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/SingleJointPositionFeedback.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_SingleJointPositionFeedback_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_control_msgs_SingleJointPositionFeedback_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
Gary Servin 0:04ac6be8229a 10 namespace control_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class SingleJointPositionFeedback : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 typedef double _position_type;
Gary Servin 0:04ac6be8229a 19 _position_type position;
Gary Servin 0:04ac6be8229a 20 typedef double _velocity_type;
Gary Servin 0:04ac6be8229a 21 _velocity_type velocity;
Gary Servin 0:04ac6be8229a 22 typedef double _error_type;
Gary Servin 0:04ac6be8229a 23 _error_type error;
Gary Servin 0:04ac6be8229a 24
Gary Servin 0:04ac6be8229a 25 SingleJointPositionFeedback():
Gary Servin 0:04ac6be8229a 26 header(),
Gary Servin 0:04ac6be8229a 27 position(0),
Gary Servin 0:04ac6be8229a 28 velocity(0),
Gary Servin 0:04ac6be8229a 29 error(0)
Gary Servin 0:04ac6be8229a 30 {
Gary Servin 0:04ac6be8229a 31 }
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 34 {
Gary Servin 0:04ac6be8229a 35 int offset = 0;
Gary Servin 0:04ac6be8229a 36 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 37 union {
Gary Servin 0:04ac6be8229a 38 double real;
Gary Servin 0:04ac6be8229a 39 uint64_t base;
Gary Servin 0:04ac6be8229a 40 } u_position;
Gary Servin 0:04ac6be8229a 41 u_position.real = this->position;
Gary Servin 0:04ac6be8229a 42 *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 43 *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 44 *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 51 union {
Gary Servin 0:04ac6be8229a 52 double real;
Gary Servin 0:04ac6be8229a 53 uint64_t base;
Gary Servin 0:04ac6be8229a 54 } u_velocity;
Gary Servin 0:04ac6be8229a 55 u_velocity.real = this->velocity;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 offset += sizeof(this->velocity);
Gary Servin 0:04ac6be8229a 65 union {
Gary Servin 0:04ac6be8229a 66 double real;
Gary Servin 0:04ac6be8229a 67 uint64_t base;
Gary Servin 0:04ac6be8229a 68 } u_error;
Gary Servin 0:04ac6be8229a 69 u_error.real = this->error;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 75 *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 78 offset += sizeof(this->error);
Gary Servin 0:04ac6be8229a 79 return offset;
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81
Gary Servin 0:04ac6be8229a 82 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 83 {
Gary Servin 0:04ac6be8229a 84 int offset = 0;
Gary Servin 0:04ac6be8229a 85 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 86 union {
Gary Servin 0:04ac6be8229a 87 double real;
Gary Servin 0:04ac6be8229a 88 uint64_t base;
Gary Servin 0:04ac6be8229a 89 } u_position;
Gary Servin 0:04ac6be8229a 90 u_position.base = 0;
Gary Servin 0:04ac6be8229a 91 u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 92 u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 93 u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 94 u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 95 u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 96 u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 97 u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 98 u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 99 this->position = u_position.real;
Gary Servin 0:04ac6be8229a 100 offset += sizeof(this->position);
Gary Servin 0:04ac6be8229a 101 union {
Gary Servin 0:04ac6be8229a 102 double real;
Gary Servin 0:04ac6be8229a 103 uint64_t base;
Gary Servin 0:04ac6be8229a 104 } u_velocity;
Gary Servin 0:04ac6be8229a 105 u_velocity.base = 0;
Gary Servin 0:04ac6be8229a 106 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 107 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 108 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 109 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 110 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 111 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 112 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 113 u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 114 this->velocity = u_velocity.real;
Gary Servin 0:04ac6be8229a 115 offset += sizeof(this->velocity);
Gary Servin 0:04ac6be8229a 116 union {
Gary Servin 0:04ac6be8229a 117 double real;
Gary Servin 0:04ac6be8229a 118 uint64_t base;
Gary Servin 0:04ac6be8229a 119 } u_error;
Gary Servin 0:04ac6be8229a 120 u_error.base = 0;
Gary Servin 0:04ac6be8229a 121 u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 122 u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 123 u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 124 u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 125 u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 126 u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 127 u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 128 u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 129 this->error = u_error.real;
Gary Servin 0:04ac6be8229a 130 offset += sizeof(this->error);
Gary Servin 0:04ac6be8229a 131 return offset;
Gary Servin 0:04ac6be8229a 132 }
Gary Servin 0:04ac6be8229a 133
Gary Servin 0:04ac6be8229a 134 const char * getType(){ return "control_msgs/SingleJointPositionFeedback"; };
Gary Servin 0:04ac6be8229a 135 const char * getMD5(){ return "8cee65610a3d08e0a1bded82f146f1fd"; };
Gary Servin 0:04ac6be8229a 136
Gary Servin 0:04ac6be8229a 137 };
Gary Servin 0:04ac6be8229a 138
Gary Servin 0:04ac6be8229a 139 }
Gary Servin 0:04ac6be8229a 140 #endif