add ROBOT_CONTROL, divide udp2lcm and serial

1 files changed, 325 insertions, 0 deletions

diff --git a/lcmtype/pose_t.cpp b/lcmtype/pose_t.cpp
new file mode 100644
index 0000000..ef71a92
--- /dev/null
+++ b/lcmtype/pose_t.cpp
@@ -0,0 +1,325 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen
+ **/
+
+#include "pose_t.h"
+#include <string.h>
+
+static int __pose_t_hash_computed;
+static int64_t __pose_t_hash;
+
+int64_t __pose_t_hash_recursive(const __lcm_hash_ptr *p) {
+    const __lcm_hash_ptr *fp;
+    for (fp = p; fp != NULL; fp = fp->parent)
+        if (fp->v == __pose_t_get_hash)
+            return 0;
+
+    const __lcm_hash_ptr cp = {p, (void *)__pose_t_get_hash};
+    (void)cp;
+
+    int64_t hash = 0x170b77d82958082fLL + __int64_t_hash_recursive(&cp) +
+                   __double_hash_recursive(&cp) + __double_hash_recursive(&cp) +
+                   __double_hash_recursive(&cp) + __double_hash_recursive(&cp) +
+                   __double_hash_recursive(&cp);
+
+    return (hash << 1) + ((hash >> 63) & 1);
+}
+
+int64_t __pose_t_get_hash(void) {
+    if (!__pose_t_hash_computed) {
+        __pose_t_hash = __pose_t_hash_recursive(NULL);
+        __pose_t_hash_computed = 1;
+    }
+
+    return __pose_t_hash;
+}
+
+int __pose_t_encode_array(void *buf, int offset, int maxlen, const pose_t *p,
+                          int elements) {
+    int pos = 0, thislen, element;
+
+    for (element = 0; element < elements; element++) {
+
+        thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos,
+                                         &(p[element].utime), 1);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].pos, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].vel, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].orientation, 4);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].rotation_rate, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_encode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].accel, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+    }
+    return pos;
+}
+
+int pose_t_encode(void *buf, int offset, int maxlen, const pose_t *p) {
+    int pos = 0, thislen;
+    int64_t hash = __pose_t_get_hash();
+
+    thislen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if (thislen < 0)
+        return thislen;
+    else
+        pos += thislen;
+
+    thislen = __pose_t_encode_array(buf, offset + pos, maxlen - pos, p, 1);
+    if (thislen < 0)
+        return thislen;
+    else
+        pos += thislen;
+
+    return pos;
+}
+
+int __pose_t_encoded_array_size(const pose_t *p, int elements) {
+    int size = 0, element;
+    for (element = 0; element < elements; element++) {
+
+        size += __int64_t_encoded_array_size(&(p[element].utime), 1);
+
+        size += __double_encoded_array_size(p[element].pos, 3);
+
+        size += __double_encoded_array_size(p[element].vel, 3);
+
+        size += __double_encoded_array_size(p[element].orientation, 4);
+
+        size += __double_encoded_array_size(p[element].rotation_rate, 3);
+
+        size += __double_encoded_array_size(p[element].accel, 3);
+    }
+    return size;
+}
+
+int pose_t_encoded_size(const pose_t *p) {
+    return 8 + __pose_t_encoded_array_size(p, 1);
+}
+
+int __pose_t_decode_array(const void *buf, int offset, int maxlen, pose_t *p,
+                          int elements) {
+    int pos = 0, thislen, element;
+
+    for (element = 0; element < elements; element++) {
+
+        thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos,
+                                         &(p[element].utime), 1);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].pos, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].vel, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].orientation, 4);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].rotation_rate, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+
+        thislen = __double_decode_array(buf, offset + pos, maxlen - pos,
+                                        p[element].accel, 3);
+        if (thislen < 0)
+            return thislen;
+        else
+            pos += thislen;
+    }
+    return pos;
+}
+
+int __pose_t_decode_array_cleanup(pose_t *p, int elements) {
