JointJog.h

00001 #ifndef _ROS_control_msgs_JointJog_h
00002 #define _ROS_control_msgs_JointJog_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace control_msgs
00011 {
00012 
00013   class JointJog : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::Header _header_type;
00017       _header_type header;
00018       uint32_t joint_names_length;
00019       typedef char* _joint_names_type;
00020       _joint_names_type st_joint_names;
00021       _joint_names_type * joint_names;
00022       uint32_t displacements_length;
00023       typedef double _displacements_type;
00024       _displacements_type st_displacements;
00025       _displacements_type * displacements;
00026       uint32_t velocities_length;
00027       typedef double _velocities_type;
00028       _velocities_type st_velocities;
00029       _velocities_type * velocities;
00030       typedef double _duration_type;
00031       _duration_type duration;
00032 
00033     JointJog():
00034       header(),
00035       joint_names_length(0), joint_names(NULL),
00036       displacements_length(0), displacements(NULL),
00037       velocities_length(0), velocities(NULL),
00038       duration(0)
00039     {
00040     }
00041 
00042     virtual int serialize(unsigned char *outbuffer) const
00043     {
00044       int offset = 0;
00045       offset += this->header.serialize(outbuffer + offset);
00046       *(outbuffer + offset + 0) = (this->joint_names_length >> (8 * 0)) & 0xFF;
00047       *(outbuffer + offset + 1) = (this->joint_names_length >> (8 * 1)) & 0xFF;
00048       *(outbuffer + offset + 2) = (this->joint_names_length >> (8 * 2)) & 0xFF;
00049       *(outbuffer + offset + 3) = (this->joint_names_length >> (8 * 3)) & 0xFF;
00050       offset += sizeof(this->joint_names_length);
00051       for( uint32_t i = 0; i < joint_names_length; i++){
00052       uint32_t length_joint_namesi = strlen(this->joint_names[i]);
00053       varToArr(outbuffer + offset, length_joint_namesi);
00054       offset += 4;
00055       memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
00056       offset += length_joint_namesi;
00057       }
00058       *(outbuffer + offset + 0) = (this->displacements_length >> (8 * 0)) & 0xFF;
00059       *(outbuffer + offset + 1) = (this->displacements_length >> (8 * 1)) & 0xFF;
00060       *(outbuffer + offset + 2) = (this->displacements_length >> (8 * 2)) & 0xFF;
00061       *(outbuffer + offset + 3) = (this->displacements_length >> (8 * 3)) & 0xFF;
00062       offset += sizeof(this->displacements_length);
00063       for( uint32_t i = 0; i < displacements_length; i++){
00064       union {
00065         double real;
00066         uint64_t base;
00067       } u_displacementsi;
00068       u_displacementsi.real = this->displacements[i];
00069       *(outbuffer + offset + 0) = (u_displacementsi.base >> (8 * 0)) & 0xFF;
00070       *(outbuffer + offset + 1) = (u_displacementsi.base >> (8 * 1)) & 0xFF;
00071       *(outbuffer + offset + 2) = (u_displacementsi.base >> (8 * 2)) & 0xFF;
00072       *(outbuffer + offset + 3) = (u_displacementsi.base >> (8 * 3)) & 0xFF;
00073       *(outbuffer + offset + 4) = (u_displacementsi.base >> (8 * 4)) & 0xFF;
00074       *(outbuffer + offset + 5) = (u_displacementsi.base >> (8 * 5)) & 0xFF;
00075       *(outbuffer + offset + 6) = (u_displacementsi.base >> (8 * 6)) & 0xFF;
00076       *(outbuffer + offset + 7) = (u_displacementsi.base >> (8 * 7)) & 0xFF;
00077       offset += sizeof(this->displacements[i]);
00078       }
00079       *(outbuffer + offset + 0) = (this->velocities_length >> (8 * 0)) & 0xFF;
00080       *(outbuffer + offset + 1) = (this->velocities_length >> (8 * 1)) & 0xFF;
00081       *(outbuffer + offset + 2) = (this->velocities_length >> (8 * 2)) & 0xFF;
00082       *(outbuffer + offset + 3) = (this->velocities_length >> (8 * 3)) & 0xFF;
00083       offset += sizeof(this->velocities_length);
00084       for( uint32_t i = 0; i < velocities_length; i++){
00085       union {
00086         double real;
00087         uint64_t base;
00088       } u_velocitiesi;
00089       u_velocitiesi.real = this->velocities[i];
00090       *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
00091       *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
00092       *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
00093       *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
00094       *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
00095       *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
00096       *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
00097       *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
00098       offset += sizeof(this->velocities[i]);
00099       }
00100       union {
00101         double real;
00102         uint64_t base;
00103       } u_duration;
00104       u_duration.real = this->duration;
00105       *(outbuffer + offset + 0) = (u_duration.base >> (8 * 0)) & 0xFF;
00106       *(outbuffer + offset + 1) = (u_duration.base >> (8 * 1)) & 0xFF;
00107       *(outbuffer + offset + 2) = (u_duration.base >> (8 * 2)) & 0xFF;
00108       *(outbuffer + offset + 3) = (u_duration.base >> (8 * 3)) & 0xFF;
00109       *(outbuffer + offset + 4) = (u_duration.base >> (8 * 4)) & 0xFF;
00110       *(outbuffer + offset + 5) = (u_duration.base >> (8 * 5)) & 0xFF;
00111       *(outbuffer + offset + 6) = (u_duration.base >> (8 * 6)) & 0xFF;
00112       *(outbuffer + offset + 7) = (u_duration.base >> (8 * 7)) & 0xFF;
