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/SingleJointPositionGoal.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_SingleJointPositionGoal_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_SingleJointPositionGoal_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 "ros/duration.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace control_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class SingleJointPositionGoal : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef double _position_type;
garyservin 0:9e9b7db60fd5 17 _position_type position;
garyservin 0:9e9b7db60fd5 18 typedef ros::Duration _min_duration_type;
garyservin 0:9e9b7db60fd5 19 _min_duration_type min_duration;
garyservin 0:9e9b7db60fd5 20 typedef double _max_velocity_type;
garyservin 0:9e9b7db60fd5 21 _max_velocity_type max_velocity;
garyservin 0:9e9b7db60fd5 22
garyservin 0:9e9b7db60fd5 23 SingleJointPositionGoal():
garyservin 0:9e9b7db60fd5 24 position(0),
garyservin 0:9e9b7db60fd5 25 min_duration(),
garyservin 0:9e9b7db60fd5 26 max_velocity(0)
garyservin 0:9e9b7db60fd5 27 {
garyservin 0:9e9b7db60fd5 28 }
garyservin 0:9e9b7db60fd5 29
garyservin 0:9e9b7db60fd5 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 int offset = 0;
garyservin 0:9e9b7db60fd5 33 union {
garyservin 0:9e9b7db60fd5 34 double real;
garyservin 0:9e9b7db60fd5 35 uint64_t base;
garyservin 0:9e9b7db60fd5 36 } u_position;
garyservin 0:9e9b7db60fd5 37 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 offset += sizeof(this->min_duration.sec);
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->min_duration.nsec);
garyservin 0:9e9b7db60fd5 57 union {
garyservin 0:9e9b7db60fd5 58 double real;
garyservin 0:9e9b7db60fd5 59 uint64_t base;
garyservin 0:9e9b7db60fd5 60 } u_max_velocity;
garyservin 0:9e9b7db60fd5 61 u_max_velocity.real = this->max_velocity;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->max_velocity);
garyservin 0:9e9b7db60fd5 71 return offset;
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73
garyservin 0:9e9b7db60fd5 74 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 75 {
garyservin 0:9e9b7db60fd5 76 int offset = 0;
garyservin 0:9e9b7db60fd5 77 union {
garyservin 0:9e9b7db60fd5 78 double real;
garyservin 0:9e9b7db60fd5 79 uint64_t base;
garyservin 0:9e9b7db60fd5 80 } u_position;
garyservin 0:9e9b7db60fd5 81 u_position.base = 0;
garyservin 0:9e9b7db60fd5 82 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 83 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 84 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 85 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 86 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 87 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 88 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 89 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 90 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 91 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 92 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 93 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 94 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 95 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 96 offset += sizeof(this->min_duration.sec);
garyservin 0:9e9b7db60fd5 97 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 98 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 99 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 100 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 101 offset += sizeof(this->min_duration.nsec);
garyservin 0:9e9b7db60fd5 102 union {
garyservin 0:9e9b7db60fd5 103 double real;
garyservin 0:9e9b7db60fd5 104 uint64_t base;
garyservin 0:9e9b7db60fd5 105 } u_max_velocity;
garyservin 0:9e9b7db60fd5 106 u_max_velocity.base = 0;
garyservin 0:9e9b7db60fd5 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 112 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 113 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 114 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 115 this->max_velocity = u_max_velocity.real;
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->max_velocity);
garyservin 0:9e9b7db60fd5 117 return offset;
garyservin 0:9e9b7db60fd5 118 }
garyservin 0:9e9b7db60fd5 119
garyservin 0:9e9b7db60fd5 120 const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
garyservin 0:9e9b7db60fd5 121 const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
garyservin 0:9e9b7db60fd5 122
garyservin 0:9e9b7db60fd5 123 };
garyservin 0:9e9b7db60fd5 124
garyservin 0:9e9b7db60fd5 125 }
garyservin 0:9e9b7db60fd5 126 #endif