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/GripperCommand.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_GripperCommand_h
garyservin 0:fd24f7ca9688 2 #define _ROS_control_msgs_GripperCommand_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 GripperCommand : public ros::Msg
garyservin 0:fd24f7ca9688 13 {
garyservin 0:fd24f7ca9688 14 public:
garyservin 0:fd24f7ca9688 15 double position;
garyservin 0:fd24f7ca9688 16 double max_effort;
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 GripperCommand():
garyservin 0:fd24f7ca9688 19 position(0),
garyservin 0:fd24f7ca9688 20 max_effort(0)
garyservin 0:fd24f7ca9688 21 {
garyservin 0:fd24f7ca9688 22 }
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 25 {
garyservin 0:fd24f7ca9688 26 int offset = 0;
garyservin 0:fd24f7ca9688 27 union {
garyservin 0:fd24f7ca9688 28 double real;
garyservin 0:fd24f7ca9688 29 uint64_t base;
garyservin 0:fd24f7ca9688 30 } u_position;
garyservin 0:fd24f7ca9688 31 u_position.real = this->position;
garyservin 0:fd24f7ca9688 32 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 33 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 34 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 40 offset += sizeof(this->position);
garyservin 0:fd24f7ca9688 41 union {
garyservin 0:fd24f7ca9688 42 double real;
garyservin 0:fd24f7ca9688 43 uint64_t base;
garyservin 0:fd24f7ca9688 44 } u_max_effort;
garyservin 0:fd24f7ca9688 45 u_max_effort.real = this->max_effort;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 50 *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
garyservin 0:fd24f7ca9688 54 offset += sizeof(this->max_effort);
garyservin 0:fd24f7ca9688 55 return offset;
garyservin 0:fd24f7ca9688 56 }
garyservin 0:fd24f7ca9688 57
garyservin 0:fd24f7ca9688 58 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 59 {
garyservin 0:fd24f7ca9688 60 int offset = 0;
garyservin 0:fd24f7ca9688 61 union {
garyservin 0:fd24f7ca9688 62 double real;
garyservin 0:fd24f7ca9688 63 uint64_t base;
garyservin 0:fd24f7ca9688 64 } u_position;
garyservin 0:fd24f7ca9688 65 u_position.base = 0;
garyservin 0:fd24f7ca9688 66 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 67 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 68 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 69 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 70 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 71 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 72 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 73 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 74 this->position = u_position.real;
garyservin 0:fd24f7ca9688 75 offset += sizeof(this->position);
garyservin 0:fd24f7ca9688 76 union {
garyservin 0:fd24f7ca9688 77 double real;
garyservin 0:fd24f7ca9688 78 uint64_t base;
garyservin 0:fd24f7ca9688 79 } u_max_effort;
garyservin 0:fd24f7ca9688 80 u_max_effort.base = 0;
garyservin 0:fd24f7ca9688 81 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 82 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 83 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 84 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 85 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:fd24f7ca9688 86 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:fd24f7ca9688 87 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:fd24f7ca9688 88 u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:fd24f7ca9688 89 this->max_effort = u_max_effort.real;
garyservin 0:fd24f7ca9688 90 offset += sizeof(this->max_effort);
garyservin 0:fd24f7ca9688 91 return offset;
garyservin 0:fd24f7ca9688 92 }
garyservin 0:fd24f7ca9688 93
garyservin 0:fd24f7ca9688 94 const char * getType(){ return "control_msgs/GripperCommand"; };
garyservin 0:fd24f7ca9688 95 const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
garyservin 0:fd24f7ca9688 96
garyservin 0:fd24f7ca9688 97 };
garyservin 0:fd24f7ca9688 98
garyservin 0:fd24f7ca9688 99 }
garyservin 0:fd24f7ca9688 100 #endif