60#ifndef WHITEBOARD_POSTER_STRING_CONVERSION
61#define WHITEBOARD_POSTER_STRING_CONVERSION
72#pragma clang diagnostic push
73#pragma clang diagnostic ignored "-Wunused-macros"
77#elif defined(__APPLE__)
78# include <machine/endian.h>
79# include <architecture/byte_order.h>
80# define bswap_16(x) NXSwapShort(x)
81# define bswap_32(x) NXSwapInt(x)
82# define bswap_64(x) NXSwapLongLong(x)
84# define bswap_16(x) __builtin_bswap16(x)
85# define bswap_32(x) __builtin_bswap32(x)
86# define bswap_64(x) __builtin_bswap64(x)
91#if (!defined(__BYTE_ORDER) && !defined(__LITTLE_ENDIAN)) || (defined(__BYTE_ORDER) && defined(__LITTLE_ENDIAN) && __BYTE_ORDER == __LITTLE_ENDIAN)
92# if !defined(htonll) && !defined(ntohll)
93# define htonll(x) bswap_64(x)
94# define ntohll(x) bswap_64(x)
96# if !defined(htonl) && !defined(ntohl)
97# define htonl(x) bswap_32(x)
98# define ntohl(x) bswap_32(x)
100# if !defined(htons) && !defined(ntohs)
101# define htons(x) bswap_16(x)
102# define ntohs(x) bswap_16(x)
105# if !defined(htonll) && !defined(ntohll)
106# define htonll(x) (x)
107# define ntohll(x) (x)
109# if !defined(htonl) && !defined(ntohl)
113# if !defined(htons) && !defined(ntohs)
118#pragma clang diagnostic pop
127#pragma clang diagnostic push
128#pragma clang diagnostic ignored "-Wunused-variable"
130 if (len >= bufferSize) {
134 len += snprintf(descString + len, bufferSize - len,
"visibilityHistory=%llu", self->visibilityHistory);
136 len += snprintf(descString + len, bufferSize - len,
"visibilityHistory=%lu", self->visibilityHistory);
138 if (len >= bufferSize) {
141 len = gu_strlcat(descString,
", ", bufferSize);
142 if (len >= bufferSize) {
145 len += snprintf(descString + len, bufferSize - len,
"frameCounter=%d", self->frameCounter);
146 if (len >= bufferSize) {
149 len = gu_strlcat(descString,
", ", bufferSize);
150 if (len >= bufferSize) {
153 len += snprintf(descString + len, bufferSize - len,
"distance=%d", self->distance);
154 if (len >= bufferSize) {
157 len = gu_strlcat(descString,
", ", bufferSize);
158 if (len >= bufferSize) {
161 len += snprintf(descString + len, bufferSize - len,
"x=%d", self->x);
162 if (len >= bufferSize) {
165 len = gu_strlcat(descString,
", ", bufferSize);
166 if (len >= bufferSize) {
169 len += snprintf(descString + len, bufferSize - len,
"y=%d", self->y);
170 if (len >= bufferSize) {
173 len = gu_strlcat(descString,
", ", bufferSize);
174 if (len >= bufferSize) {
177 len += snprintf(descString + len, bufferSize - len,
"yaw=%d", self->yaw);
178 if (len >= bufferSize) {
181 len = gu_strlcat(descString,
", ", bufferSize);
182 if (len >= bufferSize) {
185 len += snprintf(descString + len, bufferSize - len,
"ray_angle=%d", self->ray_angle);
186 if (len >= bufferSize) {
189 len = gu_strlcat(descString,
", ", bufferSize);
190 if (len >= bufferSize) {
193 len = gu_strlcat(descString, self->isVisible ?
"isVisible=true" :
"isVisible=false", bufferSize);
194 if (len >= bufferSize) {
197 len = gu_strlcat(descString,
", ", bufferSize);
198 if (len >= bufferSize) {
201 len = gu_strlcat(descString, self->pad1 ?
