5 71 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 inbuffer[offset+length_error_string-1]=0;
garyservin 0:9e9b7db60fd5 74 this->error_string = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 75 offset += length_error_string;
garyservin 0:9e9b7db60fd5 76 return offset;
garyservin 0:9e9b7db60fd5 77 }
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; };
garyservin 0:9e9b7db60fd5 80 const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; };
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 #endif