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 = gu_strlcat(descString, self->walkEngineOn ?
"walkEngineOn=true" :
"walkEngineOn=false", bufferSize);
134 if (len >= bufferSize) {
137 len = gu_strlcat(descString,
", ", bufferSize);
138 if (len >= bufferSize) {
141 len += snprintf(descString + len, bufferSize - len,
"forward=%d", self->forward);
142 if (len >= bufferSize) {
145 len = gu_strlcat(descString,
", ", bufferSize);
146 if (len >= bufferSize) {
149 len += snprintf(descString + len, bufferSize - len,
"left=%d", self->left);
150 if (len >= bufferSize) {
153 len = gu_strlcat(descString,
", ", bufferSize);
154 if (len >= bufferSize) {
157 len += snprintf(descString + len, bufferSize - len,
"turn=%d", self->turn);
158 if (len >= bufferSize) {
161 len = gu_strlcat(descString,
", ", bufferSize);
162 if (len >= bufferSize) {
165 len += snprintf(descString + len, bufferSize - len,
"priority=%d", self->priority);
166 if (len >= bufferSize) {
169 len = gu_strlcat(descString,
", ", bufferSize);
170 if (len >= bufferSize) {
173 len = gu_strlcat(descString, self->exactStepsRequested ?
"exactStepsRequested=true" :
"exactStepsRequested=false", bufferSize);
174 if (len >= bufferSize) {
177 len = gu_strlcat(descString,
", ", bufferSize);
178 if (len >= bufferSize) {
181 len += snprintf(descString + len, bufferSize - len,
"speed=%u", self->speed);
182 if (len >= bufferSize) {
185 len = gu_strlcat(descString,
", ", bufferSize);
186 if (len >= bufferSize) {
189 len = gu_strlcat(descString, self->isFast ?
"isFast=true" :
"isFast=false", bufferSize);
190 if (len >= bufferSize) {
193 len = gu_strlcat(descString,
", ", bufferSize);
194 if (len >= bufferSize) {
197 len = gu_strlcat(descString, self->kickWithLeftFoot ?
"kickWithLeftFoot=true" :
"kickWithLeftFoot=false", bufferSize);
198 if (len >= bufferSize) {
201 len = gu_strlcat(descString,
", ", bufferSize);
202 if (len >= bufferSize) {
205 len = gu_strlcat(descString, self->useShuffle ?
"useShuffle=true" :
"useShuffle=false", bufferSize);
206 if (len >= bufferSize) {
209 len = gu_strlcat(descString,
", ", bufferSize);
210 if (len >= bufferSize) {
213 len = gu_strlcat(descString, self->leftArmLimp ?
"leftArmLimp=true" :
"leftArmLimp=false", bufferSize);
214 if (len >= bufferSize) {
217 len = gu_strlcat(descString,
", ", bufferSize);
218 if (len >= bufferSize) {
221 len = gu_strlcat(descString, self->rightArmLimp ?
"rightArmLimp=true" :
"rightArmLimp=false", bufferSize);
222 if (len >= bufferSize) {
225 len = gu_strlcat(descString,
", ", bufferSize);
226 if (len >= bufferSize) {
229 len += snprintf(descString + len, bufferSize - len,
"power=%u", self->power);
230 if (len >= bufferSize) {
233 len = gu_strlcat(descString,
", ", bufferSize);
234 if (len >= bufferSize) {
237 len += snprintf(descString + len, bufferSize - len,
"odometryResetCounter=%u", self->odometryResetCounter);
238 if (len >= bufferSize) {
241 len = gu_strlcat(descString,
", ", bufferSize);
242 if (len >= bufferSize) {
245 len += snprintf(descString + len, bufferSize - len,
"bend=%u", self->bend);
247#pragma clang diagnostic pop
255#pragma clang diagnostic push
256#pragma clang diagnostic ignored "-Wunused-variable"
258 if (len >= bufferSize) {
261 len = gu_strlcat(toString, self->walkEngineOn ?
