jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/Joy.h@5:8cd48977ec68, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:38:35 2013 +0000
Revision:
5:8cd48977ec68
modify for Hydro version

Who changed what in which revision?

UserRevisionLine numberNew 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