Joy.h
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00001 #ifndef _ROS_sensor_msgs_Joy_h
00002 #define _ROS_sensor_msgs_Joy_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace sensor_msgs
00011 {
00012 
00013   class Joy : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       uint8_t axes_length;
00018       float st_axes;
00019       float * axes;
00020       uint8_t buttons_length;
00021       int32_t st_buttons;
00022       int32_t * buttons;
00023 
00024     virtual int serialize(unsigned char *outbuffer) const
00025     {
00026       int offset = 0;
00027       offset += this->header.serialize(outbuffer + offset);
00028       *(outbuffer + offset++) = axes_length;
00029       *(outbuffer + offset++) = 0;
00030       *(outbuffer + offset++) = 0;
00031       *(outbuffer + offset++) = 0;
00032       for( uint8_t i = 0; i < axes_length; i++){
00033       union {
00034         float real;
00035         uint32_t base;
00036       } u_axesi;
00037       u_axesi.real = this->axes[i];
00038       *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
00039       *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
00040       *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
00041       *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
00042       offset += sizeof(this->axes[i]);
00043       }
00044       *(outbuffer + offset++) = buttons_length;
00045       *(outbuffer + offset++) = 0;
00046       *(outbuffer + offset++) = 0;
00047       *(outbuffer + offset++) = 0;
00048       for( uint8_t i = 0; i < buttons_length; i++){
00049       union {
00050         int32_t real;
00051         uint32_t base;
00052       } u_buttonsi;
00053       u_buttonsi.real = this->buttons[i];
00054       *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
00055       *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
00056       *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
00057       *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
00058       offset += sizeof(this->buttons[i]);
00059       }
00060       return offset;
00061     }
00062 
00063     virtual int deserialize(unsigned char *inbuffer)
00064     {
00065       int offset = 0;
00066       offset += this->header.deserialize(inbuffer + offset);
00067       uint8_t axes_lengthT = *(inbuffer + offset++);
00068       if(axes_lengthT > axes_length)
00069         this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
00070       offset += 3;
00071       axes_length = axes_lengthT;
00072       for( uint8_t i = 0; i < axes_length; i++){
00073       union {
00074         float real;
00075         uint32_t base;
00076       } u_st_axes;
00077       u_st_axes.base = 0;
00078       u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00079       u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00080       u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00081       u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00082       this->st_axes = u_st_axes.real;
00083       offset += sizeof(this->st_axes);
00084         memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
00085       }
00086       uint8_t buttons_lengthT = *(inbuffer + offset++);
00087       if(buttons_lengthT > buttons_length)
00088         this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
00089       offset += 3;
00090       buttons_length = buttons_lengthT;
00091       for( uint8_t i = 0; i < buttons_length; i++){
00092       union {
00093         int32_t real;
00094         uint32_t base;
00095       } u_st_buttons;
00096       u_st_buttons.base = 0;
00097       u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00098       u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00099       u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00100       u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00101       this->st_buttons = u_st_buttons.real;
00102       offset += sizeof(this->st_buttons);
00103         memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
00104       }
00105      return offset;
00106     }
00107 
00108     const char * getType(){ return "sensor_msgs/Joy"; };
00109     const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
00110 
00111   };
00112 
00113 }
00114 #endif


ric_mc
Author(s): RoboTiCan
autogenerated on Fri May 20 2016 03:48:55