"true" :
"false", bufferSize);
262 if (len >= bufferSize) {
265 len = gu_strlcat(toString,
", ", bufferSize);
266 if (len >= bufferSize) {
269 len += snprintf(toString + len, bufferSize - len,
"%d", self->forward);
270 if (len >= bufferSize) {
273 len = gu_strlcat(toString,
", ", bufferSize);
274 if (len >= bufferSize) {
277 len += snprintf(toString + len, bufferSize - len,
"%d", self->left);
278 if (len >= bufferSize) {
281 len = gu_strlcat(toString,
", ", bufferSize);
282 if (len >= bufferSize) {
285 len += snprintf(toString + len, bufferSize - len,
"%d", self->turn);
286 if (len >= bufferSize) {
289 len = gu_strlcat(toString,
", ", bufferSize);
290 if (len >= bufferSize) {
293 len += snprintf(toString + len, bufferSize - len,
"%d", self->priority);
294 if (len >= bufferSize) {
297 len = gu_strlcat(toString,
", ", bufferSize);
298 if (len >= bufferSize) {
301 len = gu_strlcat(toString, self->exactStepsRequested ?
"true" :
"false", bufferSize);
302 if (len >= bufferSize) {
305 len = gu_strlcat(toString,
", ", bufferSize);
306 if (len >= bufferSize) {
309 len += snprintf(toString + len, bufferSize - len,
"%u", self->speed);
310 if (len >= bufferSize) {
313 len = gu_strlcat(toString,
", ", bufferSize);
314 if (len >= bufferSize) {
317 len = gu_strlcat(toString, self->isFast ?
"true" :
"false", bufferSize);
318 if (len >= bufferSize) {
321 len = gu_strlcat(toString,
", ", bufferSize);
322 if (len >= bufferSize) {
325 len = gu_strlcat(toString, self->kickWithLeftFoot ?
"true" :
"false", bufferSize);
326 if (len >= bufferSize) {
329 len = gu_strlcat(toString,
", ", bufferSize);
330 if (len >= bufferSize) {
333 len = gu_strlcat(toString, self->useShuffle ?
"true" :
"false", bufferSize);
334 if (len >= bufferSize) {
337 len = gu_strlcat(toString,
", ", bufferSize);
338 if (len >= bufferSize) {
341 len = gu_strlcat(toString, self->leftArmLimp ?
"true" :
"false", bufferSize);
342 if (len >= bufferSize) {
345 len = gu_strlcat(toString,
", ", bufferSize);
346 if (len >= bufferSize) {
349 len = gu_strlcat(toString, self->rightArmLimp ?
"true" :
"false", bufferSize);
350 if (len >= bufferSize) {
353 len = gu_strlcat(toString,
", ", bufferSize);
354 if (len >= bufferSize) {
357 len += snprintf(toString + len, bufferSize - len,
"%u", self->power);
358 if (len >= bufferSize) {
361 len = gu_strlcat(toString,
", ", bufferSize);
362 if (len >= bufferSize) {
365 len += snprintf(toString + len, bufferSize - len,
"%u", self->odometryResetCounter);
366 if (len >= bufferSize) {
369 len = gu_strlcat(toString,
", ", bufferSize);
370 if (len >= bufferSize) {
373 len += snprintf(toString + len, bufferSize - len,
"%u", self->bend);
375#pragma clang diagnostic pop
383 size_t temp_length = strlen(str);
384 int length = (temp_length <= INT_MAX) ? ((
int)((ssize_t)temp_length)) : -1;
389 char* var_str = &var_str_buffer[0];
391 char* key = &key_buffer[0];
398 if (index == 0 && str[0] ==
'{') {
404 for (
int i = index; i < length; i++) {
406 if (bracecount == 0 && str[i] ==
'=') {
411 if (bracecount == 0 && isspace(str[i])) {
418 if (bracecount == 0 && str[i] ==
',') {
428 if (bracecount < 0) {
433 if (i == length - 1) {
437 if (endKey >= startKey && endKey - startKey < length) {
438 strncpy(key, str + startKey, ((
size_t)(endKey - startKey) + 1));
439 key[(endKey - startKey) + 1] = 0;
443 strncpy(var_str, str + startVar, ((
size_t)(index - startVar) + 1));
444 var_str[(index - startVar) + 1] = 0;
450 if (strlen(key) > 0) {
451 if (0 == strcmp(
"walkEngineOn", key)) {
453 }
else if (0 == strcmp(
"forward", key)) {
455 }
else if (0 == strcmp(
"left", key)) {
457 }
else if (0 == strcmp(
"turn", key)) {
459 }
else if (0 == strcmp(
"priority", key)) {
461 }
else if (0 == strcmp(
"exactStepsRequested", key)) {