"pad1=true" :
"pad1=false", bufferSize);
203#pragma clang diagnostic pop
211#pragma clang diagnostic push
212#pragma clang diagnostic ignored "-Wunused-variable"
214 if (len >= bufferSize) {
218 len += snprintf(toString + len, bufferSize - len,
"%llu", self->visibilityHistory);
220 len += snprintf(toString + len, bufferSize - len,
"%lu", self->visibilityHistory);
222 if (len >= bufferSize) {
225 len = gu_strlcat(toString,
", ", bufferSize);
226 if (len >= bufferSize) {
229 len += snprintf(toString + len, bufferSize - len,
"%d", self->frameCounter);
230 if (len >= bufferSize) {
233 len = gu_strlcat(toString,
", ", bufferSize);
234 if (len >= bufferSize) {
237 len += snprintf(toString + len, bufferSize - len,
"%d", self->distance);
238 if (len >= bufferSize) {
241 len = gu_strlcat(toString,
", ", bufferSize);
242 if (len >= bufferSize) {
245 len += snprintf(toString + len, bufferSize - len,
"%d", self->x);
246 if (len >= bufferSize) {
249 len = gu_strlcat(toString,
", ", bufferSize);
250 if (len >= bufferSize) {
253 len += snprintf(toString + len, bufferSize - len,
"%d", self->y);
254 if (len >= bufferSize) {
257 len = gu_strlcat(toString,
", ", bufferSize);
258 if (len >= bufferSize) {
261 len += snprintf(toString + len, bufferSize - len,
"%d", self->yaw);
262 if (len >= bufferSize) {
265 len = gu_strlcat(toString,
", ", bufferSize);
266 if (len >= bufferSize) {
269 len += snprintf(toString + len, bufferSize - len,
"%d", self->ray_angle);
270 if (len >= bufferSize) {
273 len = gu_strlcat(toString,
", ", bufferSize);
274 if (len >= bufferSize) {
277 len = gu_strlcat(toString, self->isVisible ?
"true" :
"false", bufferSize);
278 if (len >= bufferSize) {
281 len = gu_strlcat(toString,
", ", bufferSize);
282 if (len >= bufferSize) {
285 len = gu_strlcat(toString, self->pad1 ?
"true" :
"false", bufferSize);
287#pragma clang diagnostic pop
295 size_t temp_length = strlen(str);
296 int length = (temp_length <= INT_MAX) ? ((
int)((ssize_t)temp_length)) : -1;
301 char* var_str = &var_str_buffer[0];
303 char* key = &key_buffer[0];
310 if (index == 0 && str[0] ==
'{') {
316 for (
int i = index; i < length; i++) {
318 if (bracecount == 0 && str[i] ==
'=') {
323 if (bracecount == 0 && isspace(str[i])) {
330 if (bracecount == 0 && str[i] ==
',') {
340 if (bracecount < 0) {
345 if (i == length - 1) {
349 if (endKey >= startKey && endKey - startKey < length) {
350 strncpy(key, str + startKey, ((
size_t)(endKey - startKey) + 1));
351 key[(endKey - startKey) + 1] = 0;
355 strncpy(var_str, str + startVar, ((
size_t)(index - startVar) + 1));
356 var_str[(index - startVar) + 1] = 0;
362 if (strlen(key) > 0) {
363 if (0 == strcmp(
"visibilityHistory", key)) {
365 }
else if (0 == strcmp(
"frameCounter", key)) {
367 }
else if (0 == strcmp(
"distance", key)) {
369 }
else if (0 == strcmp(
"x", key)) {
371 }
else if (0 == strcmp(
"y", key)) {
373 }
else if (0 == strcmp(
"yaw", key)) {
375 }
else if (0 == strcmp(
"ray_angle", key)) {
377 }
else if (0 == strcmp(
"isVisible", key)) {
379 }
else if (0 == strcmp(
"pad1", key)) {
390 self->visibilityHistory = ((uint64_t)atoll(var_str));
392 self->visibilityHistory = ((uint64_t)atol(var_str));
398 self->frameCounter = ((int32_t)atoi(var_str));
403 self->distance = ((int16_t)atoi(var_str));
408 self->x = ((int16_t)atoi(var_str));
413 self->y = ((int16_t)atoi(var_str));
