ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.
control_msgs/PointHeadGoal.h
- Committer:
- Gary Servin
- Date:
- 2019-11-08
- Revision:
- 0:04ac6be8229a
File content as of revision 0:04ac6be8229a:
#ifndef _ROS_control_msgs_PointHeadGoal_h #define _ROS_control_msgs_PointHeadGoal_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "geometry_msgs/PointStamped.h" #include "geometry_msgs/Vector3.h" #include "ros/duration.h" namespace control_msgs { class PointHeadGoal : public ros::Msg { public: typedef geometry_msgs::PointStamped _target_type; _target_type target; typedef geometry_msgs::Vector3 _pointing_axis_type; _pointing_axis_type pointing_axis; typedef const char* _pointing_frame_type; _pointing_frame_type pointing_frame; typedef ros::Duration _min_duration_type; _min_duration_type min_duration; typedef double _max_velocity_type; _max_velocity_type max_velocity; PointHeadGoal(): target(), pointing_axis(), pointing_frame(""), min_duration(), max_velocity(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->target.serialize(outbuffer + offset); offset += this->pointing_axis.serialize(outbuffer + offset); uint32_t length_pointing_frame = strlen(this->pointing_frame); varToArr(outbuffer + offset, length_pointing_frame); offset += 4; memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame); offset += length_pointing_frame; *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF; offset += sizeof(this->min_duration.sec); *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF; offset += sizeof(this->min_duration.nsec); union { double real; uint64_t base; } u_max_velocity; u_max_velocity.real = this->max_velocity; *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF; *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF; *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF; *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF; *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF; offset += sizeof(this->max_velocity); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->target.deserialize(inbuffer + offset); offset += this->pointing_axis.deserialize(inbuffer + offset); uint32_t length_pointing_frame; arrToVar(length_pointing_frame, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_pointing_frame-1]=0; this->pointing_frame = (char *)(inbuffer + offset-1); offset += length_pointing_frame; this->min_duration.sec = ((uint32_t) (*(inbuffer + offset))); this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->min_duration.sec); this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset))); this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->min_duration.nsec); union { double real; uint64_t base; } u_max_velocity; u_max_velocity.base = 0; u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); this->max_velocity = u_max_velocity.real; offset += sizeof(this->max_velocity); return offset; } const char * getType(){ return "control_msgs/PointHeadGoal"; }; const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; }; }; } #endif