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/PidState.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_PidState_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_PidState_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 "ros/duration.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 PidState : 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 typedef ros::Duration _timestep_type;
garyservin 0:9e9b7db60fd5 20 _timestep_type timestep;
garyservin 0:9e9b7db60fd5 21 typedef double _error_type;
garyservin 0:9e9b7db60fd5 22 _error_type error;
garyservin 0:9e9b7db60fd5 23 typedef double _error_dot_type;
garyservin 0:9e9b7db60fd5 24 _error_dot_type error_dot;
garyservin 0:9e9b7db60fd5 25 typedef double _p_error_type;
garyservin 0:9e9b7db60fd5 26 _p_error_type p_error;
garyservin 0:9e9b7db60fd5 27 typedef double _i_error_type;
garyservin 0:9e9b7db60fd5 28 _i_error_type i_error;
garyservin 0:9e9b7db60fd5 29 typedef double _d_error_type;
garyservin 0:9e9b7db60fd5 30 _d_error_type d_error;
garyservin 0:9e9b7db60fd5 31 typedef double _p_term_type;
garyservin 0:9e9b7db60fd5 32 _p_term_type p_term;
garyservin 0:9e9b7db60fd5 33 typedef double _i_term_type;
garyservin 0:9e9b7db60fd5 34 _i_term_type i_term;
garyservin 0:9e9b7db60fd5 35 typedef double _d_term_type;
garyservin 0:9e9b7db60fd5 36 _d_term_type d_term;
garyservin 0:9e9b7db60fd5 37 typedef double _i_max_type;
garyservin 0:9e9b7db60fd5 38 _i_max_type i_max;
garyservin 0:9e9b7db60fd5 39 typedef double _i_min_type;
garyservin 0:9e9b7db60fd5 40 _i_min_type i_min;
garyservin 0:9e9b7db60fd5 41 typedef double _output_type;
garyservin 0:9e9b7db60fd5 42 _output_type output;
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 PidState():
garyservin 0:9e9b7db60fd5 45 header(),
garyservin 0:9e9b7db60fd5 46 timestep(),
garyservin 0:9e9b7db60fd5 47 error(0),
garyservin 0:9e9b7db60fd5 48 error_dot(0),
garyservin 0:9e9b7db60fd5 49 p_error(0),
garyservin 0:9e9b7db60fd5 50 i_error(0),
garyservin 0:9e9b7db60fd5 51 d_error(0),
garyservin 0:9e9b7db60fd5 52 p_term(0),
garyservin 0:9e9b7db60fd5 53 i_term(0),
garyservin 0:9e9b7db60fd5 54 d_term(0),
garyservin 0:9e9b7db60fd5 55 i_max(0),
garyservin 0:9e9b7db60fd5 56 i_min(0),
garyservin 0:9e9b7db60fd5 57 output(0)
garyservin 0:9e9b7db60fd5 58 {
garyservin 0:9e9b7db60fd5 59 }
garyservin 0:9e9b7db60fd5 60
garyservin 0:9e9b7db60fd5 61 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 62 {
garyservin 0:9e9b7db60fd5 63 int offset = 0;
garyservin 0:9e9b7db60fd5 64 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (this->timestep.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (this->timestep.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (this->timestep.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (this->timestep.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->timestep.sec);
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (this->timestep.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (this->timestep.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (this->timestep.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (this->timestep.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->timestep.nsec);
garyservin 0:9e9b7db60fd5 75 union {
garyservin 0:9e9b7db60fd5 76 double real;
garyservin 0:9e9b7db60fd5 77 uint64_t base;
garyservin 0:9e9b7db60fd5 78 } u_error;
garyservin 0:9e9b7db60fd5 79 u_error.real = this->error;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 88 offset += sizeof(this->error);
garyservin 0:9e9b7db60fd5 89 union {
garyservin 0:9e9b7db60fd5 90 double real;
garyservin 0:9e9b7db60fd5 91 uint64_t base;
garyservin 0:9e9b7db60fd5 92 } u_error_dot;
garyservin 0:9e9b7db60fd5 93 u_error_dot.real = this->error_dot;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 0) = (u_error_dot.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 1) = (u_error_dot.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 2) = (u_error_dot.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 3) = (u_error_dot.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 4) = (u_error_dot.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 5) = (u_error_dot.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 6) = (u_error_dot.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 *(outbuffer + offset + 7) = (u_error_dot.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 102 offset += sizeof(this->error_dot);
garyservin 0:9e9b7db60fd5 103 union {
garyservin 0:9e9b7db60fd5 104 double real;
garyservin 0:9e9b7db60fd5 105 uint64_t base;
garyservin 0:9e9b7db60fd5 106 } u_p_error;
garyservin 0:9e9b7db60fd5 107 u_p_error.real = this->p_error;