463 }
else if (0 == strcmp(
"speed", key)) {
465 }
else if (0 == strcmp(
"isFast", key)) {
467 }
else if (0 == strcmp(
"kickWithLeftFoot", key)) {
469 }
else if (0 == strcmp(
"useShuffle", key)) {
471 }
else if (0 == strcmp(
"leftArmLimp", key)) {
473 }
else if (0 == strcmp(
"rightArmLimp", key)) {
475 }
else if (0 == strcmp(
"power", key)) {
477 }
else if (0 == strcmp(
"odometryResetCounter", key)) {
479 }
else if (0 == strcmp(
"bend", key)) {
489 self->walkEngineOn = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
494 self->forward = ((int16_t)atoi(var_str));
499 self->left = ((int16_t)atoi(var_str));
504 self->turn = ((int8_t)atoi(var_str));
509 self->priority = ((int8_t)atoi(var_str));
514 self->exactStepsRequested = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
519 self->speed = ((uint8_t)atoi(var_str));
524 self->isFast = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
529 self->kickWithLeftFoot = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
534 self->useShuffle = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
539 self->leftArmLimp = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
544 self->rightArmLimp = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
549 self->power = ((uint8_t)atoi(var_str));
554 self->odometryResetCounter = ((uint8_t)atoi(var_str));
559 self->bend = ((uint8_t)atoi(var_str));
566 }
while(index < length);
577 uint16_t bit_offset = 0;
579 uint16_t
byte = bit_offset / 8;
580 uint16_t bit = 7 - (bit_offset % 8);
581 unsigned long newbit = !!(
self->walkEngineOn ? 1U : 0U);
582 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
583 bit_offset = bit_offset + 1;
586 int16_t forward_nbo =
htons(self->forward);
589 for (b = (16 - 1); b >= 0; b--) {
591 uint16_t
byte = bit_offset / 8;
592 uint16_t bit = 7 - (bit_offset % 8);
593 unsigned long newbit = !!((forward_nbo >> b) & 1U);
594 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
595 bit_offset = bit_offset + 1;
600 int16_t left_nbo =
htons(self->left);
603 for (b = (16 - 1); b >= 0; b--) {
605 uint16_t
byte = bit_offset / 8;
606 uint16_t bit = 7 - (bit_offset % 8);
607 unsigned long newbit = !!((left_nbo >> b) & 1U);
608 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
609 bit_offset = bit_offset + 1;
614 int8_t turn_nbo = (
self->turn);
617 for (b = (8 - 1); b >= 0; b--) {
619 uint16_t
byte = bit_offset / 8;
620 uint16_t bit = 7 - (bit_offset % 8);
621 unsigned long newbit = !!((turn_nbo >> b) & 1U);
622 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
623 bit_offset = bit_offset + 1;
628 int8_t priority_nbo = (
self->priority);
631 for (b = (8 - 1); b >= 0; b--) {
633 uint16_t
byte = bit_offset / 8;
634 uint16_t bit = 7 - (bit_offset % 8);
635 unsigned long newbit = !!((priority_nbo >> b) & 1U);
636 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
637 bit_offset = bit_offset + 1;
643 uint16_t
byte = bit_offset / 8;
644 uint16_t bit = 7 - (bit_offset % 8);
645 unsigned long newbit = !!(
self->exactStepsRequested ? 1U : 0U);
646 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
647 bit_offset = bit_offset + 1;
650 uint8_t speed_nbo = (
self->speed);
653 for (b = (8 - 1); b >= 0; b--) {
655 uint16_t
byte = bit_offset / 8;
656 uint16_t bit = 7 - (bit_offset % 8);
657 unsigned long newbit = !!((speed_nbo >> b) & 1U);
658 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
659 bit_offset = bit_offset + 1;
665 uint16_t
byte = bit_offset / 8;
666 uint16_t bit = 7 - (bit_offset % 8);
667 unsigned long newbit = !!(
self->isFast ? 1U : 0U);
668 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
669 bit_offset = bit_offset + 1;
673 uint16_t
byte = bit_offset / 8;
674 uint16_t bit = 7 - (bit_offset % 8);
