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 = gu_strlcat(descString, self->exactStepsRequested ?
"exactStepsRequested=true" :
"exactStepsRequested=false", bufferSize);
166 if (len >= bufferSize) {
169 len = gu_strlcat(descString,
", ", bufferSize);
170 if (len >= bufferSize) {
173 len += snprintf(descString + len, bufferSize - len,
"speed=%u", self->speed);
174 if (len >= bufferSize) {
177 len = gu_strlcat(descString,
", ", bufferSize);
178 if (len >= bufferSize) {
181 len += snprintf(descString + len, bufferSize - len,
"odometryResetCounter=%u", self->odometryResetCounter);
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,
"bend=%u", self->bend);
239#pragma clang diagnostic pop
247#pragma clang diagnostic push
248#pragma clang diagnostic ignored "-Wunused-variable"
250 if (len >= bufferSize) {
253 len = gu_strlcat(toString, self->walkEngineOn ?
"true" :
"false", bufferSize);
254 if (len >= bufferSize) {
257 len = gu_strlcat(toString,
", ", bufferSize);
258 if (len >= bufferSize) {
261 len += snprintf(toString + len, bufferSize - len,
"%d", self->forward);
262 if (len >= bufferSize) {
265 len = gu_strlcat(toString,
", ", bufferSize);
266 if (len >= bufferSize) {
269 len += snprintf(toString + len, bufferSize - len,
"%d", self->left);
270 if (len >= bufferSize) {
273 len = gu_strlcat(toString,
", ", bufferSize);
274 if (len >= bufferSize) {
277 len += snprintf(toString + len, bufferSize - len,
"%d", self->turn);
278 if (len >= bufferSize) {
281 len = gu_strlcat(toString,
", ", bufferSize);
282 if (len >= bufferSize) {
285 len = gu_strlcat(toString, self->exactStepsRequested ?
"true" :
"false", bufferSize);
286 if (len >= bufferSize) {
289 len = gu_strlcat(toString,
", ", bufferSize);
290 if (len >= bufferSize) {
293 len += snprintf(toString + len, bufferSize - len,
"%u", self->speed);
294 if (len >= bufferSize) {
297 len = gu_strlcat(toString,
", ", bufferSize);
298 if (len >= bufferSize) {
301 len += snprintf(toString + len, bufferSize - len,
"%u", self->odometryResetCounter);
302 if (len >= bufferSize) {
305 len = gu_strlcat(toString,
", ", bufferSize);
306 if (len >= bufferSize) {
309 len = gu_strlcat(toString, self->isFast ?
"true" :
"false", bufferSize);
310 if (len >= bufferSize) {
313 len = gu_strlcat(toString,
", ", bufferSize);
314 if (len >= bufferSize) {
317 len = gu_strlcat(toString, self->kickWithLeftFoot ?
"true" :
"false", bufferSize);
318 if (len >= bufferSize) {
321 len = gu_strlcat(toString,
", ", bufferSize);
322 if (len >= bufferSize) {
325 len = gu_strlcat(toString, self->useShuffle ?
"true" :
"false", bufferSize);
326 if (len >= bufferSize) {
329 len = gu_strlcat(toString,
", ", bufferSize);
330 if (len >= bufferSize) {
333 len = gu_strlcat(toString, self->leftArmLimp ?
"true" :
"false", bufferSize);
334 if (len >= bufferSize) {
337 len = gu_strlcat(toString,
", ", bufferSize);
338 if (len >= bufferSize) {
341 len = gu_strlcat(toString, self->rightArmLimp ?