garyservin 0:9e9b7db60fd5 108 *(outbuffer + offset + 0) = (u_p_error.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 109 *(outbuffer + offset + 1) = (u_p_error.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 110 *(outbuffer + offset + 2) = (u_p_error.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 111 *(outbuffer + offset + 3) = (u_p_error.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 112 *(outbuffer + offset + 4) = (u_p_error.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 113 *(outbuffer + offset + 5) = (u_p_error.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 114 *(outbuffer + offset + 6) = (u_p_error.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 115 *(outbuffer + offset + 7) = (u_p_error.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->p_error);
garyservin 0:9e9b7db60fd5 117 union {
garyservin 0:9e9b7db60fd5 118 double real;
garyservin 0:9e9b7db60fd5 119 uint64_t base;
garyservin 0:9e9b7db60fd5 120 } u_i_error;
garyservin 0:9e9b7db60fd5 121 u_i_error.real = this->i_error;
garyservin 0:9e9b7db60fd5 122 *(outbuffer + offset + 0) = (u_i_error.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 123 *(outbuffer + offset + 1) = (u_i_error.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 124 *(outbuffer + offset + 2) = (u_i_error.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 125 *(outbuffer + offset + 3) = (u_i_error.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 126 *(outbuffer + offset + 4) = (u_i_error.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 127 *(outbuffer + offset + 5) = (u_i_error.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 128 *(outbuffer + offset + 6) = (u_i_error.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 129 *(outbuffer + offset + 7) = (u_i_error.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 130 offset += sizeof(this->i_error);
garyservin 0:9e9b7db60fd5 131 union {
garyservin 0:9e9b7db60fd5 132 double real;
garyservin 0:9e9b7db60fd5 133 uint64_t base;
garyservin 0:9e9b7db60fd5 134 } u_d_error;
garyservin 0:9e9b7db60fd5 135 u_d_error.real = this->d_error;
garyservin 0:9e9b7db60fd5 136 *(outbuffer + offset + 0) = (u_d_error.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 137 *(outbuffer + offset + 1) = (u_d_error.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 138 *(outbuffer + offset + 2) = (u_d_error.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 139 *(outbuffer + offset + 3) = (u_d_error.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 140 *(outbuffer + offset + 4) = (u_d_error.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 141 *(outbuffer + offset + 5) = (u_d_error.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 142 *(outbuffer + offset + 6) = (u_d_error.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 143 *(outbuffer + offset + 7) = (u_d_error.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 144 offset += sizeof(this->d_error);
garyservin 0:9e9b7db60fd5 145 union {
garyservin 0:9e9b7db60fd5 146 double real;
garyservin 0:9e9b7db60fd5 147 uint64_t base;
garyservin 0:9e9b7db60fd5 148 } u_p_term;
garyservin 0:9e9b7db60fd5 149 u_p_term.real = this->p_term;
garyservin 0:9e9b7db60fd5 150 *(outbuffer + offset + 0) = (u_p_term.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 151 *(outbuffer + offset + 1) = (u_p_term.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 152 *(outbuffer + offset + 2) = (u_p_term.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 153 *(outbuffer + offset + 3) = (u_p_term.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 154 *(outbuffer + offset + 4) = (u_p_term.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 155 *(outbuffer + offset + 5) = (u_p_term.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 156 *(outbuffer + offset + 6) = (u_p_term.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 7) = (u_p_term.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 offset += sizeof(this->p_term);
garyservin 0:9e9b7db60fd5 159 union {
garyservin 0:9e9b7db60fd5 160 double real;
garyservin 0:9e9b7db60fd5 161 uint64_t base;
garyservin 0:9e9b7db60fd5 162 } u_i_term;
garyservin 0:9e9b7db60fd5 163 u_i_term.real = this->i_term;
garyservin 0:9e9b7db60fd5 164 *(outbuffer + offset + 0) = (u_i_term.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 165 *(outbuffer + offset + 1) = (u_i_term.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 166 *(outbuffer + offset + 2) = (u_i_term.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 167 *(outbuffer + offset + 3) = (u_i_term.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 168 *(outbuffer + offset + 4) = (u_i_term.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 169 *(outbuffer + offset + 5) = (u_i_term.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 170 *(outbuffer + offset + 6) = (u_i_term.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 171 *(outbuffer + offset + 7) = (u_i_term.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 172 offset += sizeof(this->i_term);
garyservin 0:9e9b7db60fd5 173 union {
