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) {
133 len += snprintf(descString + len, bufferSize - len,
"headYaw=%d", self->headYaw);
134 if (len >= bufferSize) {
137 len = gu_strlcat(descString,
", ", bufferSize);
138 if (len >= bufferSize) {
141 len += snprintf(descString + len, bufferSize - len,
"headPitch=%d", self->headPitch);
143#pragma clang diagnostic pop
151#pragma clang diagnostic push
152#pragma clang diagnostic ignored "-Wunused-variable"
154 if (len >= bufferSize) {
157 len += snprintf(toString + len, bufferSize - len,
"%d", self->headYaw);
158 if (len >= bufferSize) {
161 len = gu_strlcat(toString,
", ", bufferSize);
162 if (len >= bufferSize) {
165 len += snprintf(toString + len, bufferSize - len,
"%d", self->headPitch);
167#pragma clang diagnostic pop
175 size_t temp_length = strlen(str);
176 int length = (temp_length <= INT_MAX) ? ((
int)((ssize_t)temp_length)) : -1;
181 char* var_str = &var_str_buffer[0];
183 char* key = &key_buffer[0];
190 if (index == 0 && str[0] ==
'{') {
196 for (
int i = index; i < length; i++) {
198 if (bracecount == 0 && str[i] ==
'=') {
203 if (bracecount == 0 && isspace(str[i])) {
210 if (bracecount == 0 && str[i] ==
',') {
220 if (bracecount < 0) {
225 if (i == length - 1) {
229 if (endKey >= startKey && endKey - startKey < length) {
230 strncpy(key, str + startKey, ((
size_t)(endKey - startKey) + 1));
231 key[(endKey - startKey) + 1] = 0;
235 strncpy(var_str, str + startVar, ((
size_t)(index - startVar) + 1));
236 var_str[(index - startVar) + 1] = 0;
242 if (strlen(key) > 0) {
243 if (0 == strcmp(
"headYaw", key)) {
245 }
else if (0 == strcmp(
"headPitch", key)) {
255 self->headYaw = ((int16_t)atoi(var_str));
260 self->headPitch = ((int16_t)atoi(var_str));
267 }
while(index < length);
278 uint16_t bit_offset = 0;
279 int16_t headYaw_nbo =
htons(self->headYaw);
282 for (b = (16 - 1); b >= 0; b--) {
284 uint16_t
byte = bit_offset / 8;
285 uint16_t bit = 7 - (bit_offset % 8);
286 unsigned long newbit = !!((headYaw_nbo >> b) & 1U);
287 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
288 bit_offset = bit_offset + 1;
293 int16_t headPitch_nbo =
htons(self->headPitch);
296 for (b = (16 - 1); b >= 0; b--) {
298 uint16_t
byte = bit_offset / 8;
299 uint16_t bit = 7 - (bit_offset % 8);
300 unsigned long newbit = !!((headPitch_nbo >> b) & 1U);
301 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
302 bit_offset = bit_offset + 1;
317 uint16_t bit_offset = 0;
320 for (b = (16 - 1); b >= 0; b--) {
322 uint16_t
byte = bit_offset / 8;
323 uint16_t bit = 7 - (bit_offset % 8);
324 char dataByte = src[byte];
325 unsigned char bitValue = (dataByte >> bit) & 1U;
327 bit_offset = bit_offset + 1;
335 for (b = (16 - 1); b >= 0; b--) {
337 uint16_t
byte = bit_offset / 8;
338 uint16_t bit = 7 - (bit_offset % 8);
339 char dataByte = src[byte];
340 unsigned char bitValue = (dataByte >> bit) & 1U;
342 bit_offset = bit_offset + 1;
WHITEBOARD_POSTER_STRING_CONVERSION.
int16_t headPitch
Head pos in degrees.
int16_t headYaw
Head pos in degrees.
const char * wb_head_joint_sensors_description(const struct wb_head_joint_sensors *self, char *descString, size_t bufferSize)
Convert to a description string.
const char * wb_head_joint_sensors_to_string(const struct wb_head_joint_sensors *self, char *toString, size_t bufferSize)
Convert to a string.
size_t wb_head_joint_sensors_to_network_serialised(const struct wb_head_joint_sensors *self, char *dst)
Convert to a compressed, serialised, network byte order byte stream.
struct wb_head_joint_sensors * wb_head_joint_sensors_from_string(struct wb_head_joint_sensors *self, const char *str)
Convert from a string.
size_t wb_head_joint_sensors_from_network_serialised(const char *src, struct wb_head_joint_sensors *dst)
Convert from a compressed, serialised, network byte order byte stream.
#define HEAD_JOINT_SENSORS_DESC_BUFFER_SIZE