675 unsigned long newbit = !!(
self->kickWithLeftFoot ? 1U : 0U);
676 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
677 bit_offset = bit_offset + 1;
681 uint16_t
byte = bit_offset / 8;
682 uint16_t bit = 7 - (bit_offset % 8);
683 unsigned long newbit = !!(
self->useShuffle ? 1U : 0U);
684 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
685 bit_offset = bit_offset + 1;
689 uint16_t
byte = bit_offset / 8;
690 uint16_t bit = 7 - (bit_offset % 8);
691 unsigned long newbit = !!(
self->leftArmLimp ? 1U : 0U);
692 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
693 bit_offset = bit_offset + 1;
697 uint16_t
byte = bit_offset / 8;
698 uint16_t bit = 7 - (bit_offset % 8);
699 unsigned long newbit = !!(
self->rightArmLimp ? 1U : 0U);
700 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
701 bit_offset = bit_offset + 1;
704 uint8_t power_nbo = (
self->power);
707 for (b = (8 - 1); b >= 0; b--) {
709 uint16_t
byte = bit_offset / 8;
710 uint16_t bit = 7 - (bit_offset % 8);
711 unsigned long newbit = !!((power_nbo >> b) & 1U);
712 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
713 bit_offset = bit_offset + 1;
718 uint8_t odometryResetCounter_nbo = (
self->odometryResetCounter);
721 for (b = (8 - 1); b >= 0; b--) {
723 uint16_t
byte = bit_offset / 8;
724 uint16_t bit = 7 - (bit_offset % 8);
725 unsigned long newbit = !!((odometryResetCounter_nbo >> b) & 1U);
726 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
727 bit_offset = bit_offset + 1;
732 uint8_t bend_nbo = (
self->bend);
735 for (b = (8 - 1); b >= 0; b--) {
737 uint16_t
byte = bit_offset / 8;
738 uint16_t bit = 7 - (bit_offset % 8);
739 unsigned long newbit = !!((bend_nbo >> b) & 1U);
740 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
741 bit_offset = bit_offset + 1;
756 uint16_t bit_offset = 0;
758 uint16_t
byte = bit_offset / 8;
759 uint16_t bit = 7 - (bit_offset % 8);
760 char dataByte = src[byte];
761 unsigned char bitValue = (dataByte >> bit) & 1U;
763 bit_offset = bit_offset + 1;
768 for (b = (16 - 1); b >= 0; b--) {
770 uint16_t
byte = bit_offset / 8;
771 uint16_t bit = 7 - (bit_offset % 8);
772 char dataByte = src[byte];
773 unsigned char bitValue = (dataByte >> bit) & 1U;
775 bit_offset = bit_offset + 1;
783 for (b = (16 - 1); b >= 0; b--) {
785 uint16_t
byte = bit_offset / 8;
786 uint16_t bit = 7 - (bit_offset % 8);
787 char dataByte = src[byte];
788 unsigned char bitValue = (dataByte >> bit) & 1U;
789 dst->
left ^= (-bitValue ^ dst->
left) & (1UL << b);
790 bit_offset = bit_offset + 1;
798 for (b = (8 - 1); b >= 0; b--) {
800 uint16_t
byte = bit_offset / 8;
801 uint16_t bit = 7 - (bit_offset % 8);
802 char dataByte = src[byte];
803 unsigned char bitValue = (dataByte >> bit) & 1U;
804 dst->
turn ^= (-bitValue ^ dst->
turn) & (1UL << b);
805 bit_offset = bit_offset + 1;
813 for (b = (8 - 1); b >= 0; b--) {
815 uint16_t
byte = bit_offset / 8;
816 uint16_t bit = 7 - (bit_offset % 8);
817 char dataByte = src[byte];
818 unsigned char bitValue = (dataByte >> bit) & 1U;
820 bit_offset = bit_offset + 1;
827 uint16_t
byte = bit_offset / 8;
828 uint16_t bit = 7 - (bit_offset % 8);
829 char dataByte = src[byte];
830 unsigned char bitValue = (dataByte >> bit) & 1U;
832 bit_offset = bit_offset + 1;
837 for (b = (8 - 1); b >= 0; b--) {
839 uint16_t
byte = bit_offset / 8;
840 uint16_t bit = 7 - (bit_offset % 8);
841 char dataByte = src[byte];
842 unsigned char bitValue = (dataByte >> bit) & 1U;
843 dst->
speed ^= (-bitValue ^ dst->
speed) & (1UL << b);
844 bit_offset = bit_offset + 1;
851 uint16_t
byte = bit_offset / 8;
852 uint16_t bit = 7 - (bit_offset % 8);
853 char dataByte = src[byte];
854 unsigned char bitValue = (dataByte >> bit) & 1U;
855 dst->
isFast = bitValue != 0;
856 bit_offset = bit_offset + 1;