garyservin 0:9e9b7db60fd5 174 double real;
garyservin 0:9e9b7db60fd5 175 uint64_t base;
garyservin 0:9e9b7db60fd5 176 } u_d_term;
garyservin 0:9e9b7db60fd5 177 u_d_term.real = this->d_term;
garyservin 0:9e9b7db60fd5 178 *(outbuffer + offset + 0) = (u_d_term.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 179 *(outbuffer + offset + 1) = (u_d_term.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 180 *(outbuffer + offset + 2) = (u_d_term.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 181 *(outbuffer + offset + 3) = (u_d_term.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 182 *(outbuffer + offset + 4) = (u_d_term.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 183 *(outbuffer + offset + 5) = (u_d_term.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 184 *(outbuffer + offset + 6) = (u_d_term.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 185 *(outbuffer + offset + 7) = (u_d_term.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 186 offset += sizeof(this->d_term);
garyservin 0:9e9b7db60fd5 187 union {
garyservin 0:9e9b7db60fd5 188 double real;
garyservin 0:9e9b7db60fd5 189 uint64_t base;
garyservin 0:9e9b7db60fd5 190 } u_i_max;
garyservin 0:9e9b7db60fd5 191 u_i_max.real = this->i_max;
garyservin 0:9e9b7db60fd5 192 *(outbuffer + offset + 0) = (u_i_max.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 193 *(outbuffer + offset + 1) = (u_i_max.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 194 *(outbuffer + offset + 2) = (u_i_max.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 195 *(outbuffer + offset + 3) = (u_i_max.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 196 *(outbuffer + offset + 4) = (u_i_max.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 197 *(outbuffer + offset + 5) = (u_i_max.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 198 *(outbuffer + offset + 6) = (u_i_max.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 199 *(outbuffer + offset + 7) = (u_i_max.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 200 offset += sizeof(this->i_max);
garyservin 0:9e9b7db60fd5 201 union {
garyservin 0:9e9b7db60fd5 202 double real;
garyservin 0:9e9b7db60fd5 203 uint64_t base;
garyservin 0:9e9b7db60fd5 204 } u_i_min;
garyservin 0:9e9b7db60fd5 205 u_i_min.real = this->i_min;
garyservin 0:9e9b7db60fd5 206 *(outbuffer + offset + 0) = (u_i_min.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 207 *(outbuffer + offset + 1) = (u_i_min.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 208 *(outbuffer + offset + 2) = (u_i_min.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 209 *(outbuffer + offset + 3) = (u_i_min.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 210 *(outbuffer + offset + 4) = (u_i_min.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 211 *(outbuffer + offset + 5) = (u_i_min.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 212 *(outbuffer + offset + 6) = (u_i_min.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 213 *(outbuffer + offset + 7) = (u_i_min.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 214 offset += sizeof(this->i_min);
garyservin 0:9e9b7db60fd5 215 union {
garyservin 0:9e9b7db60fd5 216 double real;
garyservin 0:9e9b7db60fd5 217 uint64_t base;
garyservin 0:9e9b7db60fd5 218 } u_output;
garyservin 0:9e9b7db60fd5 219 u_output.real = this->output;
garyservin 0:9e9b7db60fd5 220 *(outbuffer + offset + 0) = (u_output.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 221 *(outbuffer + offset + 1) = (u_output.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 222 *(outbuffer + offset + 2) = (u_output.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 223 *(outbuffer + offset + 3) = (u_output.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 224 *(outbuffer + offset + 4) = (u_output.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 225 *(outbuffer + offset + 5) = (u_output.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 226 *(outbuffer + offset + 6) = (u_output.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 227 *(outbuffer + offset + 7) = (u_output.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 228 offset += sizeof(this->output);
garyservin 0:9e9b7db60fd5 229 return offset;
garyservin 0:9e9b7db60fd5 230 }
garyservin 0:9e9b7db60fd5 231
garyservin 0:9e9b7db60fd5 232 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 233 {
garyservin 0:9e9b7db60fd5 234 int offset = 0;
garyservin 0:9e9b7db60fd5 235 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 236 this->timestep.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 237 this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 238 this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 239 this->timestep.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 240 offset += sizeof(this->timestep.sec);
