Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

sensor_msgs/Joy.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_sensor_msgs_Joy_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_Joy_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace sensor_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class Joy : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 uint8_t axes_length;
garyservin 0:fd24f7ca9688 18 float st_axes;
garyservin 0:fd24f7ca9688 19 float * axes;
garyservin 0:fd24f7ca9688 20 uint8_t buttons_length;
garyservin 0:fd24f7ca9688 21 int32_t st_buttons;
garyservin 0:fd24f7ca9688 22 int32_t * buttons;
garyservin 0:fd24f7ca9688 23
garyservin 0:fd24f7ca9688 24 Joy():
garyservin 0:fd24f7ca9688 25 header(),
garyservin 0:fd24f7ca9688 26 axes_length(0), axes(NULL),
garyservin 0:fd24f7ca9688 27 buttons_length(0), buttons(NULL)
garyservin 0:fd24f7ca9688 28 {
garyservin 0:fd24f7ca9688 29 }
garyservin 0:fd24f7ca9688 30
garyservin 0:fd24f7ca9688 31 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 32 {
garyservin 0:fd24f7ca9688 33 int offset = 0;
garyservin 0:fd24f7ca9688 34 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 35 *(outbuffer + offset++) = axes_length;
garyservin 0:fd24f7ca9688 36 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 37 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 39 for( uint8_t i = 0; i < axes_length; i++){
garyservin 0:fd24f7ca9688 40 union {
garyservin 0:fd24f7ca9688 41 float real;
garyservin 0:fd24f7ca9688 42 uint32_t base;
garyservin 0:fd24f7ca9688 43 } u_axesi;
garyservin 0:fd24f7ca9688 44 u_axesi.real = this->axes[i];
garyservin 0:fd24f7ca9688 45 *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 49 offset += sizeof(this->axes[i]);
garyservin 0:fd24f7ca9688 50 }
garyservin 0:fd24f7ca9688 51 *(outbuffer + offset++) = buttons_length;
garyservin 0:fd24f7ca9688 52 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 53 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 54 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 55 for( uint8_t i = 0; i < buttons_length; i++){
garyservin 0:fd24f7ca9688 56 union {
garyservin 0:fd24f7ca9688 57 int32_t real;
garyservin 0:fd24f7ca9688 58 uint32_t base;
garyservin 0:fd24f7ca9688 59 } u_buttonsi;
garyservin 0:fd24f7ca9688 60 u_buttonsi.real = this->buttons[i];
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 62 *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 63 *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 65 offset += sizeof(this->buttons[i]);
garyservin 0:fd24f7ca9688 66 }
garyservin 0:fd24f7ca9688 67 return offset;
garyservin 0:fd24f7ca9688 68 }
garyservin 0:fd24f7ca9688 69
garyservin 0:fd24f7ca9688 70 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 71 {
garyservin 0:fd24f7ca9688 72 int offset = 0;
garyservin 0:fd24f7ca9688 73 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 74 uint8_t axes_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 75 if(axes_lengthT > axes_length)
garyservin 0:fd24f7ca9688 76 this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
garyservin 0:fd24f7ca9688 77 offset += 3;
garyservin 0:fd24f7ca9688 78 axes_length = axes_lengthT;
garyservin 0:fd24f7ca9688 79 for( uint8_t i = 0; i < axes_length; i++){
garyservin 0:fd24f7ca9688 80 union {
garyservin 0:fd24f7ca9688 81 float real;
garyservin 0:fd24f7ca9688 82 uint32_t base;
garyservin 0:fd24f7ca9688 83 } u_st_axes;
garyservin 0:fd24f7ca9688 84 u_st_axes.base = 0;
garyservin 0:fd24f7ca9688 85 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 86 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 87 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 88 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 89 this->st_axes = u_st_axes.real;
garyservin 0:fd24f7ca9688 90 offset += sizeof(this->st_axes);
garyservin 0:fd24f7ca9688 91 memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
garyservin 0:fd24f7ca9688 92 }
garyservin 0:fd24f7ca9688 93 uint8_t buttons_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 94 if(buttons_lengthT > buttons_length)
garyservin 0:fd24f7ca9688 95 this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
garyservin 0:fd24f7ca9688 96 offset += 3;
garyservin 0:fd24f7ca9688 97 buttons_length = buttons_lengthT;
garyservin 0:fd24f7ca9688 98 for( uint8_t i = 0; i < buttons_length; i++){
garyservin 0:fd24f7ca9688 99 union {
garyservin 0:fd24f7ca9688 100 int32_t real;
garyservin 0:fd24f7ca9688 101 uint32_t base;
garyservin 0:fd24f7ca9688 102 } u_st_buttons;
garyservin 0:fd24f7ca9688 103 u_st_buttons.base = 0;
garyservin 0:fd24f7ca9688 104 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 105 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 106 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 107 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 108 this->st_buttons = u_st_buttons.real;
garyservin 0:fd24f7ca9688 109 offset += sizeof(this->st_buttons);
garyservin 0:fd24f7ca9688 110 memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
garyservin 0:fd24f7ca9688 111 }
garyservin 0:fd24f7ca9688 112 return offset;
garyservin 0:fd24f7ca9688 113 }
garyservin 0:fd24f7ca9688 114
garyservin 0:fd24f7ca9688 115 const char * getType(){ return "sensor_msgs/Joy"; };
garyservin 0:fd24f7ca9688 116 const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
garyservin 0:fd24f7ca9688 117
garyservin 0:fd24f7ca9688 118 };
garyservin 0:fd24f7ca9688 119
garyservin 0:fd24f7ca9688 120 }
garyservin 0:fd24f7ca9688 121 #endif