860 uint16_t
byte = bit_offset / 8;
861 uint16_t bit = 7 - (bit_offset % 8);
862 char dataByte = src[byte];
863 unsigned char bitValue = (dataByte >> bit) & 1U;
865 bit_offset = bit_offset + 1;
869 uint16_t
byte = bit_offset / 8;
870 uint16_t bit = 7 - (bit_offset % 8);
871 char dataByte = src[byte];
872 unsigned char bitValue = (dataByte >> bit) & 1U;
874 bit_offset = bit_offset + 1;
878 uint16_t
byte = bit_offset / 8;
879 uint16_t bit = 7 - (bit_offset % 8);
880 char dataByte = src[byte];
881 unsigned char bitValue = (dataByte >> bit) & 1U;
883 bit_offset = bit_offset + 1;
887 uint16_t
byte = bit_offset / 8;
888 uint16_t bit = 7 - (bit_offset % 8);
889 char dataByte = src[byte];
890 unsigned char bitValue = (dataByte >> bit) & 1U;
892 bit_offset = bit_offset + 1;
897 for (b = (8 - 1); b >= 0; b--) {
899 uint16_t
byte = bit_offset / 8;
900 uint16_t bit = 7 - (bit_offset % 8);
901 char dataByte = src[byte];
902 unsigned char bitValue = (dataByte >> bit) & 1U;
903 dst->
power ^= (-bitValue ^ dst->
power) & (1UL << b);
904 bit_offset = bit_offset + 1;
912 for (b = (8 - 1); b >= 0; b--) {
914 uint16_t
byte = bit_offset / 8;
915 uint16_t bit = 7 - (bit_offset % 8);
916 char dataByte = src[byte];
917 unsigned char bitValue = (dataByte >> bit) & 1U;
919 bit_offset = bit_offset + 1;
927 for (b = (8 - 1); b >= 0; b--) {
929 uint16_t
byte = bit_offset / 8;
930 uint16_t bit = 7 - (bit_offset % 8);
931 char dataByte = src[byte];
932 unsigned char bitValue = (dataByte >> bit) & 1U;
933 dst->
bend ^= (-bitValue ^ dst->
bend) & (1UL << b);
934 bit_offset = bit_offset + 1;
WHITEBOARD_POSTER_STRING_CONVERSION.
bool kickWithLeftFoot
which foot to use for kicking
bool rightArmLimp
lower stiffness in the arms when walking, allows the arm to move a little more.
bool walkEngineOn
connects the dcm callbacks.
bool leftArmLimp
lower stiffness in the arms when walking, allows the arm to move a little more.
int8_t priority
subsumption priority 1: unprotected walk, command unmodified.
bool useShuffle
limits the step height so the robot 'shuffles' instead of taking larger steps.
int16_t left
[-200 - 200] step-size(mm) per second, limited to +/- 200mm/step
uint8_t power
[0 - 100] stiffness, auto set to minimum needed values.
bool exactStepsRequested
No ratcheting, no speed 'buildup', just full step sizes.
uint8_t odometryResetCounter
Odometry will reset any time this is changed or incremented.
int16_t forward
[-300 - 300] step-size(mm) per second, limited to +/- 300mm/step
uint8_t bend
[0 - 1] controls what the robot does when stopped, 0 == STAND and lower stiffness,...
int8_t turn
[-85 - 85] step-size(mm) per second, limited to +/- 85deg/step
uint8_t speed
[0 - 100] modifier for forward etc.
size_t wb_nao_sonar_protected_walk_command_from_network_serialised(const char *src, struct wb_nao_sonar_protected_walk_command *dst)
Convert from a compressed, serialised, network byte order byte stream.
struct wb_nao_sonar_protected_walk_command * wb_nao_sonar_protected_walk_command_from_string(struct wb_nao_sonar_protected_walk_command *self, const char *str)
Convert from a string.
const char * wb_nao_sonar_protected_walk_command_to_string(const struct wb_nao_sonar_protected_walk_command *self, char *toString, size_t bufferSize)
Convert to a string.
size_t wb_nao_sonar_protected_walk_command_to_network_serialised(const struct wb_nao_sonar_protected_walk_command *self, char *dst)
Convert to a compressed, serialised, network byte order byte stream.
const char * wb_nao_sonar_protected_walk_command_description(const struct wb_nao_sonar_protected_walk_command *self, char *descString, size_t bufferSize)
Convert to a description string.
#define NAO_SONAR_PROTECTED_WALK_COMMAND_DESC_BUFFER_SIZE