garyservin 0:9e9b7db60fd5 241 this->timestep.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 242 this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 243 this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 244 this->timestep.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 245 offset += sizeof(this->timestep.nsec);
garyservin 0:9e9b7db60fd5 246 union {
garyservin 0:9e9b7db60fd5 247 double real;
garyservin 0:9e9b7db60fd5 248 uint64_t base;
garyservin 0:9e9b7db60fd5 249 } u_error;
garyservin 0:9e9b7db60fd5 250 u_error.base = 0;
garyservin 0:9e9b7db60fd5 251 u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 252 u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 253 u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 254 u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 255 u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 256 u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 257 u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 258 u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 259 this->error = u_error.real;
garyservin 0:9e9b7db60fd5 260 offset += sizeof(this->error);
garyservin 0:9e9b7db60fd5 261 union {
garyservin 0:9e9b7db60fd5 262 double real;
garyservin 0:9e9b7db60fd5 263 uint64_t base;
garyservin 0:9e9b7db60fd5 264 } u_error_dot;
garyservin 0:9e9b7db60fd5 265 u_error_dot.base = 0;
garyservin 0:9e9b7db60fd5 266 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 267 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 268 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 269 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 270 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 271 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 272 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 273 u_error_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 274 this->error_dot = u_error_dot.real;
garyservin 0:9e9b7db60fd5 275 offset += sizeof(this->error_dot);
garyservin 0:9e9b7db60fd5 276 union {
garyservin 0:9e9b7db60fd5 277 double real;
garyservin 0:9e9b7db60fd5 278 uint64_t base;
garyservin 0:9e9b7db60fd5 279 } u_p_error;
garyservin 0:9e9b7db60fd5 280 u_p_error.base = 0;
garyservin 0:9e9b7db60fd5 281 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 282 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 283 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 284 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 285 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 286 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 287 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 288 u_p_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 289 this->p_error = u_p_error.real;
garyservin 0:9e9b7db60fd5 290 offset += sizeof(this->p_error);
garyservin 0:9e9b7db60fd5 291 union {
garyservin 0:9e9b7db60fd5 292 double real;
garyservin 0:9e9b7db60fd5 293 uint64_t base;
garyservin 0:9e9b7db60fd5 294 } u_i_error;
garyservin 0:9e9b7db60fd5 295 u_i_error.base = 0;
garyservin 0:9e9b7db60fd5 296 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 297 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 298 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 299 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 300 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 301 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 302 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 303 u_i_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 304 this->i_error = u_i_error.real;
garyservin 0:9e9b7db60fd5 305 offset += sizeof(this->i_error);
garyservin 0:9e9b7db60fd5 306 union {
garyservin 0:9e9b7db60fd5 307 double real;
garyservin 0:9e9b7db60fd5 308 uint64_t base;
garyservin 0:9e9b7db60fd5 309 } u_d_error;
garyservin 0:9e9b7db60fd5 310 u_d_error.base = 0;
garyservin 0:9e9b7db60fd5 311 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 312 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 313 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 314 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 315 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 316 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 317 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 318 u_d_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 319 this->d_error = u_d_error.real;
garyservin 0:9e9b7db60fd5 320 offset += sizeof(this->d_error);
garyservin 0:9e9b7db60fd5 321 union {
garyservin 0:9e9b7db60fd5 322 double real;
garyservin 0:9e9b7db60fd5 323 uint64_t base;
garyservin 0:9e9b7db60fd5 324 } u_p_term;
garyservin 0:9e9b7db60fd5 325 u_p_term.base = 0;
garyservin 0:9e9b7db60fd5 326 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 327 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 328 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 329 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 330 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 331 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 332 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 333 u_p_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 334 this->p_term = u_p_term.real;
