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