"true" :
"false", bufferSize);
342 if (len >= bufferSize) {
345 len = gu_strlcat(toString,
", ", bufferSize);
346 if (len >= bufferSize) {
349 len += snprintf(toString + len, bufferSize - len,
"%u", self->power);
350 if (len >= bufferSize) {
353 len = gu_strlcat(toString,
", ", bufferSize);
354 if (len >= bufferSize) {
357 len += snprintf(toString + len, bufferSize - len,
"%u", self->bend);
359#pragma clang diagnostic pop
367 size_t temp_length = strlen(str);
368 int length = (temp_length <= INT_MAX) ? ((
int)((ssize_t)temp_length)) : -1;
373 char* var_str = &var_str_buffer[0];
375 char* key = &key_buffer[0];
382 if (index == 0 && str[0] ==
'{') {
388 for (
int i = index; i < length; i++) {
390 if (bracecount == 0 && str[i] ==
'=') {
395 if (bracecount == 0 && isspace(str[i])) {
402 if (bracecount == 0 && str[i] ==
',') {
412 if (bracecount < 0) {
417 if (i == length - 1) {
421 if (endKey >= startKey && endKey - startKey < length) {
422 strncpy(key, str + startKey, ((
size_t)(endKey - startKey) + 1));
423 key[(endKey - startKey) + 1] = 0;
427 strncpy(var_str, str + startVar, ((
size_t)(index - startVar) + 1));
428 var_str[(index - startVar) + 1] = 0;
434 if (strlen(key) > 0) {
435 if (0 == strcmp(
"walkEngineOn", key)) {
437 }
else if (0 == strcmp(
"forward", key)) {
439 }
else if (0 == strcmp(
"left", key)) {
441 }
else if (0 == strcmp(
"turn", key)) {
443 }
else if (0 == strcmp(
"exactStepsRequested", key)) {
445 }
else if (0 == strcmp(
"speed", key)) {
447 }
else if (0 == strcmp(
"odometryResetCounter", key)) {
449 }
else if (0 == strcmp(
"isFast", key)) {
451 }
else if (0 == strcmp(
"kickWithLeftFoot", key)) {
453 }
else if (0 == strcmp(
"useShuffle", key)) {
455 }
else if (0 == strcmp(
"leftArmLimp", key)) {
457 }
else if (0 == strcmp(
"rightArmLimp", key)) {
459 }
else if (0 == strcmp(
"power", key)) {
461 }
else if (0 == strcmp(
"bend", key)) {
471 self->walkEngineOn = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
476 self->forward = ((int16_t)atoi(var_str));
481 self->left = ((int16_t)atoi(var_str));
486 self->turn = ((int8_t)atoi(var_str));
491 self->exactStepsRequested = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
496 self->speed = ((uint8_t)atoi(var_str));
501 self->odometryResetCounter = ((uint8_t)atoi(var_str));
506 self->isFast = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
511 self->kickWithLeftFoot = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
516 self->useShuffle = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
521 self->leftArmLimp = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
526 self->rightArmLimp = strcmp(var_str,
"true") == 0 || strcmp(var_str,
"1") == 0;
531 self->power = ((uint8_t)atoi(var_str));
536 self->bend = ((uint8_t)atoi(var_str));
543 }
while(index < length);
554 uint16_t bit_offset = 0;
556 uint16_t
byte = bit_offset / 8;
557 uint16_t bit = 7 - (bit_offset % 8);
558 unsigned long newbit = !!(
self->walkEngineOn ? 1U : 0U);
559 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
560 bit_offset = bit_offset + 1;
563 int16_t forward_nbo =
htons(self->forward);
566 for (b = (16 - 1); b >= 0; b--) {
568 uint16_t
byte = bit_offset / 8;
569 uint16_t bit = 7 - (bit_offset % 8);
570 unsigned long newbit = !!((forward_nbo >> b) & 1U);
571 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
572 bit_offset = bit_offset + 1;
577 int16_t left_nbo =
htons(self->left);
580 for (b = (16 - 1); b >= 0; b--) {
582 uint16_t
byte = bit_offset / 8;
583 uint16_t bit = 7 - (bit_offset % 8);
584 unsigned long newbit = !!((left_nbo >> b) & 1U);
585 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
586 bit_offset = bit_offset + 1;
591 int8_t turn_nbo = (
self->turn);
594 for (b = (8 - 1); b >= 0; b--) {
596 uint16_t
byte = bit_offset / 8;
597 uint16_t bit = 7 - (bit_offset % 8);
598 unsigned long newbit = !!((turn_nbo >> b) & 1U);
