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/JointTolerance.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_JointTolerance_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_JointTolerance_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
Gary Servin 0:04ac6be8229a 9 namespace control_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class JointTolerance : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 16 _name_type name;
Gary Servin 0:04ac6be8229a 17 typedef double _position_type;
Gary Servin 0:04ac6be8229a 18 _position_type position;
Gary Servin 0:04ac6be8229a 19 typedef double _velocity_type;
Gary Servin 0:04ac6be8229a 20 _velocity_type velocity;
Gary Servin 0:04ac6be8229a 21 typedef double _acceleration_type;
Gary Servin 0:04ac6be8229a 22 _acceleration_type acceleration;
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 JointTolerance():
Gary Servin 0:04ac6be8229a 25 name(""),
Gary Servin 0:04ac6be8229a 26 position(0),
Gary Servin 0:04ac6be8229a 27 velocity(0),
Gary Servin 0:04ac6be8229a 28 acceleration(0)
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 }
Gary Servin 0:04ac6be8229a 31
Gary Servin 0:04ac6be8229a 32 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 33 {
Gary Servin 0:04ac6be8229a 34 int offset = 0;
Gary Servin 0:04ac6be8229a 35 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 36 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 37 offset += 4;
Gary Servin 0:04ac6be8229a 38 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 39 offset += length_name;
Gary Servin 0:04ac6be8229a 40 union {
Gary Servin 0:04ac6be8229a 41 double real;
Gary Servin 0:04ac6be8229a 42 uint64_t base;
Gary Servin 0:04ac6be8229a 43 } u_position;
Gary Servin 0:04ac6be8229a 44 u_position.real = this->position;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 54 union {
Gary Servin 0:04ac6be8229a 55 double real;
Gary Servin 0:04ac6be8229a 56 uint64_t base;
Gary Servin 0:04ac6be8229a 57 } u_velocity;
Gary Servin 0:04ac6be8229a 58 u_velocity.real = this->velocity;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 offset += sizeof(this->velocity);
Gary Servin 0:04ac6be8229a 68 union {
Gary Servin 0:04ac6be8229a 69 double real;
Gary Servin 0:04ac6be8229a 70 uint64_t base;
Gary Servin 0:04ac6be8229a 71 } u_acceleration;
Gary Servin 0:04ac6be8229a 72 u_acceleration.real = this->acceleration;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 79 *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 80 *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 81 offset += sizeof(this->acceleration);
Gary Servin 0:04ac6be8229a 82 return offset;
Gary Servin 0:04ac6be8229a 83 }
Gary Servin 0:04ac6be8229a 84
Gary Servin 0:04ac6be8229a 85 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 86 {
Gary Servin 0:04ac6be8229a 87 int offset = 0;
Gary Servin 0:04ac6be8229a 88 uint32_t length_name;
Gary Servin 0:04ac6be8229a 89 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 90 offset += 4;
Gary Servin 0:04ac6be8229a 91 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 92 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 93 }
Gary Servin 0:04ac6be8229a 94 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 95 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 96 offset += length_name;
Gary Servin 0:04ac6be8229a 97 union {
Gary Servin 0:04ac6be8229a 98 double real;
Gary Servin 0:04ac6be8229a 99 uint64_t base;
Gary Servin 0:04ac6be8229a 100 } u_position;
Gary Servin 0:04ac6be8229a 101 u_position.base = 0;
Gary Servin 0:04ac6be8229a 102 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 103 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 104 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 105 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 106 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 107 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 108 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 109 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 110 this->position = u_position.real;
Gary Servin 0:04ac6be8229a 111 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 112 union {
Gary Servin 0:04ac6be8229a 113 double real;
Gary Servin 0:04ac6be8229a 114 uint64_t base;
Gary Servin 0:04ac6be8229a 115 } u_velocity;
Gary Servin 0:04ac6be8229a 116 u_velocity.base = 0;
Gary Servin 0:04ac6be8229a 117 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 118 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 119 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 120 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 121 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 122 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 123 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 124 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 125 this->velocity = u_velocity.real;
Gary Servin 0:04ac6be8229a 126 offset += sizeof(this->velocity);
Gary Servin 0:04ac6be8229a 127 union {
Gary Servin 0:04ac6be8229a 128 double real;
Gary Servin 0:04ac6be8229a 129 uint64_t base;
Gary Servin 0:04ac6be8229a 130 } u_acceleration;
Gary Servin 0:04ac6be8229a 131 u_acceleration.base = 0;
Gary Servin 0:04ac6be8229a 132 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 133 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 134 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 135 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 136 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 137 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 138 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 139 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 140 this->acceleration = u_acceleration.real;
Gary Servin 0:04ac6be8229a 141 offset += sizeof(this->acceleration);
Gary Servin 0:04ac6be8229a 142 return offset;
Gary Servin 0:04ac6be8229a 143 }
Gary Servin 0:04ac6be8229a 144
Gary Servin 0:04ac6be8229a 145 const char * getType(){ return "control_msgs/JointTolerance"; };
Gary Servin 0:04ac6be8229a 146 const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
Gary Servin 0:04ac6be8229a 147
Gary Servin 0:04ac6be8229a 148 };
Gary Servin 0:04ac6be8229a 149
Gary Servin 0:04ac6be8229a 150 }
Gary Servin 0:04ac6be8229a 151 #endif