a
sensor_msgs/Joy.h
- Committer:
- garyservin
- Date:
- 2016-12-31
- Revision:
- 0:9e9b7db60fd5
File content as of revision 0:9e9b7db60fd5:
#ifndef _ROS_sensor_msgs_Joy_h #define _ROS_sensor_msgs_Joy_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class Joy : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; uint32_t axes_length; typedef float _axes_type; _axes_type st_axes; _axes_type * axes; uint32_t buttons_length; typedef int32_t _buttons_type; _buttons_type st_buttons; _buttons_type * buttons; Joy(): header(), axes_length(0), axes(NULL), buttons_length(0), buttons(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); *(outbuffer + offset + 0) = (this->axes_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->axes_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->axes_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->axes_length >> (8 * 3)) & 0xFF; offset += sizeof(this->axes_length); for( uint32_t i = 0; i < axes_length; i++){ union { float real; uint32_t base; } u_axesi; u_axesi.real = this->axes[i]; *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF; offset += sizeof(this->axes[i]); } *(outbuffer + offset + 0) = (this->buttons_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->buttons_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->buttons_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->buttons_length >> (8 * 3)) & 0xFF; offset += sizeof(this->buttons_length); for( uint32_t i = 0; i < buttons_length; i++){ union { int32_t real; uint32_t base; } u_buttonsi; u_buttonsi.real = this->buttons[i]; *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF; offset += sizeof(this->buttons[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t axes_lengthT = ((uint32_t) (*(inbuffer + offset))); axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->axes_length); if(axes_lengthT > axes_length) this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float)); axes_length = axes_lengthT; for( uint32_t i = 0; i < axes_length; i++){ union { float real; uint32_t base; } u_st_axes; u_st_axes.base = 0; u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_axes = u_st_axes.real; offset += sizeof(this->st_axes); memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float)); } uint32_t buttons_lengthT = ((uint32_t) (*(inbuffer + offset))); buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->buttons_length); if(buttons_lengthT > buttons_length) this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t)); buttons_length = buttons_lengthT; for( uint32_t i = 0; i < buttons_length; i++){ union { int32_t real; uint32_t base; } u_st_buttons; u_st_buttons.base = 0; u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); this->st_buttons = u_st_buttons.real; offset += sizeof(this->st_buttons); memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t)); } return offset; } const char * getType(){ return "sensor_msgs/Joy"; }; const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; }; }; } #endif