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Fork of ros_lib_kinetic by
openlab/RobotFeedback.h
- Committer:
- randalthor
- Date:
- 2017-05-19
- Revision:
- 2:af816ffd33df
File content as of revision 2:af816ffd33df:
#ifndef _ROS_openlab_RobotFeedback_h #define _ROS_openlab_RobotFeedback_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" namespace openlab { class RobotFeedback : public ros::Msg { public: typedef int32_t _encoder_1_type; _encoder_1_type encoder_1; typedef int32_t _encoder_2_type; _encoder_2_type encoder_2; typedef int32_t _encoder_3_type; _encoder_3_type encoder_3; typedef int32_t _encoder_4_type; _encoder_4_type encoder_4; typedef float _pwm_1_type; _pwm_1_type pwm_1; typedef float _pwm_2_type; _pwm_2_type pwm_2; typedef float _pwm_3_type; _pwm_3_type pwm_3; typedef float _pwm_4_type; _pwm_4_type pwm_4; typedef float _dc_current_1_type; _dc_current_1_type dc_current_1; typedef float _dc_current_2_type; _dc_current_2_type dc_current_2; typedef float _dc_current_3_type; _dc_current_3_type dc_current_3; typedef float _dc_current_4_type; _dc_current_4_type dc_current_4; typedef float _sensor_1_type; _sensor_1_type sensor_1; typedef float _sensor_2_type; _sensor_2_type sensor_2; typedef float _sensor_3_type; _sensor_3_type sensor_3; typedef float _sensor_4_type; _sensor_4_type sensor_4; RobotFeedback(): encoder_1(0), encoder_2(0), encoder_3(0), encoder_4(0), pwm_1(0), pwm_2(0), pwm_3(0), pwm_4(0), dc_current_1(0), dc_current_2(0), dc_current_3(0), dc_current_4(0), sensor_1(0), sensor_2(0), sensor_3(0), sensor_4(0) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; union { int32_t real; uint32_t base; } u_encoder_1; u_encoder_1.real = this->encoder_1; *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF; offset += sizeof(this->encoder_1); union { int32_t real; uint32_t base; } u_encoder_2; u_encoder_2.real = this->encoder_2; *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF; offset += sizeof(this->encoder_2); union { int32_t real; uint32_t base; } u_encoder_3; u_encoder_3.real = this->encoder_3; *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF; offset += sizeof(this->encoder_3); union { int32_t real; uint32_t base; } u_encoder_4; u_encoder_4.real = this->encoder_4; *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF; offset += sizeof(this->encoder_4); union { float real; uint32_t base; } u_pwm_1; u_pwm_1.real = this->pwm_1; *(outbuffer + offset + 0) = (u_pwm_1.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_pwm_1.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_pwm_1.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_pwm_1.base >> (8 * 3)) & 0xFF; offset += sizeof(this->pwm_1); union { float real; uint32_t base; } u_pwm_2; u_pwm_2.real = this->pwm_2; *(outbuffer + offset + 0) = (u_pwm_2.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_pwm_2.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_pwm_2.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_pwm_2.base >> (8 * 3)) & 0xFF; offset += sizeof(this->pwm_2); union { float real; uint32_t base; } u_pwm_3; u_pwm_3.real = this->pwm_3; *(outbuffer + offset + 0) = (u_pwm_3.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_pwm_3.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_pwm_3.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_pwm_3.base >> (8 * 3)) & 0xFF; offset += sizeof(this->pwm_3); union { float real; uint32_t base; } u_pwm_4; u_pwm_4.real = this->pwm_4; *(outbuffer + offset + 0) = (u_pwm_4.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_pwm_4.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_pwm_4.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_pwm_4.base >> (8 * 3)) & 0xFF; offset += sizeof(this->pwm_4); union { float real; uint32_t base; } u_dc_current_1; u_dc_current_1.real = this->dc_current_1; *(outbuffer + offset + 0) = (u_dc_current_1.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_dc_current_1.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_dc_current_1.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_dc_current_1.base >> (8 * 3)) & 0xFF; offset += sizeof(this->dc_current_1); union { float real; uint32_t base; } u_dc_current_2; u_dc_current_2.real = this->dc_current_2; *(outbuffer + offset + 0) = (u_dc_current_2.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_dc_current_2.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_dc_current_2.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_dc_current_2.base >> (8 * 3)) & 0xFF; offset += sizeof(this->dc_current_2); union { float real; uint32_t base; } u_dc_current_3; u_dc_current_3.real = this->dc_current_3; *(outbuffer + offset + 0) = (u_dc_current_3.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_dc_current_3.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_dc_current_3.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_dc_current_3.base >> (8 * 3)) & 0xFF; offset += sizeof(this->dc_current_3); union { float real; uint32_t base; } u_dc_current_4; u_dc_current_4.real = this->dc_current_4; *(outbuffer + offset + 0) = (u_dc_current_4.