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/JointTrajectoryControllerState.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_JointTrajectoryControllerState_h
garyservin 0:fd24f7ca9688 2 #define _ROS_control_msgs_JointTrajectoryControllerState_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 #include "trajectory_msgs/JointTrajectoryPoint.h"
garyservin 0:fd24f7ca9688 10
garyservin 0:fd24f7ca9688 11 namespace control_msgs
garyservin 0:fd24f7ca9688 12 {
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class JointTrajectoryControllerState : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17 std_msgs::Header header;
garyservin 0:fd24f7ca9688 18 uint8_t joint_names_length;
garyservin 0:fd24f7ca9688 19 char* st_joint_names;
garyservin 0:fd24f7ca9688 20 char* * joint_names;
garyservin 0:fd24f7ca9688 21 trajectory_msgs::JointTrajectoryPoint desired;
garyservin 0:fd24f7ca9688 22 trajectory_msgs::JointTrajectoryPoint actual;
garyservin 0:fd24f7ca9688 23 trajectory_msgs::JointTrajectoryPoint error;
garyservin 0:fd24f7ca9688 24
garyservin 0:fd24f7ca9688 25 JointTrajectoryControllerState():
garyservin 0:fd24f7ca9688 26 header(),
garyservin 0:fd24f7ca9688 27 joint_names_length(0), joint_names(NULL),
garyservin 0:fd24f7ca9688 28 desired(),
garyservin 0:fd24f7ca9688 29 actual(),
garyservin 0:fd24f7ca9688 30 error()
garyservin 0:fd24f7ca9688 31 {
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 35 {
garyservin 0:fd24f7ca9688 36 int offset = 0;
garyservin 0:fd24f7ca9688 37 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset++) = joint_names_length;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 42 for( uint8_t i = 0; i < joint_names_length; i++){
garyservin 0:fd24f7ca9688 43 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
garyservin 0:fd24f7ca9688 44 memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 45 offset += 4;
garyservin 0:fd24f7ca9688 46 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
garyservin 0:fd24f7ca9688 47 offset += length_joint_namesi;
garyservin 0:fd24f7ca9688 48 }
garyservin 0:fd24f7ca9688 49 offset += this->desired.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 50 offset += this->actual.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 51 offset += this->error.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 52 return offset;
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54
garyservin 0:fd24f7ca9688 55 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 56 {
garyservin 0:fd24f7ca9688 57 int offset = 0;
garyservin 0:fd24f7ca9688 58 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 59 uint8_t joint_names_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 60 if(joint_names_lengthT > joint_names_length)
garyservin 0:fd24f7ca9688 61 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
garyservin 0:fd24f7ca9688 62 offset += 3;
garyservin 0:fd24f7ca9688 63 joint_names_length = joint_names_lengthT;
garyservin 0:fd24f7ca9688 64 for( uint8_t i = 0; i < joint_names_length; i++){
garyservin 0:fd24f7ca9688 65 uint32_t length_st_joint_names;
garyservin 0:fd24f7ca9688 66 memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 67 offset += 4;
garyservin 0:fd24f7ca9688 68 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
garyservin 0:fd24f7ca9688 69 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71 inbuffer[offset+length_st_joint_names-1]=0;
garyservin 0:fd24f7ca9688 72 this->st_joint_names = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 73 offset += length_st_joint_names;
garyservin 0:fd24f7ca9688 74 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
garyservin 0:fd24f7ca9688 75 }
garyservin 0:fd24f7ca9688 76 offset += this->desired.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 77 offset += this->actual.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 78 offset += this->error.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 79 return offset;
garyservin 0:fd24f7ca9688 80 }
garyservin 0:fd24f7ca9688 81
garyservin 0:fd24f7ca9688 82 const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
garyservin 0:fd24f7ca9688 83 const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
garyservin 0:fd24f7ca9688 84
garyservin 0:fd24f7ca9688 85 };
garyservin 0:fd24f7ca9688 86
garyservin 0:fd24f7ca9688 87 }
garyservin 0:fd24f7ca9688 88 #endif