Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/Joy.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_Joy_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_Joy_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class Joy : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 uint32_t axes_length;
garyservin 0:9e9b7db60fd5 19 typedef float _axes_type;
garyservin 0:9e9b7db60fd5 20 _axes_type st_axes;
garyservin 0:9e9b7db60fd5 21 _axes_type * axes;
garyservin 0:9e9b7db60fd5 22 uint32_t buttons_length;
garyservin 0:9e9b7db60fd5 23 typedef int32_t _buttons_type;
garyservin 0:9e9b7db60fd5 24 _buttons_type st_buttons;
garyservin 0:9e9b7db60fd5 25 _buttons_type * buttons;
garyservin 0:9e9b7db60fd5 26
garyservin 0:9e9b7db60fd5 27 Joy():
garyservin 0:9e9b7db60fd5 28 header(),
garyservin 0:9e9b7db60fd5 29 axes_length(0), axes(NULL),
garyservin 0:9e9b7db60fd5 30 buttons_length(0), buttons(NULL)
garyservin 0:9e9b7db60fd5 31 {
garyservin 0:9e9b7db60fd5 32 }
garyservin 0:9e9b7db60fd5 33
garyservin 0:9e9b7db60fd5 34 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 35 {
garyservin 0:9e9b7db60fd5 36 int offset = 0;
garyservin 0:9e9b7db60fd5 37 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 38 *(outbuffer + offset + 0) = (this->axes_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 39 *(outbuffer + offset + 1) = (this->axes_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 40 *(outbuffer + offset + 2) = (this->axes_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 3) = (this->axes_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 offset += sizeof(this->axes_length);
garyservin 0:9e9b7db60fd5 43 for( uint32_t i = 0; i < axes_length; i++){
garyservin 0:9e9b7db60fd5 44 union {
garyservin 0:9e9b7db60fd5 45 float real;
garyservin 0:9e9b7db60fd5 46 uint32_t base;
garyservin 0:9e9b7db60fd5 47 } u_axesi;
garyservin 0:9e9b7db60fd5 48 u_axesi.real = this->axes[i];
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 53 offset += sizeof(this->axes[i]);
garyservin 0:9e9b7db60fd5 54 }
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 0) = (this->buttons_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 1) = (this->buttons_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 *(outbuffer + offset + 2) = (this->buttons_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 58 *(outbuffer + offset + 3) = (this->buttons_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 59 offset += sizeof(this->buttons_length);
garyservin 0:9e9b7db60fd5 60 for( uint32_t i = 0; i < buttons_length; i++){
garyservin 0:9e9b7db60fd5 61 union {
garyservin 0:9e9b7db60fd5 62 int32_t real;
garyservin 0:9e9b7db60fd5 63 uint32_t base;
garyservin 0:9e9b7db60fd5 64 } u_buttonsi;
garyservin 0:9e9b7db60fd5 65 u_buttonsi.real = this->buttons[i];
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->buttons[i]);
garyservin 0:9e9b7db60fd5 71 }
garyservin 0:9e9b7db60fd5 72 return offset;
garyservin 0:9e9b7db60fd5 73 }
garyservin 0:9e9b7db60fd5 74
garyservin 0:9e9b7db60fd5 75 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 76 {
garyservin 0:9e9b7db60fd5 77 int offset = 0;
garyservin 0:9e9b7db60fd5 78 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 79 uint32_t axes_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 80 axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 81 axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 82 axes_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 83 offset += sizeof(this->axes_length);
garyservin 0:9e9b7db60fd5 84 if(axes_lengthT > axes_length)
garyservin 0:9e9b7db60fd5 85 this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
garyservin 0:9e9b7db60fd5 86 axes_length = axes_lengthT;
garyservin 0:9e9b7db60fd5 87 for( uint32_t i = 0; i < axes_length; i++){
garyservin 0:9e9b7db60fd5 88 union {
garyservin 0:9e9b7db60fd5 89 float real;
garyservin 0:9e9b7db60fd5 90 uint32_t base;
garyservin 0:9e9b7db60fd5 91 } u_st_axes;
garyservin 0:9e9b7db60fd5 92 u_st_axes.base = 0;
garyservin 0:9e9b7db60fd5 93 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 94 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 95 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 96 u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 97 this->st_axes = u_st_axes.real;
garyservin 0:9e9b7db60fd5 98 offset += sizeof(this->st_axes);
garyservin 0:9e9b7db60fd5 99 memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
garyservin 0:9e9b7db60fd5 100 }
garyservin 0:9e9b7db60fd5 101 uint32_t buttons_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 102 buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 103 buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 104 buttons_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 105 offset += sizeof(this->buttons_length);
garyservin 0:9e9b7db60fd5 106 if(buttons_lengthT > buttons_length)
garyservin 0:9e9b7db60fd5 107 this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
garyservin 0:9e9b7db60fd5 108 buttons_length = buttons_lengthT;
garyservin 0:9e9b7db60fd5 109 for( uint32_t i = 0; i < buttons_length; i++){
garyservin 0:9e9b7db60fd5 110 union {
garyservin 0:9e9b7db60fd5 111 int32_t real;
garyservin 0:9e9b7db60fd5 112 uint32_t base;
garyservin 0:9e9b7db60fd5 113 } u_st_buttons;
garyservin 0:9e9b7db60fd5 114 u_st_buttons.base = 0;
garyservin 0:9e9b7db60fd5 115 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 116 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 117 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 118 u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 119 this->st_buttons = u_st_buttons.real;
garyservin 0:9e9b7db60fd5 120 offset += sizeof(this->st_buttons);
garyservin 0:9e9b7db60fd5 121 memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
garyservin 0:9e9b7db60fd5 122 }
garyservin 0:9e9b7db60fd5 123 return offset;
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125
garyservin 0:9e9b7db60fd5 126 const char * getType(){ return "sensor_msgs/Joy"; };
garyservin 0:9e9b7db60fd5 127 const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
garyservin 0:9e9b7db60fd5 128
garyservin 0:9e9b7db60fd5 129 };
garyservin 0:9e9b7db60fd5 130
garyservin 0:9e9b7db60fd5 131 }
garyservin 0:9e9b7db60fd5 132 #endif