ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

control_msgs/FollowJointTrajectoryResult.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryResult_h
garyservin 0:fd24f7ca9688 2 #define _ROS_control_msgs_FollowJointTrajectoryResult_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace control_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 class FollowJointTrajectoryResult : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 int32_t error_code;
garyservin 0:fd24f7ca9688 16 const char* error_string;
garyservin 0:fd24f7ca9688 17 enum { SUCCESSFUL = 0 };
garyservin 0:fd24f7ca9688 18 enum { INVALID_GOAL = -1 };
garyservin 0:fd24f7ca9688 19 enum { INVALID_JOINTS = -2 };
garyservin 0:fd24f7ca9688 20 enum { OLD_HEADER_TIMESTAMP = -3 };
garyservin 0:fd24f7ca9688 21 enum { PATH_TOLERANCE_VIOLATED = -4 };
garyservin 0:fd24f7ca9688 22 enum { GOAL_TOLERANCE_VIOLATED = -5 };
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 FollowJointTrajectoryResult():
garyservin 0:fd24f7ca9688 25 error_code(0),
garyservin 0:fd24f7ca9688 26 error_string("")
garyservin 0:fd24f7ca9688 27 {
garyservin 0:fd24f7ca9688 28 }
garyservin 0:fd24f7ca9688 29
garyservin 0:fd24f7ca9688 30 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 int offset = 0;
garyservin 0:fd24f7ca9688 33 union {
garyservin 0:fd24f7ca9688 34 int32_t real;
garyservin 0:fd24f7ca9688 35 uint32_t base;
garyservin 0:fd24f7ca9688 36 } u_error_code;
garyservin 0:fd24f7ca9688 37 u_error_code.real = this->error_code;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 42 offset += sizeof(this->error_code);
garyservin 0:fd24f7ca9688 43 uint32_t length_error_string = strlen(this->error_string);
garyservin 0:fd24f7ca9688 44 memcpy(outbuffer + offset, &length_error_string, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 45 offset += 4;
garyservin 0:fd24f7ca9688 46 memcpy(outbuffer + offset, this->error_string, length_error_string);
garyservin 0:fd24f7ca9688 47 offset += length_error_string;
garyservin 0:fd24f7ca9688 48 return offset;
garyservin 0:fd24f7ca9688 49 }
garyservin 0:fd24f7ca9688 50
garyservin 0:fd24f7ca9688 51 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 52 {
garyservin 0:fd24f7ca9688 53 int offset = 0;
garyservin 0:fd24f7ca9688 54 union {
garyservin 0:fd24f7ca9688 55 int32_t real;
garyservin 0:fd24f7ca9688 56 uint32_t base;
garyservin 0:fd24f7ca9688 57 } u_error_code;
garyservin 0:fd24f7ca9688 58 u_error_code.base = 0;
garyservin 0:fd24f7ca9688 59 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 60 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 61 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 62 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 63 this->error_code = u_error_code.real;
garyservin 0:fd24f7ca9688 64 offset += sizeof(this->error_code);
garyservin 0:fd24f7ca9688 65 uint32_t length_error_string;
garyservin 0:fd24f7ca9688 66 memcpy(&length_error_string, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 67 offset += 4;
garyservin 0:fd24f7ca9688 68 for(unsigned int k= offset; k< offset+length_error_string; ++k){
garyservin 0:fd24f7ca9688 69 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71 inbuffer[offset+length_error_string-1]=0;
garyservin 0:fd24f7ca9688 72 this->error_string = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 73 offset += length_error_string;
garyservin 0:fd24f7ca9688 74 return offset;
garyservin 0:fd24f7ca9688 75 }
garyservin 0:fd24f7ca9688 76
garyservin 0:fd24f7ca9688 77 const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; };
garyservin 0:fd24f7ca9688 78 const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; };
garyservin 0:fd24f7ca9688 79
garyservin 0:fd24f7ca9688 80 };
garyservin 0:fd24f7ca9688 81
garyservin 0:fd24f7ca9688 82 }
garyservin 0:fd24f7ca9688 83 #endif