John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

sensor_msgs/Joy.h@2:3f1139cf73be, 2021-05-19 (annotated)

Committer:
howanglam3
Date:
Wed May 19 09:50:43 2021 +0000
Revision:
2:3f1139cf73be
Parent:
0:04ac6be8229a 
updated buffer serial

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_sensor_msgs_Joy_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_Joy_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Joy : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 uint32_t axes_length;
Gary Servin 0:04ac6be8229a 19 typedef float _axes_type;
Gary Servin 0:04ac6be8229a 20 _axes_type st_axes;
Gary Servin 0:04ac6be8229a 21 _axes_type * axes;
Gary Servin 0:04ac6be8229a 22 uint32_t buttons_length;
Gary Servin 0:04ac6be8229a 23 typedef int32_t _buttons_type;
Gary Servin 0:04ac6be8229a 24 _buttons_type st_buttons;
Gary Servin 0:04ac6be8229a 25 _buttons_type * buttons;
Gary Servin 0:04ac6be8229a 26
Gary Servin 0:04ac6be8229a 27 Joy():
Gary Servin 0:04ac6be8229a 28 header(),
Gary Servin 0:04ac6be8229a 29 axes_length(0), axes(NULL),
Gary Servin 0:04ac6be8229a 30 buttons_length(0), buttons(NULL)
Gary Servin 0:04ac6be8229a 31 {
Gary Servin 0:04ac6be8229a 32 }
Gary Servin 0:04ac6be8229a 33
Gary Servin 0:04ac6be8229a 34 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 35 {
Gary Servin 0:04ac6be8229a 36 int offset = 0;
Gary Servin 0:04ac6be8229a 37 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 38 *(outbuffer + offset + 0) = (this->axes_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 39 *(outbuffer + offset + 1) = (this->axes_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 40 *(outbuffer + offset + 2) = (this->axes_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 41 *(outbuffer + offset + 3) = (this->axes_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 42 offset += sizeof(this->axes_length);
Gary Servin 0:04ac6be8229a 43 for( uint32_t i = 0; i < axes_length; i++){
Gary Servin 0:04ac6be8229a 44 union {
Gary Servin 0:04ac6be8229a 45 float real;
Gary Servin 0:04ac6be8229a 46 uint32_t base;
Gary Servin 0:04ac6be8229a 47 } u_axesi;
Gary Servin 0:04ac6be8229a 48 u_axesi.real = this->axes[i];
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 53 offset += sizeof(this->axes[i]);
Gary Servin 0:04ac6be8229a 54 }
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 0) = (this->buttons_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 1) = (this->buttons_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 *(outbuffer + offset + 2) = (this->buttons_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 58 *(outbuffer + offset + 3) = (this->buttons_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 59 offset += sizeof(this->buttons_length);
Gary Servin 0:04ac6be8229a 60 for( uint32_t i = 0; i < buttons_length; i++){
Gary Servin 0:04ac6be8229a 61 union {
Gary Servin 0:04ac6be8229a 62 int32_t real;
Gary Servin 0:04ac6be8229a 63 uint32_t base;
Gary Servin 0:04ac6be8229a 64 } u_buttonsi;
Gary Servin 0:04ac6be8229a 65 u_buttonsi.real = this->buttons[i];
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 offset += sizeof(this->buttons[i]);
Gary Servin 0:04ac6be8229a 71 }
Gary Servin 0:04ac6be8229a 72 return offset;
Gary Servin 0:04ac6be8229a 73 }
Gary Servin 0:04ac6be8229a 74
Gary Servin 0:04ac6be8229a 75 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 76 {
Gary Servin 0:04ac6be8229a 77 int offset = 0;
Gary Servin 0:04ac6be8229a 78 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 79 uint32_t axes_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 80 axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 81 axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 82 axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 83 offset += sizeof(this->axes_length);
Gary Servin 0:04ac6be8229a 84 if(axes_lengthT > axes_length)
Gary Servin 0:04ac6be8229a 85 this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
Gary Servin 0:04ac6be8229a 86 axes_length = axes_lengthT;
Gary Servin 0:04ac6be8229a 87 for( uint32_t i = 0; i < axes_length; i++){
Gary Servin 0:04ac6be8229a 88 union {
Gary Servin 0:04ac6be8229a 89 float real;
Gary Servin 0:04ac6be8229a 90 uint32_t base;
Gary Servin 0:04ac6be8229a 91 } u_st_axes;
Gary Servin 0:04ac6be8229a 92 u_st_axes.base = 0;
Gary Servin 0:04ac6be8229a 93 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 94 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 95 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 96 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 97 this->st_axes = u_st_axes.real;
Gary Servin 0:04ac6be8229a 98 offset += sizeof(this->st_axes);
Gary Servin 0:04ac6be8229a 99 memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
Gary Servin 0:04ac6be8229a 100 }
Gary Servin 0:04ac6be8229a 101 uint32_t buttons_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 102 buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 103 buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 104 buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 105 offset += sizeof(this->buttons_length);
Gary Servin 0:04ac6be8229a 106 if(buttons_lengthT > buttons_length)
Gary Servin 0:04ac6be8229a 107 this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
Gary Servin 0:04ac6be8229a 108 buttons_length = buttons_lengthT;
Gary Servin 0:04ac6be8229a 109 for( uint32_t i = 0; i < buttons_length; i++){
Gary Servin 0:04ac6be8229a 110 union {
Gary Servin 0:04ac6be8229a 111 int32_t real;
Gary Servin 0:04ac6be8229a 112 uint32_t base;
Gary Servin 0:04ac6be8229a 113 } u_st_buttons;
Gary Servin 0:04ac6be8229a 114 u_st_buttons.base = 0;
Gary Servin 0:04ac6be8229a 115 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 116 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 117 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 118 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 119 this->st_buttons = u_st_buttons.real;
Gary Servin 0:04ac6be8229a 120 offset += sizeof(this->st_buttons);
Gary Servin 0:04ac6be8229a 121 memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
Gary Servin 0:04ac6be8229a 122 }
Gary Servin 0:04ac6be8229a 123 return offset;
Gary Servin 0:04ac6be8229a 124 }
Gary Servin 0:04ac6be8229a 125
Gary Servin 0:04ac6be8229a 126 const char * getType(){ return "sensor_msgs/Joy"; };
Gary Servin 0:04ac6be8229a 127 const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
Gary Servin 0:04ac6be8229a 128
Gary Servin 0:04ac6be8229a 129 };
Gary Servin 0:04ac6be8229a 130
Gary Servin 0:04ac6be8229a 131 }
Gary Servin 0:04ac6be8229a 132 #endif