00113       offset += sizeof(this->duration);
00114       return offset;
00115     }
00116 
00117     virtual int deserialize(unsigned char *inbuffer)
00118     {
00119       int offset = 0;
00120       offset += this->header.deserialize(inbuffer + offset);
00121       uint32_t joint_names_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00122       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00123       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00124       joint_names_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00125       offset += sizeof(this->joint_names_length);
00126       if(joint_names_lengthT > joint_names_length)
00127         this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
00128       joint_names_length = joint_names_lengthT;
00129       for( uint32_t i = 0; i < joint_names_length; i++){
00130       uint32_t length_st_joint_names;
00131       arrToVar(length_st_joint_names, (inbuffer + offset));
00132       offset += 4;
00133       for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
00134           inbuffer[k-1]=inbuffer[k];
00135       }
00136       inbuffer[offset+length_st_joint_names-1]=0;
00137       this->st_joint_names = (char *)(inbuffer + offset-1);
00138       offset += length_st_joint_names;
00139         memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
00140       }
00141       uint32_t displacements_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00142       displacements_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00143       displacements_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00144       displacements_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00145       offset += sizeof(this->displacements_length);
00146       if(displacements_lengthT > displacements_length)
00147         this->displacements = (double*)realloc(this->displacements, displacements_lengthT * sizeof(double));
00148       displacements_length = displacements_lengthT;
00149       for( uint32_t i = 0; i < displacements_length; i++){
00150       union {
00151         double real;
00152         uint64_t base;
00153       } u_st_displacements;
00154       u_st_displacements.base = 0;
00155       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00156       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00157       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00158       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00159       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00160       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00161       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00162       u_st_displacements.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00163       this->st_displacements = u_st_displacements.real;
00164       offset += sizeof(this->st_displacements);
00165         memcpy( &(this->displacements[i]), &(this->st_displacements), sizeof(double));
00166       }
00167       uint32_t velocities_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00168       velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00169       velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00170       velocities_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00171       offset += sizeof(this->velocities_length);
00172       if(velocities_lengthT > velocities_length)
00173         this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
00174       velocities_length = velocities_lengthT;
00175       for( uint32_t i = 0; i < velocities_length; i++){
00176       union {
00177         double real;
00178         uint64_t base;
00179       } u_st_velocities;
00180       u_st_velocities.base = 0;
00181       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00182       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00183       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00184       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00185       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00186       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00187       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00188       u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00189       this->st_velocities = u_st_velocities.real;
00190       offset += sizeof(this->st_velocities);
00191         memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
00192       }
00193       union {
00194         double real;
00195         uint64_t base;
00196       } u_duration;
00197       u_duration.base = 0;
00198       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00199       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00200       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00201       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00202       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00203       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00204       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00205       u_duration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00206       this->duration = u_duration.real;
00207       offset += sizeof(this->duration);
00208      return offset;
00209     }
00210 
00211     const char * getType(){ return "control_msgs/JointJog"; };
00212     const char * getMD5(){ return "1685da700c8c2e1254afc92a5fb89c96"; };
00213 
00214   };
00215 
00216 }
00217 #endif