599 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
600 bit_offset = bit_offset + 1;
606 uint16_t
byte = bit_offset / 8;
607 uint16_t bit = 7 - (bit_offset % 8);
608 unsigned long newbit = !!(
self->exactStepsRequested ? 1U : 0U);
609 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
610 bit_offset = bit_offset + 1;
613 uint8_t speed_nbo = (
self->speed);
616 for (b = (8 - 1); b >= 0; b--) {
618 uint16_t
byte = bit_offset / 8;
619 uint16_t bit = 7 - (bit_offset % 8);
620 unsigned long newbit = !!((speed_nbo >> b) & 1U);
621 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
622 bit_offset = bit_offset + 1;
627 uint8_t odometryResetCounter_nbo = (
self->odometryResetCounter);
630 for (b = (8 - 1); b >= 0; b--) {
632 uint16_t
byte = bit_offset / 8;
633 uint16_t bit = 7 - (bit_offset % 8);
634 unsigned long newbit = !!((odometryResetCounter_nbo >> b) & 1U);
635 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
636 bit_offset = bit_offset + 1;
642 uint16_t
byte = bit_offset / 8;
643 uint16_t bit = 7 - (bit_offset % 8);
644 unsigned long newbit = !!(
self->isFast ? 1U : 0U);
645 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
646 bit_offset = bit_offset + 1;
650 uint16_t
byte = bit_offset / 8;
651 uint16_t bit = 7 - (bit_offset % 8);
652 unsigned long newbit = !!(
self->kickWithLeftFoot ? 1U : 0U);
653 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
654 bit_offset = bit_offset + 1;
658 uint16_t
byte = bit_offset / 8;
659 uint16_t bit = 7 - (bit_offset % 8);
660 unsigned long newbit = !!(
self->useShuffle ? 1U : 0U);
661 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
662 bit_offset = bit_offset + 1;
666 uint16_t
byte = bit_offset / 8;
667 uint16_t bit = 7 - (bit_offset % 8);
668 unsigned long newbit = !!(
self->leftArmLimp ? 1U : 0U);
669 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
670 bit_offset = bit_offset + 1;
674 uint16_t
byte = bit_offset / 8;
675 uint16_t bit = 7 - (bit_offset % 8);
676 unsigned long newbit = !!(
self->rightArmLimp ? 1U : 0U);
677 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
678 bit_offset = bit_offset + 1;
681 uint8_t power_nbo = (
self->power);
684 for (b = (8 - 1); b >= 0; b--) {
686 uint16_t
byte = bit_offset / 8;
687 uint16_t bit = 7 - (bit_offset % 8);
688 unsigned long newbit = !!((power_nbo >> b) & 1U);
689 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
690 bit_offset = bit_offset + 1;
695 uint8_t bend_nbo = (
self->bend);
698 for (b = (8 - 1); b >= 0; b--) {
700 uint16_t
byte = bit_offset / 8;
701 uint16_t bit = 7 - (bit_offset % 8);
702 unsigned long newbit = !!((bend_nbo >> b) & 1U);
703 dst[byte] ^= (-newbit ^ dst[byte]) & (1UL << bit);
704 bit_offset = bit_offset + 1;
719 uint16_t bit_offset = 0;
721 uint16_t
byte = bit_offset / 8;
722 uint16_t bit = 7 - (bit_offset % 8);
723 char dataByte = src[byte];
724 unsigned char bitValue = (dataByte >> bit) & 1U;
726 bit_offset = bit_offset + 1;
731 for (b = (16 - 1); b >= 0; b--) {
733 uint16_t
byte = bit_offset / 8;
734 uint16_t bit = 7 - (bit_offset % 8);
735 char dataByte = src[byte];
736 unsigned char bitValue = (dataByte >> bit) & 1U;
738 bit_offset = bit_offset + 1;
746 for (b = (16 - 1); b >= 0; b--) {
748 uint16_t
byte = bit_offset / 8;
749 uint16_t bit = 7 - (bit_offset % 8);
750 char dataByte = src[byte];
751 unsigned char bitValue = (dataByte >> bit) & 1U;
752 dst->
left ^= (-bitValue ^ dst->
left) & (1UL << b);
753 bit_offset = bit_offset + 1;
761 for (b = (8 - 1); b >= 0; b--) {
763 uint16_t
byte = bit_offset / 8;
764 uint16_t bit = 7 - (bit_offset % 8);
765 char dataByte = src[byte];
766 unsigned char bitValue = (dataByte >> bit) & 1U;
767 dst->
turn ^= (-bitValue ^ dst->
turn) & (1UL << b);
768 bit_offset = bit_offset + 1;
775 uint16_t
byte = bit_offset / 8;
776 uint16_t bit = 7 - (bit_offset % 8);
777 char dataByte = src[byte];
