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/PointHeadGoal.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_PointHeadGoal_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_PointHeadGoal_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 "geometry_msgs/PointStamped.h"
Gary Servin 0:04ac6be8229a 9 #include "geometry_msgs/Vector3.h"
Gary Servin 0:04ac6be8229a 10 #include "ros/duration.h"
Gary Servin 0:04ac6be8229a 11
Gary Servin 0:04ac6be8229a 12 namespace control_msgs
Gary Servin 0:04ac6be8229a 13 {
Gary Servin 0:04ac6be8229a 14
Gary Servin 0:04ac6be8229a 15 class PointHeadGoal : public ros::Msg
Gary Servin 0:04ac6be8229a 16 {
Gary Servin 0:04ac6be8229a 17 public:
Gary Servin 0:04ac6be8229a 18 typedef geometry_msgs::PointStamped _target_type;
Gary Servin 0:04ac6be8229a 19 _target_type target;
Gary Servin 0:04ac6be8229a 20 typedef geometry_msgs::Vector3 _pointing_axis_type;
Gary Servin 0:04ac6be8229a 21 _pointing_axis_type pointing_axis;
Gary Servin 0:04ac6be8229a 22 typedef const char* _pointing_frame_type;
Gary Servin 0:04ac6be8229a 23 _pointing_frame_type pointing_frame;
Gary Servin 0:04ac6be8229a 24 typedef ros::Duration _min_duration_type;
Gary Servin 0:04ac6be8229a 25 _min_duration_type min_duration;
Gary Servin 0:04ac6be8229a 26 typedef double _max_velocity_type;
Gary Servin 0:04ac6be8229a 27 _max_velocity_type max_velocity;
Gary Servin 0:04ac6be8229a 28
Gary Servin 0:04ac6be8229a 29 PointHeadGoal():
Gary Servin 0:04ac6be8229a 30 target(),
Gary Servin 0:04ac6be8229a 31 pointing_axis(),
Gary Servin 0:04ac6be8229a 32 pointing_frame(""),
Gary Servin 0:04ac6be8229a 33 min_duration(),
Gary Servin 0:04ac6be8229a 34 max_velocity(0)
Gary Servin 0:04ac6be8229a 35 {
Gary Servin 0:04ac6be8229a 36 }
Gary Servin 0:04ac6be8229a 37
Gary Servin 0:04ac6be8229a 38 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 int offset = 0;
Gary Servin 0:04ac6be8229a 41 offset += this->target.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 42 offset += this->pointing_axis.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 43 uint32_t length_pointing_frame = strlen(this->pointing_frame);
Gary Servin 0:04ac6be8229a 44 varToArr(outbuffer + offset, length_pointing_frame);
Gary Servin 0:04ac6be8229a 45 offset += 4;
Gary Servin 0:04ac6be8229a 46 memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
Gary Servin 0:04ac6be8229a 47 offset += length_pointing_frame;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->min_duration.sec);
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 offset += sizeof(this->min_duration.nsec);
Gary Servin 0:04ac6be8229a 58 union {
Gary Servin 0:04ac6be8229a 59 double real;
Gary Servin 0:04ac6be8229a 60 uint64_t base;
Gary Servin 0:04ac6be8229a 61 } u_max_velocity;
Gary Servin 0:04ac6be8229a 62 u_max_velocity.real = this->max_velocity;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 offset += sizeof(this->max_velocity);
Gary Servin 0:04ac6be8229a 72 return offset;
Gary Servin 0:04ac6be8229a 73 }
Gary Servin 0:04ac6be8229a 74
Gary Servin 0:04ac6be8229a 75 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 76 {
Gary Servin 0:04ac6be8229a 77 int offset = 0;
Gary Servin 0:04ac6be8229a 78 offset += this->target.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 79 offset += this->pointing_axis.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 80 uint32_t length_pointing_frame;
Gary Servin 0:04ac6be8229a 81 arrToVar(length_pointing_frame, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 82 offset += 4;
Gary Servin 0:04ac6be8229a 83 for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
Gary Servin 0:04ac6be8229a 84 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 85 }
Gary Servin 0:04ac6be8229a 86 inbuffer[offset+length_pointing_frame-1]=0;
Gary Servin 0:04ac6be8229a 87 this->pointing_frame = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 88 offset += length_pointing_frame;
Gary Servin 0:04ac6be8229a 89 this->min_duration.sec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 90 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 91 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 92 this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 93 offset += sizeof(this->min_duration.sec);
Gary Servin 0:04ac6be8229a 94 this->min_duration.nsec = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 95 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 96 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 97 this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->min_duration.nsec);
Gary Servin 0:04ac6be8229a 99 union {
Gary Servin 0:04ac6be8229a 100 double real;
Gary Servin 0:04ac6be8229a 101 uint64_t base;
Gary Servin 0:04ac6be8229a 102 } u_max_velocity;
Gary Servin 0:04ac6be8229a 103 u_max_velocity.base = 0;
Gary Servin 0:04ac6be8229a 104 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 105 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 106 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 107 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 108 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 109 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 110 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 111 u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 112 this->max_velocity = u_max_velocity.real;
Gary Servin 0:04ac6be8229a 113 offset += sizeof(this->max_velocity);
Gary Servin 0:04ac6be8229a 114 return offset;
Gary Servin 0:04ac6be8229a 115 }
Gary Servin 0:04ac6be8229a 116
Gary Servin 0:04ac6be8229a 117 const char * getType(){ return "control_msgs/PointHeadGoal"; };
Gary Servin 0:04ac6be8229a 118 const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
Gary Servin 0:04ac6be8229a 119
Gary Servin 0:04ac6be8229a 120 };
Gary Servin 0:04ac6be8229a 121
Gary Servin 0:04ac6be8229a 122 }
Gary Servin 0:04ac6be8229a 123 #endif