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

gazebo_msgs/ApplyJointEffort.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_SERVICE_ApplyJointEffort_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_SERVICE_ApplyJointEffort_h
garyservin 0:9e9b7db60fd5 3 #include <stdint.h>
garyservin 0:9e9b7db60fd5 4 #include <string.h>
garyservin 0:9e9b7db60fd5 5 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 6 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 7 #include "ros/duration.h"
garyservin 0:9e9b7db60fd5 8 #include "ros/time.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace gazebo_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort";
garyservin 0:9e9b7db60fd5 14
garyservin 0:9e9b7db60fd5 15 class ApplyJointEffortRequest : public ros::Msg
garyservin 0:9e9b7db60fd5 16 {
garyservin 0:9e9b7db60fd5 17 public:
garyservin 0:9e9b7db60fd5 18 typedef const char* _joint_name_type;
garyservin 0:9e9b7db60fd5 19 _joint_name_type joint_name;
garyservin 0:9e9b7db60fd5 20 typedef double _effort_type;
garyservin 0:9e9b7db60fd5 21 _effort_type effort;
garyservin 0:9e9b7db60fd5 22 typedef ros::Time _start_time_type;
garyservin 0:9e9b7db60fd5 23 _start_time_type start_time;
garyservin 0:9e9b7db60fd5 24 typedef ros::Duration _duration_type;
garyservin 0:9e9b7db60fd5 25 _duration_type duration;
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 ApplyJointEffortRequest():
garyservin 0:9e9b7db60fd5 28 joint_name(""),
garyservin 0:9e9b7db60fd5 29 effort(0),
garyservin 0:9e9b7db60fd5 30 start_time(),
garyservin 0:9e9b7db60fd5 31 duration()
garyservin 0:9e9b7db60fd5 32 {
garyservin 0:9e9b7db60fd5 33 }
garyservin 0:9e9b7db60fd5 34
garyservin 0:9e9b7db60fd5 35 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 36 {
garyservin 0:9e9b7db60fd5 37 int offset = 0;
garyservin 0:9e9b7db60fd5 38 uint32_t length_joint_name = strlen(this->joint_name);
garyservin 0:9e9b7db60fd5 39 varToArr(outbuffer + offset, length_joint_name);
garyservin 0:9e9b7db60fd5 40 offset += 4;
garyservin 0:9e9b7db60fd5 41 memcpy(outbuffer + offset, this->joint_name, length_joint_name);
garyservin 0:9e9b7db60fd5 42 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 43 union {
garyservin 0:9e9b7db60fd5 44 double real;
garyservin 0:9e9b7db60fd5 45 uint64_t base;
garyservin 0:9e9b7db60fd5 46 } u_effort;
garyservin 0:9e9b7db60fd5 47 u_effort.real = this->effort;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 offset += sizeof(this->effort);
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 offset += sizeof(this->start_time.sec);
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->start_time.nsec);
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 offset += sizeof(this->duration.sec);
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 75 *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->duration.nsec);
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 uint32_t length_joint_name;
garyservin 0:9e9b7db60fd5 84 arrToVar(length_joint_name, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 85 offset += 4;
garyservin 0:9e9b7db60fd5 86 for(unsigned int k= offset; k< offset+length_joint_name; ++k){
garyservin 0:9e9b7db60fd5 87 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 88 }
garyservin 0:9e9b7db60fd5 89 inbuffer[offset+length_joint_name-1]=0;
garyservin 0:9e9b7db60fd5 90 this->joint_name = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 91 offset += length_joint_name;
garyservin 0:9e9b7db60fd5 92 union {
garyservin 0:9e9b7db60fd5 93 double real;
garyservin 0:9e9b7db60fd5 94 uint64_t base;
garyservin 0:9e9b7db60fd5 95 } u_effort;
garyservin 0:9e9b7db60fd5 96 u_effort.base = 0;
garyservin 0:9e9b7db60fd5 97 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 98 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 99 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 100 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 101 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 102 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 103 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 104 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 105 this->effort = u_effort.real;
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->effort);
garyservin 0:9e9b7db60fd5 107 this->start_time.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 108 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 109 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 110 this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->start_time.sec);
