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Dependencies:   mbed Watchdog stm32-sensor-base2

ros_lib_melodic/control_msgs/JointTolerance.h@2:b7fdc74e5c5d, 2020-07-07 (annotated)

Committer:
ommpy
Date:
Tue Jul 07 15:19:06 2020 +0530
Revision:
2:b7fdc74e5c5d
new board files

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ommpy 2:b7fdc74e5c5d 1 #ifndef _ROS_control_msgs_JointTolerance_h
ommpy 2:b7fdc74e5c5d 2 #define _ROS_control_msgs_JointTolerance_h
ommpy 2:b7fdc74e5c5d 3
ommpy 2:b7fdc74e5c5d 4 #include <stdint.h>
ommpy 2:b7fdc74e5c5d 5 #include <string.h>
ommpy 2:b7fdc74e5c5d 6 #include <stdlib.h>
ommpy 2:b7fdc74e5c5d 7 #include "ros/msg.h"
ommpy 2:b7fdc74e5c5d 8
ommpy 2:b7fdc74e5c5d 9 namespace control_msgs
ommpy 2:b7fdc74e5c5d 10 {
ommpy 2:b7fdc74e5c5d 11
ommpy 2:b7fdc74e5c5d 12 class JointTolerance : public ros::Msg
ommpy 2:b7fdc74e5c5d 13 {
ommpy 2:b7fdc74e5c5d 14 public:
ommpy 2:b7fdc74e5c5d 15 typedef const char* _name_type;
ommpy 2:b7fdc74e5c5d 16 _name_type name;
ommpy 2:b7fdc74e5c5d 17 typedef double _position_type;
ommpy 2:b7fdc74e5c5d 18 _position_type position;
ommpy 2:b7fdc74e5c5d 19 typedef double _velocity_type;
ommpy 2:b7fdc74e5c5d 20 _velocity_type velocity;
ommpy 2:b7fdc74e5c5d 21 typedef double _acceleration_type;
ommpy 2:b7fdc74e5c5d 22 _acceleration_type acceleration;
ommpy 2:b7fdc74e5c5d 23
ommpy 2:b7fdc74e5c5d 24 JointTolerance():
ommpy 2:b7fdc74e5c5d 25 name(""),
ommpy 2:b7fdc74e5c5d 26 position(0),
ommpy 2:b7fdc74e5c5d 27 velocity(0),
ommpy 2:b7fdc74e5c5d 28 acceleration(0)
ommpy 2:b7fdc74e5c5d 29 {
ommpy 2:b7fdc74e5c5d 30 }
ommpy 2:b7fdc74e5c5d 31
ommpy 2:b7fdc74e5c5d 32 virtual int serialize(unsigned char *outbuffer) const
ommpy 2:b7fdc74e5c5d 33 {
ommpy 2:b7fdc74e5c5d 34 int offset = 0;
ommpy 2:b7fdc74e5c5d 35 uint32_t length_name = strlen(this->name);
ommpy 2:b7fdc74e5c5d 36 varToArr(outbuffer + offset, length_name);
ommpy 2:b7fdc74e5c5d 37 offset += 4;
ommpy 2:b7fdc74e5c5d 38 memcpy(outbuffer + offset, this->name, length_name);
ommpy 2:b7fdc74e5c5d 39 offset += length_name;
ommpy 2:b7fdc74e5c5d 40 union {
ommpy 2:b7fdc74e5c5d 41 double real;
ommpy 2:b7fdc74e5c5d 42 uint64_t base;
ommpy 2:b7fdc74e5c5d 43 } u_position;
ommpy 2:b7fdc74e5c5d 44 u_position.real = this->position;
ommpy 2:b7fdc74e5c5d 45 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
ommpy 2:b7fdc74e5c5d 46 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
ommpy 2:b7fdc74e5c5d 47 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
ommpy 2:b7fdc74e5c5d 48 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
ommpy 2:b7fdc74e5c5d 49 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
ommpy 2:b7fdc74e5c5d 50 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
ommpy 2:b7fdc74e5c5d 51 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
ommpy 2:b7fdc74e5c5d 52 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
ommpy 2:b7fdc74e5c5d 53 offset += sizeof(this->position);
ommpy 2:b7fdc74e5c5d 54 union {
ommpy 2:b7fdc74e5c5d 55 double real;
ommpy 2:b7fdc74e5c5d 56 uint64_t base;
ommpy 2:b7fdc74e5c5d 57 } u_velocity;
ommpy 2:b7fdc74e5c5d 58 u_velocity.real = this->velocity;
ommpy 2:b7fdc74e5c5d 59 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
ommpy 2:b7fdc74e5c5d 60 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
ommpy 2:b7fdc74e5c5d 61 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
ommpy 2:b7fdc74e5c5d 62 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
ommpy 2:b7fdc74e5c5d 63 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
ommpy 2:b7fdc74e5c5d 64 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
ommpy 2:b7fdc74e5c5d 65 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
ommpy 2:b7fdc74e5c5d 66 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
ommpy 2:b7fdc74e5c5d 67 offset += sizeof(this->velocity);
ommpy 2:b7fdc74e5c5d 68 union {
ommpy 2:b7fdc74e5c5d 69 double real;
ommpy 2:b7fdc74e5c5d 70 uint64_t base;
ommpy 2:b7fdc74e5c5d 71 } u_acceleration;
ommpy 2:b7fdc74e5c5d 72 u_acceleration.real = this->acceleration;
ommpy 2:b7fdc74e5c5d 73 *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
ommpy 2:b7fdc74e5c5d 74 *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
ommpy 2:b7fdc74e5c5d 75 *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
ommpy 2:b7fdc74e5c5d 76 *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
