Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

control_msgs/FollowJointTrajectoryResult.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryResult_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_control_msgs_FollowJointTrajectoryResult_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 FollowJointTrajectoryResult : public ros::Msg
garyservin 0:9e9b7db60fd5 13 {
garyservin 0:9e9b7db60fd5 14 public:
garyservin 0:9e9b7db60fd5 15 typedef int32_t _error_code_type;
garyservin 0:9e9b7db60fd5 16 _error_code_type error_code;
garyservin 0:9e9b7db60fd5 17 typedef const char* _error_string_type;
garyservin 0:9e9b7db60fd5 18 _error_string_type error_string;
garyservin 0:9e9b7db60fd5 19 enum { SUCCESSFUL = 0 };
garyservin 0:9e9b7db60fd5 20 enum { INVALID_GOAL = -1 };
garyservin 0:9e9b7db60fd5 21 enum { INVALID_JOINTS = -2 };
garyservin 0:9e9b7db60fd5 22 enum { OLD_HEADER_TIMESTAMP = -3 };
garyservin 0:9e9b7db60fd5 23 enum { PATH_TOLERANCE_VIOLATED = -4 };
garyservin 0:9e9b7db60fd5 24 enum { GOAL_TOLERANCE_VIOLATED = -5 };
garyservin 0:9e9b7db60fd5 25
garyservin 0:9e9b7db60fd5 26 FollowJointTrajectoryResult():
garyservin 0:9e9b7db60fd5 27 error_code(0),
garyservin 0:9e9b7db60fd5 28 error_string("")
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 int32_t real;
garyservin 0:9e9b7db60fd5 37 uint32_t base;
garyservin 0:9e9b7db60fd5 38 } u_error_code;
garyservin 0:9e9b7db60fd5 39 u_error_code.real = this->error_code;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 offset += sizeof(this->error_code);
garyservin 0:9e9b7db60fd5 45 uint32_t length_error_string = strlen(this->error_string);
garyservin 0:9e9b7db60fd5 46 varToArr(outbuffer + offset, length_error_string);
garyservin 0:9e9b7db60fd5 47 offset += 4;
garyservin 0:9e9b7db60fd5 48 memcpy(outbuffer + offset, this->error_string, length_error_string);
garyservin 0:9e9b7db60fd5 49 offset += length_error_string;
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 union {
garyservin 0:9e9b7db60fd5 57 int32_t real;
garyservin 0:9e9b7db60fd5 58 uint32_t base;
garyservin 0:9e9b7db60fd5 59 } u_error_code;
garyservin 0:9e9b7db60fd5 60 u_error_code.base = 0;
garyservin 0:9e9b7db60fd5 61 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 62 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 63 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 64 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 65 this->error_code = u_error_code.real;
garyservin 0:9e9b7db60fd5 66 offset += sizeof(this->error_code);
garyservin 0:9e9b7db60fd5 67 uint32_t length_error_string;
garyservin 0:9e9b7db60fd5 68 arrToVar(length_error_string, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 69 offset += 4;
garyservin 0:9e9b7db60fd5 70 for(unsigned int k= offset; k< offset+length_error_string; ++k){
garyservin 0:9e9b7db60fd5 71 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 72 }
garyservin 0:9e9b7db60fd5 73 inbuffer[offset+length_error_string-1]=0;
garyservin 0:9e9b7db60fd5 74 this->error_string = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 75 offset += length_error_string;
garyservin 0:9e9b7db60fd5 76 return offset;
garyservin 0:9e9b7db60fd5 77 }
garyservin 0:9e9b7db60fd5 78
garyservin 0:9e9b7db60fd5 79 const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; };
garyservin 0:9e9b7db60fd5 80 const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; };
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 };
garyservin 0:9e9b7db60fd5 83
garyservin 0:9e9b7db60fd5 84 }
garyservin 0:9e9b7db60fd5 85 #endif