Increased buffer size
Fork of ros_lib_kinetic by
sensor_msgs/Joy.h@2:2e7b61982dd2, 2018-11-02 (annotated)
- Committer:
- jvfausto
- Date:
- Fri Nov 02 21:52:23 2018 +0000
- Revision:
- 2:2e7b61982dd2
- Parent:
- 0:9e9b7db60fd5
Working towards recieving twists
Who changed what in which revision?
User | Revision | Line number | New 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 |