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_dc_current_4.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_dc_current_4.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_dc_current_4.base >> (8 * 3)) & 0xFF; offset += sizeof(this->dc_current_4); union { float real; uint32_t base; } u_sensor_1; u_sensor_1.real = this->sensor_1; *(outbuffer + offset + 0) = (u_sensor_1.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_sensor_1.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_sensor_1.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_sensor_1.base >> (8 * 3)) & 0xFF; offset += sizeof(this->sensor_1); union { float real; uint32_t base; } u_sensor_2; u_sensor_2.real = this->sensor_2; *(outbuffer + offset + 0) = (u_sensor_2.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_sensor_2.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_sensor_2.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_sensor_2.base >> (8 * 3)) & 0xFF; offset += sizeof(this->sensor_2); union { float real; uint32_t base; } u_sensor_3; u_sensor_3.real = this->sensor_3; *(outbuffer + offset + 0) = (u_sensor_3.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_sensor_3.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_sensor_3.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_sensor_3.base >> (8 * 3)) & 0xFF; offset += sizeof(this->sensor_3); union { float real; uint32_t base; } u_sensor_4; u_sensor_4.real = this->sensor_4; *(outbuffer + offset + 0) = (u_sensor_4.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_sensor_4.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_sensor_4.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_sensor_4.base >> (8 * 3)) & 0xFF; offset += sizeof(this->sensor_4); return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; union { int32_t real; uint32_t base; } u_encoder_1; u_encoder_1.base = 0; u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->encoder_1 = u_encoder_1.real; offset += sizeof(this->encoder_1); union { int32_t real; uint32_t base; } u_encoder_2; u_encoder_2.base = 0; u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->encoder_2 = u_encoder_2.real; offset += sizeof(this->encoder_2); union { int32_t real; uint32_t base; } u_encoder_3; u_encoder_3.base = 0; u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->encoder_3 = u_encoder_3.real; offset += sizeof(this->encoder_3); union { int32_t real; uint32_t base; } u_encoder_4; u_encoder_4.base = 0; u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->encoder_4 = u_encoder_4.real; offset += sizeof(this->encoder_4); union { float real; uint32_t base; } u_pwm_1; u_pwm_1.base = 0; u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->pwm_1 = u_pwm_1.real; offset += sizeof(this->pwm_1); union { float real; uint32_t base; } u_pwm_2; u_pwm_2.base = 0; u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->pwm_2 = u_pwm_2.real; offset += sizeof(this->pwm_2); union { float real; uint32_t base; } u_pwm_3; u_pwm_3.base = 0; u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->pwm_3 = u_pwm_3.real; offset += sizeof(this->pwm_3); union { float real; uint32_t base; } u_pwm_4; u_pwm_4.base = 0; u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->pwm_4 = u_pwm_4.real; offset += sizeof(this->pwm_4); union { float real; uint32_t base; } u_dc_current_1; u_dc_current_1.base = 0; u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->dc_current_1 = u_dc_current_1.real; offset += sizeof(this->dc_current_1); union { float real; uint32_t base; } u_dc_current_2; u_dc_current_2.base = 0; u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->dc_current_2 = u_dc_current_2.real; offset += sizeof(this->dc_current_2); union { float real; uint32_t base; } u_dc_current_3; u_dc_current_3.base = 0; u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->dc_current_3 = u_dc_current_3.real; offset += sizeof(this->dc_current_3); union { float real; uint32_t base; } u_dc_current_4; u_dc_current_4.base = 0; u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->dc_current_4 = u_dc_current_4.real; offset += sizeof(this->dc_current_4); union { float real; uint32_t base; } u_sensor_1; u_sensor_1.base = 0; u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->sensor_1 = u_sensor_1.real; offset += sizeof(this->sensor_1); union { float real; uint32_t base; } u_sensor_2; u_sensor_2.base = 0; u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->sensor_2 = u_sensor_2.real; offset += sizeof(this->sensor_2); union { float real; uint32_t base; } u_sensor_3; u_sensor_3.base = 0; u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->sensor_3 = u_sensor_3.real; offset += sizeof(this->sensor_3); union { float real; uint32_t base; } u_sensor_4; u_sensor_4.base = 0; u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->sensor_4 = u_sensor_4.real; offset += sizeof(this->sensor_4); return offset; } const char * getType(){ return "openlab/RobotFeedback"; }; const char * getMD5(){ return "f31bdce92ed3d88b204eacb08d719892"; }; }; } #endif