SelfTest.h

00001 #ifndef _ROS_SERVICE_SelfTest_h
00002 #define _ROS_SERVICE_SelfTest_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "ros/msg.h"
00007 #include "diagnostic_msgs/DiagnosticStatus.h"
00008 
00009 namespace diagnostic_msgs
00010 {
00011 
00012 static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
00013 
00014   class SelfTestRequest : public ros::Msg
00015   {
00016     public:
00017 
00018     SelfTestRequest()
00019     {
00020     }
00021 
00022     virtual int serialize(unsigned char *outbuffer) const
00023     {
00024       int offset = 0;
00025       return offset;
00026     }
00027 
00028     virtual int deserialize(unsigned char *inbuffer)
00029     {
00030       int offset = 0;
00031      return offset;
00032     }
00033 
00034     const char * getType(){ return SELFTEST; };
00035     const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
00036 
00037   };
00038 
00039   class SelfTestResponse : public ros::Msg
00040   {
00041     public:
00042       typedef const char* _id_type;
00043       _id_type id;
00044       typedef int8_t _passed_type;
00045       _passed_type passed;
00046       uint32_t status_length;
00047       typedef diagnostic_msgs::DiagnosticStatus _status_type;
00048       _status_type st_status;
00049       _status_type * status;
00050 
00051     SelfTestResponse():
00052       id(""),
00053       passed(0),
00054       status_length(0), status(NULL)
00055     {
00056     }
00057 
00058     virtual int serialize(unsigned char *outbuffer) const
00059     {
00060       int offset = 0;
00061       uint32_t length_id = strlen(this->id);
00062       varToArr(outbuffer + offset, length_id);
00063       offset += 4;
00064       memcpy(outbuffer + offset, this->id, length_id);
00065       offset += length_id;
00066       union {
00067         int8_t real;
00068         uint8_t base;
00069       } u_passed;
00070       u_passed.real = this->passed;
00071       *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
00072       offset += sizeof(this->passed);
00073       *(outbuffer + offset + 0) = (this->status_length >> (8 * 0)) & 0xFF;
00074       *(outbuffer + offset + 1) = (this->status_length >> (8 * 1)) & 0xFF;
00075       *(outbuffer + offset + 2) = (this->status_length >> (8 * 2)) & 0xFF;
00076       *(outbuffer + offset + 3) = (this->status_length >> (8 * 3)) & 0xFF;
00077       offset += sizeof(this->status_length);
00078       for( uint32_t i = 0; i < status_length; i++){
00079       offset += this->status[i].serialize(outbuffer + offset);
00080       }
00081       return offset;
00082     }
00083 
00084     virtual int deserialize(unsigned char *inbuffer)
00085     {
00086       int offset = 0;
00087       uint32_t length_id;
00088       arrToVar(length_id, (inbuffer + offset));
00089       offset += 4;
00090       for(unsigned int k= offset; k< offset+length_id; ++k){
00091           inbuffer[k-1]=inbuffer[k];
00092       }
00093       inbuffer[offset+length_id-1]=0;
00094       this->id = (char *)(inbuffer + offset-1);
00095       offset += length_id;
00096       union {
00097         int8_t real;
00098         uint8_t base;
00099       } u_passed;
00100       u_passed.base = 0;
00101       u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00102       this->passed = u_passed.real;
00103       offset += sizeof(this->passed);
00104       uint32_t status_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00105       status_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00106       status_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00107       status_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00108       offset += sizeof(this->status_length);
00109       if(status_lengthT > status_length)
00110         this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
00111       status_length = status_lengthT;
00112       for( uint32_t i = 0; i < status_length; i++){
00113       offset += this->st_status.deserialize(inbuffer + offset);
00114         memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
00115       }
00116      return offset;
00117     }
00118 
00119     const char * getType(){ return SELFTEST; };
00120     const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; };
00121 
00122   };
00123 
00124   class SelfTest {
00125     public:
00126     typedef SelfTestRequest Request;
00127     typedef SelfTestResponse Response;
00128   };
00129 
00130 }
00131 #endif