+    int element;
+    for (element = 0; element < elements; element++) {
+
+        __int64_t_decode_array_cleanup(&(p[element].utime), 1);
+
+        __double_decode_array_cleanup(p[element].pos, 3);
+
+        __double_decode_array_cleanup(p[element].vel, 3);
+
+        __double_decode_array_cleanup(p[element].orientation, 4);
+
+        __double_decode_array_cleanup(p[element].rotation_rate, 3);
+
+        __double_decode_array_cleanup(p[element].accel, 3);
+    }
+    return 0;
+}
+
+int pose_t_decode(const void *buf, int offset, int maxlen, pose_t *p) {
+    int pos = 0, thislen;
+    int64_t hash = __pose_t_get_hash();
+
+    int64_t this_hash;
+    thislen =
+        __int64_t_decode_array(buf, offset + pos, maxlen - pos, &this_hash, 1);
+    if (thislen < 0)
+        return thislen;
+    else
+        pos += thislen;
+    if (this_hash != hash)
+        return -1;
+
+    thislen = __pose_t_decode_array(buf, offset + pos, maxlen - pos, p, 1);
+    if (thislen < 0)
+        return thislen;
+    else
+        pos += thislen;
+
+    return pos;
+}
+
+int pose_t_decode_cleanup(pose_t *p) {
+    return __pose_t_decode_array_cleanup(p, 1);
+}
+
+int __pose_t_clone_array(const pose_t *p, pose_t *q, int elements) {
+    int element;
+    for (element = 0; element < elements; element++) {
+
+        __int64_t_clone_array(&(p[element].utime), &(q[element].utime), 1);
+
+        __double_clone_array(p[element].pos, q[element].pos, 3);
+
+        __double_clone_array(p[element].vel, q[element].vel, 3);
+
+        __double_clone_array(p[element].orientation, q[element].orientation, 4);
+
+        __double_clone_array(p[element].rotation_rate, q[element].rotation_rate,
+                             3);
+
+        __double_clone_array(p[element].accel, q[element].accel, 3);
+    }
+    return 0;
+}
+
+pose_t *pose_t_copy(const pose_t *p) {
+    pose_t *q = (pose_t *)malloc(sizeof(pose_t));
+    __pose_t_clone_array(p, q, 1);
+    return q;
+}
+
+void pose_t_destroy(pose_t *p) {
+    __pose_t_decode_array_cleanup(p, 1);
+    free(p);
+}
+
+int pose_t_publish(lcm_t *lc, const char *channel, const pose_t *p) {
+    int max_data_size = pose_t_encoded_size(p);
+    uint8_t *buf = (uint8_t *)malloc(max_data_size);
+    if (!buf)
+        return -1;
+    int data_size = pose_t_encode(buf, 0, max_data_size, p);
+    if (data_size < 0) {
+        free(buf);
+        return data_size;
+    }
+    int status = lcm_publish(lc, channel, buf, data_size);
+    free(buf);
+    return status;
+}
+
+struct _pose_t_subscription_t {
+    pose_t_handler_t user_handler;
+    void *userdata;
+    lcm_subscription_t *lc_h;
+};
+static void pose_t_handler_stub(const lcm_recv_buf_t *rbuf, const char *channel,
+                                void *userdata) {
+    int status;
+    pose_t p;
+    memset(&p, 0, sizeof(pose_t));
+    status = pose_t_decode(rbuf->data, 0, rbuf->data_size, &p);
+    if (status < 0) {
+        fprintf(stderr, "error %d decoding pose_t!!!\n", status);
+        return;
+    }
+
+    pose_t_subscription_t *h = (pose_t_subscription_t *)userdata;
+    h->user_handler(rbuf, channel, &p, h->userdata);
+
+    pose_t_decode_cleanup(&p);
+}
+
+pose_t_subscription_t *pose_t_subscribe(lcm_t *lcm, const char *channel,
+                                        pose_t_handler_t f, void *userdata) {
+    pose_t_subscription_t *n =
+        (pose_t_subscription_t *)malloc(sizeof(pose_t_subscription_t));
+    n->user_handler = f;
+    n->userdata = userdata;
+    n->lc_h = lcm_subscribe(lcm, channel, pose_t_handler_stub, n);
+    if (n->lc_h == NULL) {
+        fprintf(stderr, "couldn't reg pose_t LCM handler!\n");
+        free(n);
+        return NULL;
+    }
+    return n;
+}
+
+int pose_t_subscription_set_queue_capacity(pose_t_subscription_t *subs,
+                                           int num_messages) {
+    return lcm_subscription_set_queue_capacity(subs->lc_h, num_messages);
+}
+
+int pose_t_unsubscribe(lcm_t *lcm, pose_t_subscription_t *hid) {
+    int status = lcm_unsubscribe(lcm, hid->lc_h);
+    if (0 != status) {
+        fprintf(stderr, "couldn't unsubscribe pose_t_handler %p!\n", hid);
+        return -1;
+    }
+    free(hid);
+    return 0;
+}