Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/Joy.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#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