418 self->yaw = ((int16_t)atoi(var_str));
423 self->ray_angle = ((int16_t)atoi(var_str));
428 self->isVisible = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
433 self->pad1 = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
440 }
while(index < length);
451 uint16_t bit_offset = 0;
452 uint64_t visibilityHistory_nbo =
htonll(self->visibilityHistory);
455 for (b = (64 - 1); b >= 0; b--) {
457 uint16_t
byte = bit_offset / 8;
458 uint16_t bit = 7 - (bit_offset % 8);
459 unsigned long newbit = !!((visibilityHistory_nbo >> b) & 1U);
460 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
461 bit_offset = bit_offset + 1;
466 int32_t frameCounter_nbo =
htonl(self->frameCounter);
469 for (b = (32 - 1); b >= 0; b--) {
471 uint16_t
byte = bit_offset / 8;
472 uint16_t bit = 7 - (bit_offset % 8);
473 unsigned long newbit = !!((frameCounter_nbo >> b) & 1U);
474 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
475 bit_offset = bit_offset + 1;
480 int16_t distance_nbo =
htons(self->distance);
483 for (b = (16 - 1); b >= 0; b--) {
485 uint16_t
byte = bit_offset / 8;
486 uint16_t bit = 7 - (bit_offset % 8);
487 unsigned long newbit = !!((distance_nbo >> b) & 1U);
488 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
489 bit_offset = bit_offset + 1;
494 int16_t x_nbo =
htons(self->x);
497 for (b = (16 - 1); b >= 0; b--) {
499 uint16_t
byte = bit_offset / 8;
500 uint16_t bit = 7 - (bit_offset % 8);
501 unsigned long newbit = !!((x_nbo >> b) & 1U);
502 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
503 bit_offset = bit_offset + 1;
508 int16_t y_nbo =
htons(self->y);
511 for (b = (16 - 1); b >= 0; b--) {
513 uint16_t
byte = bit_offset / 8;
514 uint16_t bit = 7 - (bit_offset % 8);
515 unsigned long newbit = !!((y_nbo >> b) & 1U);
516 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
517 bit_offset = bit_offset + 1;
522 int16_t yaw_nbo =
htons(self->yaw);
525 for (b = (16 - 1); b >= 0; b--) {
527 uint16_t
byte = bit_offset / 8;
528 uint16_t bit = 7 - (bit_offset % 8);
529 unsigned long newbit = !!((yaw_nbo >> b) & 1U);
530 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
531 bit_offset = bit_offset + 1;
536 int16_t ray_angle_nbo =
htons(self->ray_angle);
539 for (b = (16 - 1); b >= 0; b--) {
541 uint16_t
byte = bit_offset / 8;
542 uint16_t bit = 7 - (bit_offset % 8);
543 unsigned long newbit = !!((ray_angle_nbo >> b) & 1U);
544 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
545 bit_offset = bit_offset + 1;
551 uint16_t
byte = bit_offset / 8;
552 uint16_t bit = 7 - (bit_offset % 8);
553 unsigned long newbit = !!(
self->isVisible ? 1U : 0U);
554 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
555 bit_offset = bit_offset + 1;
559 uint16_t
byte = bit_offset / 8;
560 uint16_t bit = 7 - (bit_offset % 8);
561 unsigned long newbit = !!(
self->pad1 ? 1U : 0U);
562 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
563 bit_offset = bit_offset + 1;
576 uint16_t bit_offset = 0;
579 for (b = (64 - 1); b >= 0; b--) {
581 uint16_t
byte = bit_offset / 8;
582 uint16_t bit = 7 - (bit_offset % 8);
583 char dataByte = src[byte];
584 unsigned char bitValue = (dataByte >> bit) & 1U;
586 bit_offset = bit_offset + 1;
594 for (b = (32 - 1); b >= 0; b--) {
596 uint16_t
byte = bit_offset / 8;
597 uint16_t bit = 7 - (bit_offset % 8);
598 char dataByte = src[byte];
599 unsigned char bitValue = (dataByte >> bit) & 1U;
