change rate38400->115200
Fork of ros_lib_kinetic by
Diff: sensor_msgs/Joy.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/Joy.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,132 @@ +#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 \ No newline at end of file