GripperCommandResult.h
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00001 #ifndef _ROS_control_msgs_GripperCommandResult_h
00002 #define _ROS_control_msgs_GripperCommandResult_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace control_msgs
00010 {
00011 
00012   class GripperCommandResult : public ros::Msg
00013   {
00014     public:
00015       float position;
00016       float effort;
00017       bool stalled;
00018       bool reached_goal;
00019 
00020     virtual int serialize(unsigned char *outbuffer) const
00021     {
00022       int offset = 0;
00023       int32_t * val_position = (int32_t *) &(this->position);
00024       int32_t exp_position = (((*val_position)>>23)&255);
00025       if(exp_position != 0)
00026         exp_position += 1023-127;
00027       int32_t sig_position = *val_position;
00028       *(outbuffer + offset++) = 0;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = (sig_position<<5) & 0xff;
00032       *(outbuffer + offset++) = (sig_position>>3) & 0xff;
00033       *(outbuffer + offset++) = (sig_position>>11) & 0xff;
00034       *(outbuffer + offset++) = ((exp_position<<4) & 0xF0) | ((sig_position>>19)&0x0F);
00035       *(outbuffer + offset++) = (exp_position>>4) & 0x7F;
00036       if(this->position < 0) *(outbuffer + offset -1) |= 0x80;
00037       int32_t * val_effort = (int32_t *) &(this->effort);
00038       int32_t exp_effort = (((*val_effort)>>23)&255);
00039       if(exp_effort != 0)
00040         exp_effort += 1023-127;
00041       int32_t sig_effort = *val_effort;
00042       *(outbuffer + offset++) = 0;
00043       *(outbuffer + offset++) = 0;
00044       *(outbuffer + offset++) = 0;
00045       *(outbuffer + offset++) = (sig_effort<<5) & 0xff;
00046       *(outbuffer + offset++) = (sig_effort>>3) & 0xff;
00047       *(outbuffer + offset++) = (sig_effort>>11) & 0xff;
00048       *(outbuffer + offset++) = ((exp_effort<<4) & 0xF0) | ((sig_effort>>19)&0x0F);
00049       *(outbuffer + offset++) = (exp_effort>>4) & 0x7F;
00050       if(this->effort < 0) *(outbuffer + offset -1) |= 0x80;
00051       union {
00052         bool real;
00053         uint8_t base;
00054       } u_stalled;
00055       u_stalled.real = this->stalled;
00056       *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
00057       offset += sizeof(this->stalled);
00058       union {
00059         bool real;
00060         uint8_t base;
00061       } u_reached_goal;
00062       u_reached_goal.real = this->reached_goal;
00063       *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
00064       offset += sizeof(this->reached_goal);
00065       return offset;
00066     }
00067 
00068     virtual int deserialize(unsigned char *inbuffer)
00069     {
00070       int offset = 0;
00071       uint32_t * val_position = (uint32_t*) &(this->position);
00072       offset += 3;
00073       *val_position = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00074       *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00075       *val_position |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00076       *val_position |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00077       uint32_t exp_position = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00078       exp_position |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00079       if(exp_position !=0)
00080         *val_position |= ((exp_position)-1023+127)<<23;
00081       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->position = -this->position;
00082       uint32_t * val_effort = (uint32_t*) &(this->effort);
00083       offset += 3;
00084       *val_effort = ((uint32_t)(*(inbuffer + offset++))>>5 & 0x07);
00085       *val_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<3;
00086       *val_effort |= ((uint32_t)(*(inbuffer + offset++)) & 0xff)<<11;
00087       *val_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x0f)<<19;
00088       uint32_t exp_effort = ((uint32_t)(*(inbuffer + offset++))&0xf0)>>4;
00089       exp_effort |= ((uint32_t)(*(inbuffer + offset)) & 0x7f)<<4;
00090       if(exp_effort !=0)
00091         *val_effort |= ((exp_effort)-1023+127)<<23;
00092       if( ((*(inbuffer+offset++)) & 0x80) > 0) this->effort = -this->effort;
00093       union {
00094         bool real;
00095         uint8_t base;
00096       } u_stalled;
00097       u_stalled.base = 0;
00098       u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00099       this->stalled = u_stalled.real;
00100       offset += sizeof(this->stalled);
00101       union {
00102         bool real;
00103         uint8_t base;
00104       } u_reached_goal;
00105       u_reached_goal.base = 0;
00106       u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00107       this->reached_goal = u_reached_goal.real;
00108       offset += sizeof(this->reached_goal);
00109      return offset;
00110     }
00111 
00112     const char * getType(){ return "control_msgs/GripperCommandResult"; };
00113     const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
00114 
00115   };
00116 
00117 }
00118 #endif


lizi_arduino
Author(s): RoboTiCan
autogenerated on Wed Aug 26 2015 12:24:22