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

sensor_msgs/JointState.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_sensor_msgs_JointState_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_JointState_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 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace sensor_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class JointState : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 uint8_t name_length;
garyservin 0:fd24f7ca9688 18 char* st_name;
garyservin 0:fd24f7ca9688 19 char* * name;
garyservin 0:fd24f7ca9688 20 uint8_t position_length;
garyservin 0:fd24f7ca9688 21 double st_position;
garyservin 0:fd24f7ca9688 22 double * position;
garyservin 0:fd24f7ca9688 23 uint8_t velocity_length;
garyservin 0:fd24f7ca9688 24 double st_velocity;
garyservin 0:fd24f7ca9688 25 double * velocity;
garyservin 0:fd24f7ca9688 26 uint8_t effort_length;
garyservin 0:fd24f7ca9688 27 double st_effort;
garyservin 0:fd24f7ca9688 28 double * effort;
garyservin 0:fd24f7ca9688 29
garyservin 0:fd24f7ca9688 30 JointState():
garyservin 0:fd24f7ca9688 31 header(),
garyservin 0:fd24f7ca9688 32 name_length(0), name(NULL),
garyservin 0:fd24f7ca9688 33 position_length(0), position(NULL),
garyservin 0:fd24f7ca9688 34 velocity_length(0), velocity(NULL),
garyservin 0:fd24f7ca9688 35 effort_length(0), effort(NULL)
garyservin 0:fd24f7ca9688 36 {
garyservin 0:fd24f7ca9688 37 }
garyservin 0:fd24f7ca9688 38
garyservin 0:fd24f7ca9688 39 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 40 {
garyservin 0:fd24f7ca9688 41 int offset = 0;
garyservin 0:fd24f7ca9688 42 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset++) = name_length;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 47 for( uint8_t i = 0; i < name_length; i++){
garyservin 0:fd24f7ca9688 48 uint32_t length_namei = strlen(this->name[i]);
garyservin 0:fd24f7ca9688 49 memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 50 offset += 4;
garyservin 0:fd24f7ca9688 51 memcpy(outbuffer + offset, this->name[i], length_namei);
garyservin 0:fd24f7ca9688 52 offset += length_namei;
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset++) = position_length;
garyservin 0:fd24f7ca9688 55 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 57 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 58 for( uint8_t i = 0; i < position_length; i++){
garyservin 0:fd24f7ca9688 59 union {
garyservin 0:fd24f7ca9688 60 double real;
garyservin 0:fd24f7ca9688 61 uint64_t base;
garyservin 0:fd24f7ca9688 62 } u_positioni;
garyservin 0:fd24f7ca9688 63 u_positioni.real = this->position[i];
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 67 *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 69 *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 72 offset += sizeof(this->position[i]);
garyservin 0:fd24f7ca9688 73 }
garyservin 0:fd24f7ca9688 74 *(outbuffer + offset++) = velocity_length;
garyservin 0:fd24f7ca9688 75 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 76 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 77 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 78 for( uint8_t i = 0; i < velocity_length; i++){
garyservin 0:fd24f7ca9688 79 union {
garyservin 0:fd24f7ca9688 80 double real;
garyservin 0:fd24f7ca9688 81 uint64_t base;
garyservin 0:fd24f7ca9688 82 } u_velocityi;
garyservin 0:fd24f7ca9688 83 u_velocityi.real = this->velocity[i];
garyservin 0:fd24f7ca9688 84 *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 85 *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 86 *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 87 *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 88 *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 89 *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 90 *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 91 *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 92 offset += sizeof(this->velocity[i]);
garyservin 0:fd24f7ca9688 93 }
garyservin 0:fd24f7ca9688 94 *(outbuffer + offset++) = effort_length;
garyservin 0:fd24f7ca9688 95 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 96 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 97 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 98 for( uint8_t i = 0; i < effort_length; i++){
garyservin 0:fd24f7ca9688 99 union {
garyservin 0:fd24f7ca9688 100 double real;
garyservin 0:fd24f7ca9688 101 uint64_t base;
garyservin 0:fd24f7ca9688 102 } u_efforti;
garyservin 0:fd24f7ca9688 103 u_efforti.real = this->effort[i];
garyservin 0:fd24f7ca9688 104 *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 105 *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 106 *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 107 *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 108 *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 109 *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 110 *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 111 *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 112 offset += sizeof(this->effort[i]);
garyservin 0:fd24f7ca9688 113 }
garyservin 0:fd24f7ca9688 114 return offset;
garyservin 0:fd24f7ca9688 115 }
garyservin 0:fd24f7ca9688 116
garyservin 0:fd24f7ca9688 117 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 118 {
garyservin 0:fd24f7ca9688 119 int offset = 0;
garyservin 0:fd24f7ca9688 120 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 121 uint8_t name_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 122 if(name_lengthT > name_length)
