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/GripperCommandFeedback.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_GripperCommandFeedback_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_GripperCommandFeedback_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 GripperCommandFeedback : public ros::Msg
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14 public:
Gary Servin 0:04ac6be8229a 15 typedef double _position_type;
Gary Servin 0:04ac6be8229a 16 _position_type position;
Gary Servin 0:04ac6be8229a 17 typedef double _effort_type;
Gary Servin 0:04ac6be8229a 18 _effort_type effort;
Gary Servin 0:04ac6be8229a 19 typedef bool _stalled_type;
Gary Servin 0:04ac6be8229a 20 _stalled_type stalled;
Gary Servin 0:04ac6be8229a 21 typedef bool _reached_goal_type;
Gary Servin 0:04ac6be8229a 22 _reached_goal_type reached_goal;
Gary Servin 0:04ac6be8229a 23
Gary Servin 0:04ac6be8229a 24 GripperCommandFeedback():
Gary Servin 0:04ac6be8229a 25 position(0),
Gary Servin 0:04ac6be8229a 26 effort(0),
Gary Servin 0:04ac6be8229a 27 stalled(0),
Gary Servin 0:04ac6be8229a 28 reached_goal(0)
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 double real;
Gary Servin 0:04ac6be8229a 37 uint64_t base;
Gary Servin 0:04ac6be8229a 38 } u_position;
Gary Servin 0:04ac6be8229a 39 u_position.real = this->position;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 49 union {
Gary Servin 0:04ac6be8229a 50 double real;
Gary Servin 0:04ac6be8229a 51 uint64_t base;
Gary Servin 0:04ac6be8229a 52 } u_effort;
Gary Servin 0:04ac6be8229a 53 u_effort.real = this->effort;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 offset += sizeof(this->effort);
Gary Servin 0:04ac6be8229a 63 union {
Gary Servin 0:04ac6be8229a 64 bool real;
Gary Servin 0:04ac6be8229a 65 uint8_t base;
Gary Servin 0:04ac6be8229a 66 } u_stalled;
Gary Servin 0:04ac6be8229a 67 u_stalled.real = this->stalled;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 offset += sizeof(this->stalled);
Gary Servin 0:04ac6be8229a 70 union {
Gary Servin 0:04ac6be8229a 71 bool real;
Gary Servin 0:04ac6be8229a 72 uint8_t base;
Gary Servin 0:04ac6be8229a 73 } u_reached_goal;
Gary Servin 0:04ac6be8229a 74 u_reached_goal.real = this->reached_goal;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 offset += sizeof(this->reached_goal);
Gary Servin 0:04ac6be8229a 77 return offset;
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79
Gary Servin 0:04ac6be8229a 80 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 81 {
Gary Servin 0:04ac6be8229a 82 int offset = 0;
Gary Servin 0:04ac6be8229a 83 union {
Gary Servin 0:04ac6be8229a 84 double real;
Gary Servin 0:04ac6be8229a 85 uint64_t base;
Gary Servin 0:04ac6be8229a 86 } u_position;
Gary Servin 0:04ac6be8229a 87 u_position.base = 0;
Gary Servin 0:04ac6be8229a 88 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 89 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 90 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 91 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 92 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 93 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 94 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 95 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 96 this->position = u_position.real;
Gary Servin 0:04ac6be8229a 97 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 98 union {
Gary Servin 0:04ac6be8229a 99 double real;
Gary Servin 0:04ac6be8229a 100 uint64_t base;
Gary Servin 0:04ac6be8229a 101 } u_effort;
Gary Servin 0:04ac6be8229a 102 u_effort.base = 0;
Gary Servin 0:04ac6be8229a 103 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 104 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 105 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 106 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 107 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 108 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 109 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 110 u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 111 this->effort = u_effort.real;
Gary Servin 0:04ac6be8229a 112 offset += sizeof(this->effort);
Gary Servin 0:04ac6be8229a 113 union {
Gary Servin 0:04ac6be8229a 114 bool real;
Gary Servin 0:04ac6be8229a 115 uint8_t base;
Gary Servin 0:04ac6be8229a 116 } u_stalled;
Gary Servin 0:04ac6be8229a 117 u_stalled.base = 0;
Gary Servin 0:04ac6be8229a 118 u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 119 this->stalled = u_stalled.real;
Gary Servin 0:04ac6be8229a 120 offset += sizeof(this->stalled);
Gary Servin 0:04ac6be8229a 121 union {
Gary Servin 0:04ac6be8229a 122 bool real;
Gary Servin 0:04ac6be8229a 123 uint8_t base;
Gary Servin 0:04ac6be8229a 124 } u_reached_goal;
Gary Servin 0:04ac6be8229a 125 u_reached_goal.base = 0;
Gary Servin 0:04ac6be8229a 126 u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 127 this->reached_goal = u_reached_goal.real;
Gary Servin 0:04ac6be8229a 128 offset += sizeof(this->reached_goal);
Gary Servin 0:04ac6be8229a 129 return offset;
Gary Servin 0:04ac6be8229a 130 }
Gary Servin 0:04ac6be8229a 131
Gary Servin 0:04ac6be8229a 132 const char * getType(){ return "control_msgs/GripperCommandFeedback"; };
Gary Servin 0:04ac6be8229a 133 const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
Gary Servin 0:04ac6be8229a 134
Gary Servin 0:04ac6be8229a 135 };
Gary Servin 0:04ac6be8229a 136
Gary Servin 0:04ac6be8229a 137 }
Gary Servin 0:04ac6be8229a 138 #endif