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

trajectory_msgs/MultiDOFJointTrajectory.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_trajectory_msgs_MultiDOFJointTrajectory_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_trajectory_msgs_MultiDOFJointTrajectory_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 "trajectory_msgs/MultiDOFJointTrajectoryPoint.h"
garyservin 0:9e9b7db60fd5 10
garyservin 0:9e9b7db60fd5 11 namespace trajectory_msgs
garyservin 0:9e9b7db60fd5 12 {
garyservin 0:9e9b7db60fd5 13
garyservin 0:9e9b7db60fd5 14 class MultiDOFJointTrajectory : 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 uint32_t joint_names_length;
garyservin 0:9e9b7db60fd5 20 typedef char* _joint_names_type;
garyservin 0:9e9b7db60fd5 21 _joint_names_type st_joint_names;
garyservin 0:9e9b7db60fd5 22 _joint_names_type * joint_names;
garyservin 0:9e9b7db60fd5 23 uint32_t points_length;
garyservin 0:9e9b7db60fd5 24 typedef trajectory_msgs::MultiDOFJointTrajectoryPoint _points_type;
garyservin 0:9e9b7db60fd5 25 _points_type st_points;
garyservin 0:9e9b7db60fd5 26 _points_type * points;
garyservin 0:9e9b7db60fd5 27
garyservin 0:9e9b7db60fd5 28 MultiDOFJointTrajectory():
garyservin 0:9e9b7db60fd5 29 header(),
garyservin 0:9e9b7db60fd5 30 joint_names_length(0), joint_names(NULL),
garyservin 0:9e9b7db60fd5 31 points_length(0), points(NULL)
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 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 44 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 45 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_joint_namesi);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:9e9b7db60fd5 49 offset += length_joint_namesi;
garyservin 0:9e9b7db60fd5 50 }
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 0) = (this->points_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 1) = (this->points_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 2) = (this->points_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 3) = (this->points_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 offset += sizeof(this->points_length);
garyservin 0:9e9b7db60fd5 56 for( uint32_t i = 0; i < points_length; i++){
garyservin 0:9e9b7db60fd5 57 offset += this->points[i].serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 58 }
garyservin 0:9e9b7db60fd5 59 return offset;
garyservin 0:9e9b7db60fd5 60 }
garyservin 0:9e9b7db60fd5 61
garyservin 0:9e9b7db60fd5 62 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 63 {
garyservin 0:9e9b7db60fd5 64 int offset = 0;
garyservin 0:9e9b7db60fd5 65 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 66 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 67 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 68 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 69 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->joint_names_length);
garyservin 0:9e9b7db60fd5 71 if(joint_names_lengthT > joint_names_length)
garyservin 0:9e9b7db60fd5 72 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:9e9b7db60fd5 73 joint_names_length = joint_names_lengthT;
garyservin 0:9e9b7db60fd5 74 for( uint32_t i = 0; i < joint_names_length; i++){
garyservin 0:9e9b7db60fd5 75 uint32_t length_st_joint_names;
garyservin 0:9e9b7db60fd5 76 arrToVar(length_st_joint_names, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 77 offset += 4;
garyservin 0:9e9b7db60fd5 78 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:9e9b7db60fd5 79 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:9e9b7db60fd5 82 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 83 offset += length_st_joint_names;
garyservin 0:9e9b7db60fd5 84 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:9e9b7db60fd5 85 }
garyservin 0:9e9b7db60fd5 86 uint32_t points_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 87 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 88 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 89 points_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 90 offset += sizeof(this->points_length);
garyservin 0:9e9b7db60fd5 91 if(points_lengthT > points_length)
garyservin 0:9e9b7db60fd5 92 this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
garyservin 0:9e9b7db60fd5 93 points_length = points_lengthT;
garyservin 0:9e9b7db60fd5 94 for( uint32_t i = 0; i < points_length; i++){
garyservin 0:9e9b7db60fd5 95 offset += this->st_points.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 96 memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
garyservin 0:9e9b7db60fd5 97 }
garyservin 0:9e9b7db60fd5 98 return offset;
garyservin 0:9e9b7db60fd5 99 }
garyservin 0:9e9b7db60fd5 100
garyservin 0:9e9b7db60fd5 101 const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; };
garyservin 0:9e9b7db60fd5 102 const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; };
garyservin 0:9e9b7db60fd5 103
garyservin 0:9e9b7db60fd5 104 };
garyservin 0:9e9b7db60fd5 105
garyservin 0:9e9b7db60fd5 106 }
garyservin 0:9e9b7db60fd5 107 #endif