garyservin 0:9e9b7db60fd5 112 this->start_time.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 113 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 114 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 115 this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->start_time.nsec);
garyservin 0:9e9b7db60fd5 117 this->duration.sec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 118 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 119 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 120 this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 121 offset += sizeof(this->duration.sec);
garyservin 0:9e9b7db60fd5 122 this->duration.nsec = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 123 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 124 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 125 this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 126 offset += sizeof(this->duration.nsec);
garyservin 0:9e9b7db60fd5 127 return offset;
garyservin 0:9e9b7db60fd5 128 }
garyservin 0:9e9b7db60fd5 129
garyservin 0:9e9b7db60fd5 130 const char * getType(){ return APPLYJOINTEFFORT; };
garyservin 0:9e9b7db60fd5 131 const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; };
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 };
garyservin 0:9e9b7db60fd5 134
garyservin 0:9e9b7db60fd5 135 class ApplyJointEffortResponse : public ros::Msg
garyservin 0:9e9b7db60fd5 136 {
garyservin 0:9e9b7db60fd5 137 public:
garyservin 0:9e9b7db60fd5 138 typedef bool _success_type;
garyservin 0:9e9b7db60fd5 139 _success_type success;
garyservin 0:9e9b7db60fd5 140 typedef const char* _status_message_type;
garyservin 0:9e9b7db60fd5 141 _status_message_type status_message;
garyservin 0:9e9b7db60fd5 142
garyservin 0:9e9b7db60fd5 143 ApplyJointEffortResponse():
garyservin 0:9e9b7db60fd5 144 success(0),
garyservin 0:9e9b7db60fd5 145 status_message("")
garyservin 0:9e9b7db60fd5 146 {
garyservin 0:9e9b7db60fd5 147 }
garyservin 0:9e9b7db60fd5 148
garyservin 0:9e9b7db60fd5 149 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 150 {
garyservin 0:9e9b7db60fd5 151 int offset = 0;
garyservin 0:9e9b7db60fd5 152 union {
garyservin 0:9e9b7db60fd5 153 bool real;
garyservin 0:9e9b7db60fd5 154 uint8_t base;
garyservin 0:9e9b7db60fd5 155 } u_success;
garyservin 0:9e9b7db60fd5 156 u_success.real = this->success;
garyservin 0:9e9b7db60fd5 157 *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 158 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 159 uint32_t length_status_message = strlen(this->status_message);
garyservin 0:9e9b7db60fd5 160 varToArr(outbuffer + offset, length_status_message);
garyservin 0:9e9b7db60fd5 161 offset += 4;
garyservin 0:9e9b7db60fd5 162 memcpy(outbuffer + offset, this->status_message, length_status_message);
garyservin 0:9e9b7db60fd5 163 offset += length_status_message;
garyservin 0:9e9b7db60fd5 164 return offset;
garyservin 0:9e9b7db60fd5 165 }
garyservin 0:9e9b7db60fd5 166
garyservin 0:9e9b7db60fd5 167 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 168 {
garyservin 0:9e9b7db60fd5 169 int offset = 0;
garyservin 0:9e9b7db60fd5 170 union {
garyservin 0:9e9b7db60fd5 171 bool real;
garyservin 0:9e9b7db60fd5 172 uint8_t base;
garyservin 0:9e9b7db60fd5 173 } u_success;
garyservin 0:9e9b7db60fd5 174 u_success.base = 0;
garyservin 0:9e9b7db60fd5 175 u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 176 this->success = u_success.real;
garyservin 0:9e9b7db60fd5 177 offset += sizeof(this->success);
garyservin 0:9e9b7db60fd5 178 uint32_t length_status_message;
garyservin 0:9e9b7db60fd5 179 arrToVar(length_status_message, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 180 offset += 4;
garyservin 0:9e9b7db60fd5 181 for(unsigned int k= offset; k< offset+length_status_message; ++k){
garyservin 0:9e9b7db60fd5 182 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 183 }
garyservin 0:9e9b7db60fd5 184 inbuffer[offset+length_status_message-1]=0;
garyservin 0:9e9b7db60fd5 185 this->status_message = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 186 offset += length_status_message;
garyservin 0:9e9b7db60fd5 187 return offset;
garyservin 0:9e9b7db60fd5 188 }
garyservin 0:9e9b7db60fd5 189
garyservin 0:9e9b7db60fd5 190 const char * getType(){ return APPLYJOINTEFFORT; };
garyservin 0:9e9b7db60fd5 191 const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
garyservin 0:9e9b7db60fd5 192
garyservin 0:9e9b7db60fd5 193 };
garyservin 0:9e9b7db60fd5 194
garyservin 0:9e9b7db60fd5 195 class ApplyJointEffort {
garyservin 0:9e9b7db60fd5 196 public:
garyservin 0:9e9b7db60fd5 197 typedef ApplyJointEffortRequest Request;
garyservin 0:9e9b7db60fd5 198 typedef ApplyJointEffortResponse Response;
garyservin 0:9e9b7db60fd5 199 };
garyservin 0:9e9b7db60fd5 200
garyservin 0:9e9b7db60fd5 201 }
garyservin 0:9e9b7db60fd5 202 #endif