root / quad2 / arduino / src / ros_lib / sensor_msgs / Joy.h @ c1426757
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| 1 | c1426757 | Tom Mullins | #ifndef _ROS_sensor_msgs_Joy_h
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| 2 | #define _ROS_sensor_msgs_Joy_h
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| 3 | |||
| 4 | #include <stdint.h> |
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| 5 | #include <string.h> |
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| 6 | #include <stdlib.h> |
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| 7 | #include "ros/msg.h" |
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| 8 | #include "std_msgs/Header.h" |
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| 9 | |||
| 10 | namespace sensor_msgs |
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| 11 | {
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| 12 | |||
| 13 | class Joy : public ros::Msg |
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| 14 | {
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| 15 | public:
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| 16 | std_msgs::Header header; |
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| 17 | uint8_t axes_length; |
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| 18 | float st_axes;
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| 19 | float * axes;
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| 20 | uint8_t buttons_length; |
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| 21 | int32_t st_buttons; |
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| 22 | int32_t * buttons; |
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| 23 | |||
| 24 | virtual int serialize(unsigned char *outbuffer) const |
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| 25 | {
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| 26 | int offset = 0; |
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| 27 | offset += this->header.serialize(outbuffer + offset); |
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| 28 | *(outbuffer + offset++) = axes_length; |
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| 29 | *(outbuffer + offset++) = 0;
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| 30 | *(outbuffer + offset++) = 0;
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| 31 | *(outbuffer + offset++) = 0;
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| 32 | for( uint8_t i = 0; i < axes_length; i++){ |
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| 33 | union {
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| 34 | float real;
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| 35 | uint32_t base; |
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| 36 | } u_axesi; |
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| 37 | u_axesi.real = this->axes[i]; |
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| 38 | *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF; |
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| 39 | *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF; |
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| 40 | *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF; |
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| 41 | *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF; |
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| 42 | offset += sizeof(this->axes[i]);
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| 43 | } |
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| 44 | *(outbuffer + offset++) = buttons_length; |
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| 45 | *(outbuffer + offset++) = 0;
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| 46 | *(outbuffer + offset++) = 0;
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| 47 | *(outbuffer + offset++) = 0;
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| 48 | for( uint8_t i = 0; i < buttons_length; i++){ |
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| 49 | union {
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| 50 | int32_t real; |
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| 51 | uint32_t base; |
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| 52 | } u_buttonsi; |
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| 53 | u_buttonsi.real = this->buttons[i]; |
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| 54 | *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF; |
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| 55 | *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF; |
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| 56 | *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF; |
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| 57 | *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF; |
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| 58 | offset += sizeof(this->buttons[i]);
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| 59 | } |
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| 60 | return offset;
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| 61 | } |
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| 62 | |||
| 63 | virtual int deserialize(unsigned char *inbuffer) |
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| 64 | {
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| 65 | int offset = 0; |
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| 66 | offset += this->header.deserialize(inbuffer + offset); |
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| 67 | uint8_t axes_lengthT = *(inbuffer + offset++); |
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| 68 | if(axes_lengthT > axes_length)
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| 69 | this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float)); |
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| 70 | offset += 3;
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| 71 | axes_length = axes_lengthT; |
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| 72 | for( uint8_t i = 0; i < axes_length; i++){ |
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| 73 | union {
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| 74 | float real;
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| 75 | uint32_t base; |
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| 76 | } u_st_axes; |
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| 77 | u_st_axes.base = 0;
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| 78 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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| 79 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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| 80 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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| 81 | u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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| 82 | this->st_axes = u_st_axes.real; |
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| 83 | offset += sizeof(this->st_axes);
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| 84 | memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float)); |
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| 85 | } |
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| 86 | uint8_t buttons_lengthT = *(inbuffer + offset++); |
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| 87 | if(buttons_lengthT > buttons_length)
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| 88 | this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
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| 89 | offset += 3;
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| 90 | buttons_length = buttons_lengthT; |
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| 91 | for( uint8_t i = 0; i < buttons_length; i++){ |
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| 92 | union {
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| 93 | int32_t real; |
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| 94 | uint32_t base; |
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| 95 | } u_st_buttons; |
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| 96 | u_st_buttons.base = 0;
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| 97 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); |
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| 98 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
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| 99 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
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| 100 | u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
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| 101 | this->st_buttons = u_st_buttons.real; |
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| 102 | offset += sizeof(this->st_buttons);
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| 103 | memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
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| 104 | } |
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| 105 | return offset;
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| 106 | } |
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| 107 | |||
| 108 | const char * getType(){ return "sensor_msgs/Joy"; }; |
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| 109 | const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; }; |
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| 110 | |||
| 111 | }; |
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| 112 | |||
| 113 | } |
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| 114 | #endif |