modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/Joy.h@6:3c54bc7badd4, 2013-10-26 (annotated)
- Committer:
- jjzak
- Date:
- Sat Oct 26 15:39:01 2013 +0000
- Revision:
- 6:3c54bc7badd4
- Parent:
- 5:8cd48977ec68
modify for Hydro version;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
jjzak | 5:8cd48977ec68 | 1 | #ifndef _ROS_sensor_msgs_Joy_h |
jjzak | 5:8cd48977ec68 | 2 | #define _ROS_sensor_msgs_Joy_h |
jjzak | 5:8cd48977ec68 | 3 | |
jjzak | 5:8cd48977ec68 | 4 | #include <stdint.h> |
jjzak | 5:8cd48977ec68 | 5 | #include <string.h> |
jjzak | 5:8cd48977ec68 | 6 | #include <stdlib.h> |
jjzak | 5:8cd48977ec68 | 7 | #include "ros/msg.h" |
jjzak | 5:8cd48977ec68 | 8 | #include "std_msgs/Header.h" |
jjzak | 5:8cd48977ec68 | 9 | |
jjzak | 5:8cd48977ec68 | 10 | namespace sensor_msgs |
jjzak | 5:8cd48977ec68 | 11 | { |
jjzak | 5:8cd48977ec68 | 12 | |
jjzak | 5:8cd48977ec68 | 13 | class Joy : public ros::Msg |
jjzak | 5:8cd48977ec68 | 14 | { |
jjzak | 5:8cd48977ec68 | 15 | public: |
jjzak | 5:8cd48977ec68 | 16 | std_msgs::Header header; |
jjzak | 5:8cd48977ec68 | 17 | uint8_t axes_length; |
jjzak | 5:8cd48977ec68 | 18 | float st_axes; |
jjzak | 5:8cd48977ec68 | 19 | float * axes; |
jjzak | 5:8cd48977ec68 | 20 | uint8_t buttons_length; |
jjzak | 5:8cd48977ec68 | 21 | int32_t st_buttons; |
jjzak | 5:8cd48977ec68 | 22 | int32_t * buttons; |
jjzak | 5:8cd48977ec68 | 23 | |
jjzak | 5:8cd48977ec68 | 24 | virtual int serialize(unsigned char *outbuffer) const |
jjzak | 5:8cd48977ec68 | 25 | { |
jjzak | 5:8cd48977ec68 | 26 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 27 | offset += this->header.serialize(outbuffer + offset); |
jjzak | 5:8cd48977ec68 | 28 | *(outbuffer + offset++) = axes_length; |
jjzak | 5:8cd48977ec68 | 29 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 30 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 31 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 32 | for( uint8_t i = 0; i < axes_length; i++){ |
jjzak | 5:8cd48977ec68 | 33 | union { |
jjzak | 5:8cd48977ec68 | 34 | float real; |
jjzak | 5:8cd48977ec68 | 35 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 36 | } u_axesi; |
jjzak | 5:8cd48977ec68 | 37 | u_axesi.real = this->axes[i]; |
jjzak | 5:8cd48977ec68 | 38 | *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 39 | *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 40 | *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 41 | *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 42 | offset += sizeof(this->axes[i]); |
jjzak | 5:8cd48977ec68 | 43 | } |
jjzak | 5:8cd48977ec68 | 44 | *(outbuffer + offset++) = buttons_length; |
jjzak | 5:8cd48977ec68 | 45 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 46 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 47 | *(outbuffer + offset++) = 0; |
jjzak | 5:8cd48977ec68 | 48 | for( uint8_t i = 0; i < buttons_length; i++){ |
jjzak | 5:8cd48977ec68 | 49 | union { |
jjzak | 5:8cd48977ec68 | 50 | int32_t real; |
jjzak | 5:8cd48977ec68 | 51 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 52 | } u_buttonsi; |
jjzak | 5:8cd48977ec68 | 53 | u_buttonsi.real = this->buttons[i]; |
jjzak | 5:8cd48977ec68 | 54 | *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 55 | *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 56 | *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 57 | *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF; |
