Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

control_msgs/SingleJointPositionGoal.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_control_msgs_SingleJointPositionGoal_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_SingleJointPositionGoal_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "ros/duration.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace control_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class SingleJointPositionGoal : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef double _position_type;
Gary Servin 0:04ac6be8229a 17 _position_type position;
Gary Servin 0:04ac6be8229a 18 typedef ros::Duration _min_duration_type;
Gary Servin 0:04ac6be8229a 19 _min_duration_type min_duration;
Gary Servin 0:04ac6be8229a 20 typedef double _max_velocity_type;
Gary Servin 0:04ac6be8229a 21 _max_velocity_type max_velocity;
Gary Servin 0:04ac6be8229a 22
Gary Servin 0:04ac6be8229a 23 SingleJointPositionGoal():
Gary Servin 0:04ac6be8229a 24 position(0),
Gary Servin 0:04ac6be8229a 25 min_duration(),
Gary Servin 0:04ac6be8229a 26 max_velocity(0)
Gary Servin 0:04ac6be8229a 27 {
Gary Servin 0:04ac6be8229a 28 }
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 31 {
Gary Servin 0:04ac6be8229a 32 int offset = 0;
Gary Servin 0:04ac6be8229a 33 union {
Gary Servin 0:04ac6be8229a 34 double real;
Gary Servin 0:04ac6be8229a 35 uint64_t base;
Gary Servin 0:04ac6be8229a 36 } u_position;
Gary Servin 0:04ac6be8229a 37 u_position.real = this->position;
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 offset += sizeof(this->min_duration.sec);
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 offset += sizeof(this->min_duration.nsec);
Gary Servin 0:04ac6be8229a 57 union {
Gary Servin 0:04ac6be8229a 58 double real;
Gary Servin 0:04ac6be8229a 59 uint64_t base;
Gary Servin 0:04ac6be8229a 60 } u_max_velocity;
Gary Servin 0:04ac6be8229a 61 u_max_velocity.real = this->max_velocity;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 offset += sizeof(this->max_velocity);
Gary Servin 0:04ac6be8229a 71 return offset;
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73
Gary Servin 0:04ac6be8229a 74 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 75 {
Gary Servin 0:04ac6be8229a 76 int offset = 0;
Gary Servin 0:04ac6be8229a 77 union {
Gary Servin 0:04ac6be8229a 78 double real;
Gary Servin 0:04ac6be8229a 79 uint64_t base;
Gary Servin 0:04ac6be8229a 80 } u_position;
Gary Servin 0:04ac6be8229a 81 u_position.base = 0;
Gary Servin 0:04ac6be8229a 82 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 83 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 84 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 85 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 86 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 87 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 88 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 89 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 90 this->position = u_position.real;
Gary Servin 0:04ac6be8229a 91 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 92 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 93 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 94 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 95 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 96 offset += sizeof(this->min_duration.sec);
Gary Servin 0:04ac6be8229a 97 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 98 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 99 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 100 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 101 offset += sizeof(this->min_duration.nsec);
Gary Servin 0:04ac6be8229a 102 union {
Gary Servin 0:04ac6be8229a 103 double real;
Gary Servin 0:04ac6be8229a 104 uint64_t base;
Gary Servin 0:04ac6be8229a 105 } u_max_velocity;
Gary Servin 0:04ac6be8229a 106 u_max_velocity.base = 0;
Gary Servin 0:04ac6be8229a 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 112 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 113 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 114 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 115 this->max_velocity = u_max_velocity.real;
Gary Servin 0:04ac6be8229a 116 offset += sizeof(this->max_velocity);
Gary Servin 0:04ac6be8229a 117 return offset;
Gary Servin 0:04ac6be8229a 118 }
Gary Servin 0:04ac6be8229a 119
Gary Servin 0:04ac6be8229a 120 const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
Gary Servin 0:04ac6be8229a 121 const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
Gary Servin 0:04ac6be8229a 122
Gary Servin 0:04ac6be8229a 123 };
Gary Servin 0:04ac6be8229a 124
Gary Servin 0:04ac6be8229a 125 }
Gary Servin 0:04ac6be8229a 126 #endif