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/GripperCommandResult.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_GripperCommandResult_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_GripperCommandResult_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 GripperCommandResult : 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 _effort_type;
garyservin 0:9e9b7db60fd5 18 _effort_type effort;
garyservin 0:9e9b7db60fd5 19 typedef bool _stalled_type;
garyservin 0:9e9b7db60fd5 20 _stalled_type stalled;
garyservin 0:9e9b7db60fd5 21 typedef bool _reached_goal_type;
garyservin 0:9e9b7db60fd5 22 _reached_goal_type reached_goal;
garyservin 0:9e9b7db60fd5 23
garyservin 0:9e9b7db60fd5 24 GripperCommandResult():
garyservin 0:9e9b7db60fd5 25 position(0),
garyservin 0:9e9b7db60fd5 26 effort(0),
garyservin 0:9e9b7db60fd5 27 stalled(0),
garyservin 0:9e9b7db60fd5 28 reached_goal(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 union {
garyservin 0:9e9b7db60fd5 36 double real;
garyservin 0:9e9b7db60fd5 37 uint64_t base;
garyservin 0:9e9b7db60fd5 38 } u_position;
garyservin 0:9e9b7db60fd5 39 u_position.real = this->position;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 49 union {
garyservin 0:9e9b7db60fd5 50 double real;
garyservin 0:9e9b7db60fd5 51 uint64_t base;
garyservin 0:9e9b7db60fd5 52 } u_effort;
garyservin 0:9e9b7db60fd5 53 u_effort.real = this->effort;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 offset += sizeof(this->effort);
garyservin 0:9e9b7db60fd5 63 union {
garyservin 0:9e9b7db60fd5 64 bool real;
garyservin 0:9e9b7db60fd5 65 uint8_t base;
garyservin 0:9e9b7db60fd5 66 } u_stalled;
garyservin 0:9e9b7db60fd5 67 u_stalled.real = this->stalled;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->stalled);
garyservin 0:9e9b7db60fd5 70 union {
garyservin 0:9e9b7db60fd5 71 bool real;
garyservin 0:9e9b7db60fd5 72 uint8_t base;
garyservin 0:9e9b7db60fd5 73 } u_reached_goal;
garyservin 0:9e9b7db60fd5 74 u_reached_goal.real = this->reached_goal;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->reached_goal);
garyservin 0:9e9b7db60fd5 77 return offset;
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79
garyservin 0:9e9b7db60fd5 80 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 81 {
garyservin 0:9e9b7db60fd5 82 int offset = 0;
garyservin 0:9e9b7db60fd5 83 union {
garyservin 0:9e9b7db60fd5 84 double real;
garyservin 0:9e9b7db60fd5 85 uint64_t base;
garyservin 0:9e9b7db60fd5 86 } u_position;
garyservin 0:9e9b7db60fd5 87 u_position.base = 0;
garyservin 0:9e9b7db60fd5 88 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 89 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 90 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 91 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 92 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 93 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 94 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 95 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 96 this->position = u_position.real;
garyservin 0:9e9b7db60fd5 97 offset += sizeof(this->position);
garyservin 0:9e9b7db60fd5 98 union {
garyservin 0:9e9b7db60fd5 99 double real;
garyservin 0:9e9b7db60fd5 100 uint64_t base;
garyservin 0:9e9b7db60fd5 101 } u_effort;
garyservin 0:9e9b7db60fd5 102 u_effort.base = 0;
garyservin 0:9e9b7db60fd5 103 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 104 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 105 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 106 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 107 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 108 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 109 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 110 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 111 this->effort = u_effort.real;
garyservin 0:9e9b7db60fd5 112 offset += sizeof(this->effort);
garyservin 0:9e9b7db60fd5 113 union {
garyservin 0:9e9b7db60fd5 114 bool real;
garyservin 0:9e9b7db60fd5 115 uint8_t base;
garyservin 0:9e9b7db60fd5 116 } u_stalled;
garyservin 0:9e9b7db60fd5 117 u_stalled.base = 0;
garyservin 0:9e9b7db60fd5 118 u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 119 this->stalled = u_stalled.real;
garyservin 0:9e9b7db60fd5 120 offset += sizeof(this->stalled);
garyservin 0:9e9b7db60fd5 121 union {
garyservin 0:9e9b7db60fd5 122 bool real;
garyservin 0:9e9b7db60fd5 123 uint8_t base;
garyservin 0:9e9b7db60fd5 124 } u_reached_goal;
garyservin 0:9e9b7db60fd5 125 u_reached_goal.base = 0;
garyservin 0:9e9b7db60fd5 126 u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 127 this->reached_goal = u_reached_goal.real;
garyservin 0:9e9b7db60fd5 128 offset += sizeof(this->reached_goal);
garyservin 0:9e9b7db60fd5 129 return offset;
garyservin 0:9e9b7db60fd5 130 }
garyservin 0:9e9b7db60fd5 131
garyservin 0:9e9b7db60fd5 132 const char * getType(){ return "control_msgs/GripperCommandResult"; };
garyservin 0:9e9b7db60fd5 133 const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
garyservin 0:9e9b7db60fd5 134
garyservin 0:9e9b7db60fd5 135 };
garyservin 0:9e9b7db60fd5 136
garyservin 0:9e9b7db60fd5 137 }
garyservin 0:9e9b7db60fd5 138 #endif