601 bit_offset = bit_offset + 1;
609 for (b = (16 - 1); b >= 0; b--) {
611 uint16_t
byte = bit_offset / 8;
612 uint16_t bit = 7 - (bit_offset % 8);
613 char dataByte = src[byte];
614 unsigned char bitValue = (dataByte >> bit) & 1U;
616 bit_offset = bit_offset + 1;
624 for (b = (16 - 1); b >= 0; b--) {
626 uint16_t
byte = bit_offset / 8;
627 uint16_t bit = 7 - (bit_offset % 8);
628 char dataByte = src[byte];
629 unsigned char bitValue = (dataByte >> bit) & 1U;
630 dst->
x ^= (-bitValue ^ dst->
x) & (1UL << b);
631 bit_offset = bit_offset + 1;
639 for (b = (16 - 1); b >= 0; b--) {
641 uint16_t
byte = bit_offset / 8;
642 uint16_t bit = 7 - (bit_offset % 8);
643 char dataByte = src[byte];
644 unsigned char bitValue = (dataByte >> bit) & 1U;
645 dst->
y ^= (-bitValue ^ dst->
y) & (1UL << b);
646 bit_offset = bit_offset + 1;
654 for (b = (16 - 1); b >= 0; b--) {
656 uint16_t
byte = bit_offset / 8;
657 uint16_t bit = 7 - (bit_offset % 8);
658 char dataByte = src[byte];
659 unsigned char bitValue = (dataByte >> bit) & 1U;
660 dst->
yaw ^= (-bitValue ^ dst->
yaw) & (1UL << b);
661 bit_offset = bit_offset + 1;
669 for (b = (16 - 1); b >= 0; b--) {
671 uint16_t
byte = bit_offset / 8;
672 uint16_t bit = 7 - (bit_offset % 8);
673 char dataByte = src[byte];
674 unsigned char bitValue = (dataByte >> bit) & 1U;
676 bit_offset = bit_offset + 1;
683 uint16_t
byte = bit_offset / 8;
684 uint16_t bit = 7 - (bit_offset % 8);
685 char dataByte = src[byte];
686 unsigned char bitValue = (dataByte >> bit) & 1U;
688 bit_offset = bit_offset + 1;
692 uint16_t
byte = bit_offset / 8;
693 uint16_t bit = 7 - (bit_offset % 8);
694 char dataByte = src[byte];
695 unsigned char bitValue = (dataByte >> bit) & 1U;
696 dst->
pad1 = bitValue != 0;
697 bit_offset = bit_offset + 1;
WHITEBOARD_POSTER_STRING_CONVERSION.
bool pad1
16 bit padding .
int16_t x
centre x-coordinate in image (0,0) is the centre of the image, positive is to the right
int32_t frameCounter
incremented every time we do not see the object.
int16_t distance
distance to landmark in cm
uint64_t visibilityHistory
a 64-bit history of whether vision said visible 1 or not visible 0.
int16_t yaw
the Yaw in Degrees when the object was last used to generated filtered values.
int16_t ray_angle
In degrees, position of the object, positive is left, negative is right, with distance polar position...
int16_t y
centre y-coordinate in image, positive is upwards
bool isVisible
is this a credible sighting.
const char * wb_filtered_vision_object_to_string(const struct wb_filtered_vision_object *self, char *toString, size_t bufferSize)
Convert to a string.
const char * wb_filtered_vision_object_description(const struct wb_filtered_vision_object *self, char *descString, size_t bufferSize)
Convert to a description string.
struct wb_filtered_vision_object * wb_filtered_vision_object_from_string(struct wb_filtered_vision_object *self, const char *str)
Convert from a string.
size_t wb_filtered_vision_object_from_network_serialised(const char *src, struct wb_filtered_vision_object *dst)
Convert from a compressed, serialised, network byte order byte stream.
size_t wb_filtered_vision_object_to_network_serialised(const struct wb_filtered_vision_object *self, char *dst)
Convert to a compressed, serialised, network byte order byte stream.
#define FILTERED_VISION_OBJECT_DESC_BUFFER_SIZE