ommpy 2:b7fdc74e5c5d 77 *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
ommpy 2:b7fdc74e5c5d 78 *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
ommpy 2:b7fdc74e5c5d 79 *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
ommpy 2:b7fdc74e5c5d 80 *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
ommpy 2:b7fdc74e5c5d 81 offset += sizeof(this->acceleration);
ommpy 2:b7fdc74e5c5d 82 return offset;
ommpy 2:b7fdc74e5c5d 83 }
ommpy 2:b7fdc74e5c5d 84
ommpy 2:b7fdc74e5c5d 85 virtual int deserialize(unsigned char *inbuffer)
ommpy 2:b7fdc74e5c5d 86 {
ommpy 2:b7fdc74e5c5d 87 int offset = 0;
ommpy 2:b7fdc74e5c5d 88 uint32_t length_name;
ommpy 2:b7fdc74e5c5d 89 arrToVar(length_name, (inbuffer + offset));
ommpy 2:b7fdc74e5c5d 90 offset += 4;
ommpy 2:b7fdc74e5c5d 91 for(unsigned int k= offset; k< offset+length_name; ++k){
ommpy 2:b7fdc74e5c5d 92 inbuffer[k-1]=inbuffer[k];
ommpy 2:b7fdc74e5c5d 93 }
ommpy 2:b7fdc74e5c5d 94 inbuffer[offset+length_name-1]=0;
ommpy 2:b7fdc74e5c5d 95 this->name = (char *)(inbuffer + offset-1);
ommpy 2:b7fdc74e5c5d 96 offset += length_name;
ommpy 2:b7fdc74e5c5d 97 union {
ommpy 2:b7fdc74e5c5d 98 double real;
ommpy 2:b7fdc74e5c5d 99 uint64_t base;
ommpy 2:b7fdc74e5c5d 100 } u_position;
ommpy 2:b7fdc74e5c5d 101 u_position.base = 0;
ommpy 2:b7fdc74e5c5d 102 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
ommpy 2:b7fdc74e5c5d 103 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
ommpy 2:b7fdc74e5c5d 104 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
ommpy 2:b7fdc74e5c5d 105 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
ommpy 2:b7fdc74e5c5d 106 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
ommpy 2:b7fdc74e5c5d 107 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
ommpy 2:b7fdc74e5c5d 108 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
ommpy 2:b7fdc74e5c5d 109 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
ommpy 2:b7fdc74e5c5d 110 this->position = u_position.real;
ommpy 2:b7fdc74e5c5d 111 offset += sizeof(this->position);
ommpy 2:b7fdc74e5c5d 112 union {
ommpy 2:b7fdc74e5c5d 113 double real;
ommpy 2:b7fdc74e5c5d 114 uint64_t base;
ommpy 2:b7fdc74e5c5d 115 } u_velocity;
ommpy 2:b7fdc74e5c5d 116 u_velocity.base = 0;
ommpy 2:b7fdc74e5c5d 117 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
ommpy 2:b7fdc74e5c5d 118 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
ommpy 2:b7fdc74e5c5d 119 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
ommpy 2:b7fdc74e5c5d 120 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
ommpy 2:b7fdc74e5c5d 121 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
ommpy 2:b7fdc74e5c5d 122 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
ommpy 2:b7fdc74e5c5d 123 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
ommpy 2:b7fdc74e5c5d 124 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
ommpy 2:b7fdc74e5c5d 125 this->velocity = u_velocity.real;
ommpy 2:b7fdc74e5c5d 126 offset += sizeof(this->velocity);
ommpy 2:b7fdc74e5c5d 127 union {
ommpy 2:b7fdc74e5c5d 128 double real;
ommpy 2:b7fdc74e5c5d 129 uint64_t base;
ommpy 2:b7fdc74e5c5d 130 } u_acceleration;
ommpy 2:b7fdc74e5c5d 131 u_acceleration.base = 0;
ommpy 2:b7fdc74e5c5d 132 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
ommpy 2:b7fdc74e5c5d 133 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
ommpy 2:b7fdc74e5c5d 134 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
ommpy 2:b7fdc74e5c5d 135 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
ommpy 2:b7fdc74e5c5d 136 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
ommpy 2:b7fdc74e5c5d 137 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
ommpy 2:b7fdc74e5c5d 138 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
ommpy 2:b7fdc74e5c5d 139 u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
ommpy 2:b7fdc74e5c5d 140 this->acceleration = u_acceleration.real;
ommpy 2:b7fdc74e5c5d 141 offset += sizeof(this->acceleration);
ommpy 2:b7fdc74e5c5d 142 return offset;
ommpy 2:b7fdc74e5c5d 143 }
ommpy 2:b7fdc74e5c5d 144
ommpy 2:b7fdc74e5c5d 145 const char * getType(){ return "control_msgs/JointTolerance"; };
ommpy 2:b7fdc74e5c5d 146 const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
ommpy 2:b7fdc74e5c5d 147
ommpy 2:b7fdc74e5c5d 148 };
ommpy 2:b7fdc74e5c5d 149
ommpy 2:b7fdc74e5c5d 150 }
ommpy 2:b7fdc74e5c5d 151 #endif