hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

control_msgs/FollowJointTrajectoryResult.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_control_msgs_FollowJointTrajectoryResult_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_FollowJointTrajectoryResult_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8
Gary Servin 0:04ac6be8229a 9 namespace control_msgs
Gary Servin 0:04ac6be8229a 10 {
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 class FollowJointTrajectoryResult : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef int32_t _error_code_type;
Gary Servin 0:04ac6be8229a 16 _error_code_type error_code;
Gary Servin 0:04ac6be8229a 17 typedef const char* _error_string_type;
Gary Servin 0:04ac6be8229a 18 _error_string_type error_string;
Gary Servin 0:04ac6be8229a 19 enum { SUCCESSFUL = 0 };
Gary Servin 0:04ac6be8229a 20 enum { INVALID_GOAL = -1 };
Gary Servin 0:04ac6be8229a 21 enum { INVALID_JOINTS = -2 };
Gary Servin 0:04ac6be8229a 22 enum { OLD_HEADER_TIMESTAMP = -3 };
Gary Servin 0:04ac6be8229a 23 enum { PATH_TOLERANCE_VIOLATED = -4 };
Gary Servin 0:04ac6be8229a 24 enum { GOAL_TOLERANCE_VIOLATED = -5 };
Gary Servin 0:04ac6be8229a 25
Gary Servin 0:04ac6be8229a 26 FollowJointTrajectoryResult():
Gary Servin 0:04ac6be8229a 27 error_code(0),
Gary Servin 0:04ac6be8229a 28 error_string("")
Gary Servin 0:04ac6be8229a 29 {
Gary Servin 0:04ac6be8229a 30 }
Gary Servin 0:04ac6be8229a 31
Gary Servin 0:04ac6be8229a 32 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 33 {
Gary Servin 0:04ac6be8229a 34 int offset = 0;
Gary Servin 0:04ac6be8229a 35 union {
Gary Servin 0:04ac6be8229a 36 int32_t real;
Gary Servin 0:04ac6be8229a 37 uint32_t base;
Gary Servin 0:04ac6be8229a 38 } u_error_code;
Gary Servin 0:04ac6be8229a 39 u_error_code.real = this->error_code;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 offset += sizeof(this->error_code);
Gary Servin 0:04ac6be8229a 45 uint32_t length_error_string = strlen(this->error_string);
Gary Servin 0:04ac6be8229a 46 varToArr(outbuffer + offset, length_error_string);
Gary Servin 0:04ac6be8229a 47 offset += 4;
Gary Servin 0:04ac6be8229a 48 memcpy(outbuffer + offset, this->error_string, length_error_string);
Gary Servin 0:04ac6be8229a 49 offset += length_error_string;
Gary Servin 0:04ac6be8229a 50 return offset;
Gary Servin 0:04ac6be8229a 51 }
Gary Servin 0:04ac6be8229a 52
Gary Servin 0:04ac6be8229a 53 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 54 {
Gary Servin 0:04ac6be8229a 55 int offset = 0;
Gary Servin 0:04ac6be8229a 56 union {
Gary Servin 0:04ac6be8229a 57 int32_t real;
Gary Servin 0:04ac6be8229a 58 uint32_t base;
Gary Servin 0:04ac6be8229a 59 } u_error_code;
Gary Servin 0:04ac6be8229a 60 u_error_code.base = 0;
Gary Servin 0:04ac6be8229a 61 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 62 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 63 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 64 u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 65 this->error_code = u_error_code.real;
Gary Servin 0:04ac6be8229a 66 offset += sizeof(this->error_code);
Gary Servin 0:04ac6be8229a 67 uint32_t length_error_string;
Gary Servin 0:04ac6be8229a 68 arrToVar(length_error_string, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 69 offset += 4;
Gary Servin 0:04ac6be8229a 70 for(unsigned int k= offset; k< offset+length_error_string; ++k){
Gary Servin 0:04ac6be8229a 71 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 72 }
Gary Servin 0:04ac6be8229a 73 inbuffer[offset+length_error_string-1]=0;
Gary Servin 0:04ac6be8229a 74 this->error_string = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 75 offset += length_error_string;
Gary Servin 0:04ac6be8229a 76 return offset;
Gary Servin 0:04ac6be8229a 77 }
Gary Servin 0:04ac6be8229a 78
Gary Servin 0:04ac6be8229a 79 const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; };
Gary Servin 0:04ac6be8229a 80 const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; };
Gary Servin 0:04ac6be8229a 81
Gary Servin 0:04ac6be8229a 82 };
Gary Servin 0:04ac6be8229a 83
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85 #endif