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/JointTrajectoryControllerState.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_JointTrajectoryControllerState_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_JointTrajectoryControllerState_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 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9 #include "trajectory_msgs/JointTrajectoryPoint.h"
Gary Servin 0:04ac6be8229a 10
Gary Servin 0:04ac6be8229a 11 namespace control_msgs
Gary Servin 0:04ac6be8229a 12 {
Gary Servin 0:04ac6be8229a 13
Gary Servin 0:04ac6be8229a 14 class JointTrajectoryControllerState : public ros::Msg
Gary Servin 0:04ac6be8229a 15 {
Gary Servin 0:04ac6be8229a 16 public:
Gary Servin 0:04ac6be8229a 17 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 18 _header_type header;
Gary Servin 0:04ac6be8229a 19 uint32_t joint_names_length;
Gary Servin 0:04ac6be8229a 20 typedef char* _joint_names_type;
Gary Servin 0:04ac6be8229a 21 _joint_names_type st_joint_names;
Gary Servin 0:04ac6be8229a 22 _joint_names_type * joint_names;
Gary Servin 0:04ac6be8229a 23 typedef trajectory_msgs::JointTrajectoryPoint _desired_type;
Gary Servin 0:04ac6be8229a 24 _desired_type desired;
Gary Servin 0:04ac6be8229a 25 typedef trajectory_msgs::JointTrajectoryPoint _actual_type;
Gary Servin 0:04ac6be8229a 26 _actual_type actual;
Gary Servin 0:04ac6be8229a 27 typedef trajectory_msgs::JointTrajectoryPoint _error_type;
Gary Servin 0:04ac6be8229a 28 _error_type error;
Gary Servin 0:04ac6be8229a 29
Gary Servin 0:04ac6be8229a 30 JointTrajectoryControllerState():
Gary Servin 0:04ac6be8229a 31 header(),
Gary Servin 0:04ac6be8229a 32 joint_names_length(0), joint_names(NULL),
Gary Servin 0:04ac6be8229a 33 desired(),
Gary Servin 0:04ac6be8229a 34 actual(),
Gary Servin 0:04ac6be8229a 35 error()
Gary Servin 0:04ac6be8229a 36 {
Gary Servin 0:04ac6be8229a 37 }
Gary Servin 0:04ac6be8229a 38
Gary Servin 0:04ac6be8229a 39 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 40 {
Gary Servin 0:04ac6be8229a 41 int offset = 0;
Gary Servin 0:04ac6be8229a 42 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 offset += sizeof(this->joint_names_length);
Gary Servin 0:04ac6be8229a 48 for( uint32_t i = 0; i < joint_names_length; i++){
Gary Servin 0:04ac6be8229a 49 uint32_t length_joint_namesi = strlen(this->joint_names[i]);
Gary Servin 0:04ac6be8229a 50 varToArr(outbuffer + offset, length_joint_namesi);
Gary Servin 0:04ac6be8229a 51 offset += 4;
Gary Servin 0:04ac6be8229a 52 memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
Gary Servin 0:04ac6be8229a 53 offset += length_joint_namesi;
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55 offset += this->desired.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 56 offset += this->actual.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 57 offset += this->error.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 58 return offset;
Gary Servin 0:04ac6be8229a 59 }
Gary Servin 0:04ac6be8229a 60
Gary Servin 0:04ac6be8229a 61 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 62 {
Gary Servin 0:04ac6be8229a 63 int offset = 0;
Gary Servin 0:04ac6be8229a 64 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 65 uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 66 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 67 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 68 joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 69 offset += sizeof(this->joint_names_length);
Gary Servin 0:04ac6be8229a 70 if(joint_names_lengthT > joint_names_length)
Gary Servin 0:04ac6be8229a 71 this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
Gary Servin 0:04ac6be8229a 72 joint_names_length = joint_names_lengthT;
Gary Servin 0:04ac6be8229a 73 for( uint32_t i = 0; i < joint_names_length; i++){
Gary Servin 0:04ac6be8229a 74 uint32_t length_st_joint_names;
Gary Servin 0:04ac6be8229a 75 arrToVar(length_st_joint_names, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 76 offset += 4;
Gary Servin 0:04ac6be8229a 77 for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
Gary Servin 0:04ac6be8229a 78 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 79 }
Gary Servin 0:04ac6be8229a 80 inbuffer[offset+length_st_joint_names-1]=0;
Gary Servin 0:04ac6be8229a 81 this->st_joint_names = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 82 offset += length_st_joint_names;
Gary Servin 0:04ac6be8229a 83 memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
Gary Servin 0:04ac6be8229a 84 }
Gary Servin 0:04ac6be8229a 85 offset += this->desired.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 86 offset += this->actual.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 87 offset += this->error.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 88 return offset;
Gary Servin 0:04ac6be8229a 89 }
Gary Servin 0:04ac6be8229a 90
Gary Servin 0:04ac6be8229a 91 const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
Gary Servin 0:04ac6be8229a 92 const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
Gary Servin 0:04ac6be8229a 93
Gary Servin 0:04ac6be8229a 94 };
Gary Servin 0:04ac6be8229a 95
Gary Servin 0:04ac6be8229a 96 }
Gary Servin 0:04ac6be8229a 97 #endif