garyservin 0:fd24f7ca9688 123 this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 124 offset += 3;
garyservin 0:fd24f7ca9688 125 name_length = name_lengthT;
garyservin 0:fd24f7ca9688 126 for( uint8_t i = 0; i < name_length; i++){
garyservin 0:fd24f7ca9688 127 uint32_t length_st_name;
garyservin 0:fd24f7ca9688 128 memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 129 offset += 4;
garyservin 0:fd24f7ca9688 130 for(unsigned int k= offset; k< offset+length_st_name; ++k){
garyservin 0:fd24f7ca9688 131 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 132 }
garyservin 0:fd24f7ca9688 133 inbuffer[offset+length_st_name-1]=0;
garyservin 0:fd24f7ca9688 134 this->st_name = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 135 offset += length_st_name;
garyservin 0:fd24f7ca9688 136 memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
garyservin 0:fd24f7ca9688 137 }
garyservin 0:fd24f7ca9688 138 uint8_t position_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 139 if(position_lengthT > position_length)
garyservin 0:fd24f7ca9688 140 this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 141 offset += 3;
garyservin 0:fd24f7ca9688 142 position_length = position_lengthT;
garyservin 0:fd24f7ca9688 143 for( uint8_t i = 0; i < position_length; i++){
garyservin 0:fd24f7ca9688 144 union {
garyservin 0:fd24f7ca9688 145 double real;
garyservin 0:fd24f7ca9688 146 uint64_t base;
garyservin 0:fd24f7ca9688 147 } u_st_position;
garyservin 0:fd24f7ca9688 148 u_st_position.base = 0;
garyservin 0:fd24f7ca9688 149 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 150 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 151 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 152 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 153 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 154 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 155 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 156 u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 157 this->st_position = u_st_position.real;
garyservin 0:fd24f7ca9688 158 offset += sizeof(this->st_position);
garyservin 0:fd24f7ca9688 159 memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
garyservin 0:fd24f7ca9688 160 }
garyservin 0:fd24f7ca9688 161 uint8_t velocity_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 162 if(velocity_lengthT > velocity_length)
garyservin 0:fd24f7ca9688 163 this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 164 offset += 3;
garyservin 0:fd24f7ca9688 165 velocity_length = velocity_lengthT;
garyservin 0:fd24f7ca9688 166 for( uint8_t i = 0; i < velocity_length; i++){
garyservin 0:fd24f7ca9688 167 union {
garyservin 0:fd24f7ca9688 168 double real;
garyservin 0:fd24f7ca9688 169 uint64_t base;
garyservin 0:fd24f7ca9688 170 } u_st_velocity;
garyservin 0:fd24f7ca9688 171 u_st_velocity.base = 0;
garyservin 0:fd24f7ca9688 172 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 173 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 174 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 175 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 176 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 177 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 178 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 179 u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 180 this->st_velocity = u_st_velocity.real;
garyservin 0:fd24f7ca9688 181 offset += sizeof(this->st_velocity);
garyservin 0:fd24f7ca9688 182 memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
garyservin 0:fd24f7ca9688 183 }
garyservin 0:fd24f7ca9688 184 uint8_t effort_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 185 if(effort_lengthT > effort_length)
garyservin 0:fd24f7ca9688 186 this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
garyservin 0:fd24f7ca9688 187 offset += 3;
garyservin 0:fd24f7ca9688 188 effort_length = effort_lengthT;
garyservin 0:fd24f7ca9688 189 for( uint8_t i = 0; i < effort_length; i++){
garyservin 0:fd24f7ca9688 190 union {
garyservin 0:fd24f7ca9688 191 double real;
garyservin 0:fd24f7ca9688 192 uint64_t base;
garyservin 0:fd24f7ca9688 193 } u_st_effort;
garyservin 0:fd24f7ca9688 194 u_st_effort.base = 0;
garyservin 0:fd24f7ca9688 195 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 196 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 197 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 198 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 199 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 200 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 201 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 202 u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 203 this->st_effort = u_st_effort.real;
garyservin 0:fd24f7ca9688 204 offset += sizeof(this->st_effort);
garyservin 0:fd24f7ca9688 205 memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
garyservin 0:fd24f7ca9688 206 }
garyservin 0:fd24f7ca9688 207 return offset;
garyservin 0:fd24f7ca9688 208 }
garyservin 0:fd24f7ca9688 209
garyservin 0:fd24f7ca9688 210 const char * getType(){ return "sensor_msgs/JointState"; };
garyservin 0:fd24f7ca9688 211 const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
garyservin 0:fd24f7ca9688 212
garyservin 0:fd24f7ca9688 213 };
garyservin 0:fd24f7ca9688 214
garyservin 0:fd24f7ca9688 215 }
garyservin 0:fd24f7ca9688 216 #endif