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
Fork of ros_lib_kinetic by
control_msgs/JointTolerance.h
- Committer:
- jacobepfl1692
- Date:
- 2017-10-17
- Revision:
- 2:9114cc24ddcf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:9114cc24ddcf:
#ifndef _ROS_control_msgs_JointTolerance_h #define _ROS_control_msgs_JointTolerance_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace control_msgs { class JointTolerance : public ros::Msg { public: typedef const char* _name_type; _name_type name; typedef double _position_type; _position_type position; typedef double _velocity_type; _velocity_type velocity; typedef double _acceleration_type; _acceleration_type acceleration; JointTolerance(): name(""), position(0), velocity(0), acceleration(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; uint32_t length_name = strlen(this->name); varToArr(outbuffer + offset, length_name); offset += 4; memcpy(outbuffer + offset, this->name, length_name); offset += length_name; union { double real; uint64_t base; } u_position; u_position.real = this->position; *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF; offset += sizeof(this->position); union { double real; uint64_t base; } u_velocity; u_velocity.real = this->velocity; *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF; offset += sizeof(this->velocity); union { double real; uint64_t base; } u_acceleration; u_acceleration.real = this->acceleration; *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF; offset += sizeof(this->acceleration); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; uint32_t length_name; arrToVar(length_name, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_name; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_name-1]=0; this->name = (char *)(inbuffer + offset-1); offset += length_name; union { double real; uint64_t base; } u_position; u_position.base = 0; u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->position = u_position.real; offset += sizeof(this->position); union { double real; uint64_t base; } u_velocity; u_velocity.base = 0; u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->velocity = u_velocity.real; offset += sizeof(this->velocity); union { double real; uint64_t base; } u_acceleration; u_acceleration.base = 0; u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->acceleration = u_acceleration.real; offset += sizeof(this->acceleration); return offset; } const char * getType(){ return "control_msgs/JointTolerance"; }; const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; }; }; } #endif