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/GripperCommand.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_GripperCommand_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_GripperCommand_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 GripperCommand : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef double _position_type;
garyservin 0:9e9b7db60fd5 16 _position_type position;
garyservin 0:9e9b7db60fd5 17 typedef double _max_effort_type;
garyservin 0:9e9b7db60fd5 18 _max_effort_type max_effort;
garyservin 0:9e9b7db60fd5 19
garyservin 0:9e9b7db60fd5 20 GripperCommand():
garyservin 0:9e9b7db60fd5 21 position(0),
garyservin 0:9e9b7db60fd5 22 max_effort(0)
garyservin 0:9e9b7db60fd5 23 {
garyservin 0:9e9b7db60fd5 24 }
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 int offset = 0;
garyservin 0:9e9b7db60fd5 29 union {
garyservin 0:9e9b7db60fd5 30 double real;
garyservin 0:9e9b7db60fd5 31 uint64_t base;
garyservin 0:9e9b7db60fd5 32 } u_position;
garyservin 0:9e9b7db60fd5 33 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 34 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 35 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 36 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 37 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 43 union {
garyservin 0:9e9b7db60fd5 44 double real;
garyservin 0:9e9b7db60fd5 45 uint64_t base;
garyservin 0:9e9b7db60fd5 46 } u_max_effort;
garyservin 0:9e9b7db60fd5 47 u_max_effort.real = this->max_effort;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->max_effort);
garyservin 0:9e9b7db60fd5 57 return offset;
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59
garyservin 0:9e9b7db60fd5 60 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 61 {
garyservin 0:9e9b7db60fd5 62 int offset = 0;
garyservin 0:9e9b7db60fd5 63 union {
garyservin 0:9e9b7db60fd5 64 double real;
garyservin 0:9e9b7db60fd5 65 uint64_t base;
garyservin 0:9e9b7db60fd5 66 } u_position;
garyservin 0:9e9b7db60fd5 67 u_position.base = 0;
garyservin 0:9e9b7db60fd5 68 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 69 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 70 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 71 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 72 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 73 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 74 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 75 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 76 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 78 union {
garyservin 0:9e9b7db60fd5 79 double real;
garyservin 0:9e9b7db60fd5 80 uint64_t base;
garyservin 0:9e9b7db60fd5 81 } u_max_effort;
garyservin 0:9e9b7db60fd5 82 u_max_effort.base = 0;
garyservin 0:9e9b7db60fd5 83 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 84 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 85 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 86 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 87 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 88 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 89 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 90 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 91 this->max_effort = u_max_effort.real;
garyservin 0:9e9b7db60fd5 92 offset += sizeof(this->max_effort);
garyservin 0:9e9b7db60fd5 93 return offset;
garyservin 0:9e9b7db60fd5 94 }
garyservin 0:9e9b7db60fd5 95
garyservin 0:9e9b7db60fd5 96 const char * getType(){ return "control_msgs/GripperCommand"; };
garyservin 0:9e9b7db60fd5 97 const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
garyservin 0:9e9b7db60fd5 98
garyservin 0:9e9b7db60fd5 99 };
garyservin 0:9e9b7db60fd5 100
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 #endif