garyservin 0:9e9b7db60fd5 335 offset += sizeof(this->p_term);
garyservin 0:9e9b7db60fd5 336 union {
garyservin 0:9e9b7db60fd5 337 double real;
garyservin 0:9e9b7db60fd5 338 uint64_t base;
garyservin 0:9e9b7db60fd5 339 } u_i_term;
garyservin 0:9e9b7db60fd5 340 u_i_term.base = 0;
garyservin 0:9e9b7db60fd5 341 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 342 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 343 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 344 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 345 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 346 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 347 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 348 u_i_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 349 this->i_term = u_i_term.real;
garyservin 0:9e9b7db60fd5 350 offset += sizeof(this->i_term);
garyservin 0:9e9b7db60fd5 351 union {
garyservin 0:9e9b7db60fd5 352 double real;
garyservin 0:9e9b7db60fd5 353 uint64_t base;
garyservin 0:9e9b7db60fd5 354 } u_d_term;
garyservin 0:9e9b7db60fd5 355 u_d_term.base = 0;
garyservin 0:9e9b7db60fd5 356 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 357 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 358 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 359 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 360 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 361 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 362 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 363 u_d_term.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 364 this->d_term = u_d_term.real;
garyservin 0:9e9b7db60fd5 365 offset += sizeof(this->d_term);
garyservin 0:9e9b7db60fd5 366 union {
garyservin 0:9e9b7db60fd5 367 double real;
garyservin 0:9e9b7db60fd5 368 uint64_t base;
garyservin 0:9e9b7db60fd5 369 } u_i_max;
garyservin 0:9e9b7db60fd5 370 u_i_max.base = 0;
garyservin 0:9e9b7db60fd5 371 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 372 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 373 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 374 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 375 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 376 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 377 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 378 u_i_max.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 379 this->i_max = u_i_max.real;
garyservin 0:9e9b7db60fd5 380 offset += sizeof(this->i_max);
garyservin 0:9e9b7db60fd5 381 union {
garyservin 0:9e9b7db60fd5 382 double real;
garyservin 0:9e9b7db60fd5 383 uint64_t base;
garyservin 0:9e9b7db60fd5 384 } u_i_min;
garyservin 0:9e9b7db60fd5 385 u_i_min.base = 0;
garyservin 0:9e9b7db60fd5 386 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 387 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 388 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 389 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 390 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 391 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 392 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 393 u_i_min.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 394 this->i_min = u_i_min.real;
garyservin 0:9e9b7db60fd5 395 offset += sizeof(this->i_min);
garyservin 0:9e9b7db60fd5 396 union {
garyservin 0:9e9b7db60fd5 397 double real;
garyservin 0:9e9b7db60fd5 398 uint64_t base;
garyservin 0:9e9b7db60fd5 399 } u_output;
garyservin 0:9e9b7db60fd5 400 u_output.base = 0;
garyservin 0:9e9b7db60fd5 401 u_output.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 402 u_output.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 403 u_output.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 404 u_output.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 405 u_output.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 406 u_output.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 407 u_output.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 408 u_output.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 409 this->output = u_output.real;
garyservin 0:9e9b7db60fd5 410 offset += sizeof(this->output);
garyservin 0:9e9b7db60fd5 411 return offset;
garyservin 0:9e9b7db60fd5 412 }
garyservin 0:9e9b7db60fd5 413
garyservin 0:9e9b7db60fd5 414 const char * getType(){ return "control_msgs/PidState"; };
garyservin 0:9e9b7db60fd5 415 const char * getMD5(){ return "b138ec00e886c10e73f27e8712252ea6"; };
garyservin 0:9e9b7db60fd5 416
garyservin 0:9e9b7db60fd5 417 };
garyservin 0:9e9b7db60fd5 418
garyservin 0:9e9b7db60fd5 419 }
garyservin 0:9e9b7db60fd5 420 #endif