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/JointTolerance.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_JointTolerance_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_JointTolerance_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 JointTolerance : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef const char* _name_type;
garyservin 0:9e9b7db60fd5 16 _name_type name;
garyservin 0:9e9b7db60fd5 17 typedef double _position_type;
garyservin 0:9e9b7db60fd5 18 _position_type position;
garyservin 0:9e9b7db60fd5 19 typedef double _velocity_type;
garyservin 0:9e9b7db60fd5 20 _velocity_type velocity;
garyservin 0:9e9b7db60fd5 21 typedef double _acceleration_type;
garyservin 0:9e9b7db60fd5 22 _acceleration_type acceleration;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 JointTolerance():
garyservin 0:9e9b7db60fd5 25 name(""),
garyservin 0:9e9b7db60fd5 26 position(0),
garyservin 0:9e9b7db60fd5 27 velocity(0),
garyservin 0:9e9b7db60fd5 28 acceleration(0)
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 uint32_t length_name = strlen(this->name);
garyservin 0:9e9b7db60fd5 36 varToArr(outbuffer + offset, length_name);
garyservin 0:9e9b7db60fd5 37 offset += 4;
garyservin 0:9e9b7db60fd5 38 memcpy(outbuffer + offset, this->name, length_name);
garyservin 0:9e9b7db60fd5 39 offset += length_name;
garyservin 0:9e9b7db60fd5 40 union {
garyservin 0:9e9b7db60fd5 41 double real;
garyservin 0:9e9b7db60fd5 42 uint64_t base;
garyservin 0:9e9b7db60fd5 43 } u_position;
garyservin 0:9e9b7db60fd5 44 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 54 union {
garyservin 0:9e9b7db60fd5 55 double real;
garyservin 0:9e9b7db60fd5 56 uint64_t base;
garyservin 0:9e9b7db60fd5 57 } u_velocity;
garyservin 0:9e9b7db60fd5 58 u_velocity.real = this->velocity;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 offset += sizeof(this->velocity);
garyservin 0:9e9b7db60fd5 68 union {
garyservin 0:9e9b7db60fd5 69 double real;
garyservin 0:9e9b7db60fd5 70 uint64_t base;
garyservin 0:9e9b7db60fd5 71 } u_acceleration;
garyservin 0:9e9b7db60fd5 72 u_acceleration.real = this->acceleration;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 78 *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 offset += sizeof(this->acceleration);
garyservin 0:9e9b7db60fd5 82 return offset;
garyservin 0:9e9b7db60fd5 83 }
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 86 {
garyservin 0:9e9b7db60fd5 87 int offset = 0;
garyservin 0:9e9b7db60fd5 88 uint32_t length_name;
garyservin 0:9e9b7db60fd5 89 arrToVar(length_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 90 offset += 4;
garyservin 0:9e9b7db60fd5 91 for(unsigned int k= offset; k< offset+length_name; ++k){
garyservin 0:9e9b7db60fd5 92 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 93 }
garyservin 0:9e9b7db60fd5 94 inbuffer[offset+length_name-1]=0;
garyservin 0:9e9b7db60fd5 95 this->name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 96 offset += length_name;
garyservin 0:9e9b7db60fd5 97 union {
garyservin 0:9e9b7db60fd5 98 double real;
garyservin 0:9e9b7db60fd5 99 uint64_t base;
garyservin 0:9e9b7db60fd5 100 } u_position;
garyservin 0:9e9b7db60fd5 101 u_position.base = 0;
garyservin 0:9e9b7db60fd5 102 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 103 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 104 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 105 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 106 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 107 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 108 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 109 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 110 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 112 union {
garyservin 0:9e9b7db60fd5 113 double real;
garyservin 0:9e9b7db60fd5 114 uint64_t base;
garyservin 0:9e9b7db60fd5 115 } u_velocity;
garyservin 0:9e9b7db60fd5 116 u_velocity.base = 0;
garyservin 0:9e9b7db60fd5 117 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 118 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 119 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 120 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 121 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 122 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 123 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 124 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 125 this->velocity = u_velocity.real;
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->velocity);
garyservin 0:9e9b7db60fd5 127 union {
garyservin 0:9e9b7db60fd5 128 double real;
garyservin 0:9e9b7db60fd5 129 uint64_t base;
garyservin 0:9e9b7db60fd5 130 } u_acceleration;
garyservin 0:9e9b7db60fd5 131 u_acceleration.base = 0;
garyservin 0:9e9b7db60fd5 132 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 133 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 134 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 135 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 136 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 137 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 138 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 139 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 140 this->acceleration = u_acceleration.real;
garyservin 0:9e9b7db60fd5 141 offset += sizeof(this->acceleration);
garyservin 0:9e9b7db60fd5 142 return offset;
garyservin 0:9e9b7db60fd5 143 }
garyservin 0:9e9b7db60fd5 144
garyservin 0:9e9b7db60fd5 145 const char * getType(){ return "control_msgs/JointTolerance"; };
garyservin 0:9e9b7db60fd5 146 const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
garyservin 0:9e9b7db60fd5 147
garyservin 0:9e9b7db60fd5 148 };
garyservin 0:9e9b7db60fd5 149
garyservin 0:9e9b7db60fd5 150 }
garyservin 0:9e9b7db60fd5 151 #endif