778 unsigned char bitValue = (dataByte >> bit) & 1U;
780 bit_offset = bit_offset + 1;
785 for (b = (8 - 1); b >= 0; b--) {
787 uint16_t
byte = bit_offset / 8;
788 uint16_t bit = 7 - (bit_offset % 8);
789 char dataByte = src[byte];
790 unsigned char bitValue = (dataByte >> bit) & 1U;
791 dst->
speed ^= (-bitValue ^ dst->
speed) & (1UL << b);
792 bit_offset = bit_offset + 1;
800 for (b = (8 - 1); b >= 0; b--) {
802 uint16_t
byte = bit_offset / 8;
803 uint16_t bit = 7 - (bit_offset % 8);
804 char dataByte = src[byte];
805 unsigned char bitValue = (dataByte >> bit) & 1U;
807 bit_offset = bit_offset + 1;
814 uint16_t
byte = bit_offset / 8;
815 uint16_t bit = 7 - (bit_offset % 8);
816 char dataByte = src[byte];
817 unsigned char bitValue = (dataByte >> bit) & 1U;
818 dst->
isFast = bitValue != 0;
819 bit_offset = bit_offset + 1;
823 uint16_t
byte = bit_offset / 8;
824 uint16_t bit = 7 - (bit_offset % 8);
825 char dataByte = src[byte];
826 unsigned char bitValue = (dataByte >> bit) & 1U;
828 bit_offset = bit_offset + 1;
832 uint16_t
byte = bit_offset / 8;
833 uint16_t bit = 7 - (bit_offset % 8);
834 char dataByte = src[byte];
835 unsigned char bitValue = (dataByte >> bit) & 1U;
837 bit_offset = bit_offset + 1;
841 uint16_t
byte = bit_offset / 8;
842 uint16_t bit = 7 - (bit_offset % 8);
843 char dataByte = src[byte];
844 unsigned char bitValue = (dataByte >> bit) & 1U;
846 bit_offset = bit_offset + 1;
850 uint16_t
byte = bit_offset / 8;
851 uint16_t bit = 7 - (bit_offset % 8);
852 char dataByte = src[byte];
853 unsigned char bitValue = (dataByte >> bit) & 1U;
855 bit_offset = bit_offset + 1;
860 for (b = (8 - 1); b >= 0; b--) {
862 uint16_t
byte = bit_offset / 8;
863 uint16_t bit = 7 - (bit_offset % 8);
864 char dataByte = src[byte];
865 unsigned char bitValue = (dataByte >> bit) & 1U;
866 dst->
power ^= (-bitValue ^ dst->
power) & (1UL << b);
867 bit_offset = bit_offset + 1;
875 for (b = (8 - 1); b >= 0; b--) {
877 uint16_t
byte = bit_offset / 8;
878 uint16_t bit = 7 - (bit_offset % 8);
879 char dataByte = src[byte];
880 unsigned char bitValue = (dataByte >> bit) & 1U;
881 dst->
bend ^= (-bitValue ^ dst->
bend) & (1UL << b);
882 bit_offset = bit_offset + 1;
WHITEBOARD_POSTER_STRING_CONVERSION.
int8_t turn
[-85 - 85] step-size(mm) per second, limited to +/- 85deg/step
uint8_t power
[0 - 100] stiffness, auto set to minimum needed values.
uint8_t speed
[0 - 100] modifier for forward etc.
bool leftArmLimp
lower stiffness in the arms when walking, allows the arm to move a little more.
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.
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
bool useShuffle
limits the step height so the robot 'shuffles' instead of taking larger steps.
bool exactStepsRequested
No ratcheting, no speed 'buildup', just full step sizes.
uint8_t bend
[0 - 1] controls what the robot does when stopped, 0 == STAND and lower stiffness,...
bool walkEngineOn
connects the dcm callbacks.
int16_t left
[-200 - 200] step-size(mm) per second, limited to +/- 200mm/step
size_t wb_nao_walk_command_to_network_serialised(const struct wb_nao_walk_command *self, char *dst)
Convert to a compressed, serialised, network byte order byte stream.
const char * wb_nao_walk_command_to_string(const struct wb_nao_walk_command *self, char *toString, size_t bufferSize)
Convert to a string.
const char * wb_nao_walk_command_description(const struct wb_nao_walk_command *self, char *descString, size_t bufferSize)
Convert to a description string.
size_t wb_nao_walk_command_from_network_serialised(const char *src, struct wb_nao_walk_command *dst)
Convert from a compressed, serialised, network byte order byte stream.
struct wb_nao_walk_command * wb_nao_walk_command_from_string(struct wb_nao_walk_command *self, const char *str)
Convert from a string.
#define NAOWALKCOMMAND_DESC_BUFFER_SIZE