jjzak | 5:8cd48977ec68 | 58 | offset += sizeof(this->buttons[i]); |
jjzak | 5:8cd48977ec68 | 59 | } |
jjzak | 5:8cd48977ec68 | 60 | return offset; |
jjzak | 5:8cd48977ec68 | 61 | } |
jjzak | 5:8cd48977ec68 | 62 | |
jjzak | 5:8cd48977ec68 | 63 | virtual int deserialize(unsigned char *inbuffer) |
jjzak | 5:8cd48977ec68 | 64 | { |
jjzak | 5:8cd48977ec68 | 65 | int offset = 0; |
jjzak | 5:8cd48977ec68 | 66 | offset += this->header.deserialize(inbuffer + offset); |
jjzak | 5:8cd48977ec68 | 67 | uint8_t axes_lengthT = *(inbuffer + offset++); |
jjzak | 5:8cd48977ec68 | 68 | if(axes_lengthT > axes_length) |
jjzak | 5:8cd48977ec68 | 69 | this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float)); |
jjzak | 5:8cd48977ec68 | 70 | offset += 3; |
jjzak | 5:8cd48977ec68 | 71 | axes_length = axes_lengthT; |
jjzak | 5:8cd48977ec68 | 72 | for( uint8_t i = 0; i < axes_length; i++){ |
jjzak | 5:8cd48977ec68 | 73 | union { |
jjzak | 5:8cd48977ec68 | 74 | float real; |
jjzak | 5:8cd48977ec68 | 75 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 76 | } u_st_axes; |
jjzak | 5:8cd48977ec68 | 77 | u_st_axes.base = 0; |
jjzak | 5:8cd48977ec68 | 78 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 79 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 80 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 81 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 82 | this->st_axes = u_st_axes.real; |
jjzak | 5:8cd48977ec68 | 83 | offset += sizeof(this->st_axes); |
jjzak | 5:8cd48977ec68 | 84 | memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float)); |
jjzak | 5:8cd48977ec68 | 85 | } |
jjzak | 5:8cd48977ec68 | 86 | uint8_t buttons_lengthT = *(inbuffer + offset++); |
jjzak | 5:8cd48977ec68 | 87 | if(buttons_lengthT > buttons_length) |
jjzak | 5:8cd48977ec68 | 88 | this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t)); |
jjzak | 5:8cd48977ec68 | 89 | offset += 3; |
jjzak | 5:8cd48977ec68 | 90 | buttons_length = buttons_lengthT; |
jjzak | 5:8cd48977ec68 | 91 | for( uint8_t i = 0; i < buttons_length; i++){ |
jjzak | 5:8cd48977ec68 | 92 | union { |
jjzak | 5:8cd48977ec68 | 93 | int32_t real; |
jjzak | 5:8cd48977ec68 | 94 | uint32_t base; |
jjzak | 5:8cd48977ec68 | 95 | } u_st_buttons; |
jjzak | 5:8cd48977ec68 | 96 | u_st_buttons.base = 0; |
jjzak | 5:8cd48977ec68 | 97 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
jjzak | 5:8cd48977ec68 | 98 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
jjzak | 5:8cd48977ec68 | 99 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
jjzak | 5:8cd48977ec68 | 100 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
jjzak | 5:8cd48977ec68 | 101 | this->st_buttons = u_st_buttons.real; |
jjzak | 5:8cd48977ec68 | 102 | offset += sizeof(this->st_buttons); |
jjzak | 5:8cd48977ec68 | 103 | memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t)); |
jjzak | 5:8cd48977ec68 | 104 | } |
jjzak | 5:8cd48977ec68 | 105 | return offset; |
jjzak | 5:8cd48977ec68 | 106 | } |
jjzak | 5:8cd48977ec68 | 107 | |
jjzak | 5:8cd48977ec68 | 108 | const char * getType(){ return "sensor_msgs/Joy"; }; |
jjzak | 5:8cd48977ec68 | 109 | const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; }; |
jjzak | 5:8cd48977ec68 | 110 | |
jjzak | 5:8cd48977ec68 | 111 | }; |
jjzak | 5:8cd48977ec68 | 112 | |
jjzak | 5:8cd48977ec68 | 113 | } |
jjzak | 5:8cd48977ec68 | 114 | #endif |