Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

diagnostic_msgs/DiagnosticStatus.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_diagnostic_msgs_DiagnosticStatus_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "diagnostic_msgs/KeyValue.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace diagnostic_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class DiagnosticStatus : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 int8_t level;
akashvibhute 0:30537dec6e0b 17 const char* name;
akashvibhute 0:30537dec6e0b 18 const char* message;
akashvibhute 0:30537dec6e0b 19 const char* hardware_id;
akashvibhute 0:30537dec6e0b 20 uint8_t values_length;
akashvibhute 0:30537dec6e0b 21 diagnostic_msgs::KeyValue st_values;
akashvibhute 0:30537dec6e0b 22 diagnostic_msgs::KeyValue * values;
akashvibhute 0:30537dec6e0b 23 enum { OK = 0 };
akashvibhute 0:30537dec6e0b 24 enum { WARN = 1 };
akashvibhute 0:30537dec6e0b 25 enum { ERROR = 2 };
akashvibhute 0:30537dec6e0b 26
akashvibhute 0:30537dec6e0b 27 DiagnosticStatus():
akashvibhute 0:30537dec6e0b 28 level(0),
akashvibhute 0:30537dec6e0b 29 name(""),
akashvibhute 0:30537dec6e0b 30 message(""),
akashvibhute 0:30537dec6e0b 31 hardware_id(""),
akashvibhute 0:30537dec6e0b 32 values_length(0), values(NULL)
akashvibhute 0:30537dec6e0b 33 {
akashvibhute 0:30537dec6e0b 34 }
akashvibhute 0:30537dec6e0b 35
akashvibhute 0:30537dec6e0b 36 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 37 {
akashvibhute 0:30537dec6e0b 38 int offset = 0;
akashvibhute 0:30537dec6e0b 39 union {
akashvibhute 0:30537dec6e0b 40 int8_t real;
akashvibhute 0:30537dec6e0b 41 uint8_t base;
akashvibhute 0:30537dec6e0b 42 } u_level;
akashvibhute 0:30537dec6e0b 43 u_level.real = this->level;
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 45 offset += sizeof(this->level);
akashvibhute 0:30537dec6e0b 46 uint32_t length_name = strlen(this->name);
akashvibhute 0:30537dec6e0b 47 memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 48 offset += 4;
akashvibhute 0:30537dec6e0b 49 memcpy(outbuffer + offset, this->name, length_name);
akashvibhute 0:30537dec6e0b 50 offset += length_name;
akashvibhute 0:30537dec6e0b 51 uint32_t length_message = strlen(this->message);
akashvibhute 0:30537dec6e0b 52 memcpy(outbuffer + offset, &length_message, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 53 offset += 4;
akashvibhute 0:30537dec6e0b 54 memcpy(outbuffer + offset, this->message, length_message);
akashvibhute 0:30537dec6e0b 55 offset += length_message;
akashvibhute 0:30537dec6e0b 56 uint32_t length_hardware_id = strlen(this->hardware_id);
akashvibhute 0:30537dec6e0b 57 memcpy(outbuffer + offset, &length_hardware_id, sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 58 offset += 4;
akashvibhute 0:30537dec6e0b 59 memcpy(outbuffer + offset, this->hardware_id, length_hardware_id);
akashvibhute 0:30537dec6e0b 60 offset += length_hardware_id;
akashvibhute 0:30537dec6e0b 61 *(outbuffer + offset++) = values_length;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 65 for( uint8_t i = 0; i < values_length; i++){
akashvibhute 0:30537dec6e0b 66 offset += this->values[i].serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 67 }
akashvibhute 0:30537dec6e0b 68 return offset;
akashvibhute 0:30537dec6e0b 69 }
akashvibhute 0:30537dec6e0b 70
akashvibhute 0:30537dec6e0b 71 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 72 {
akashvibhute 0:30537dec6e0b 73 int offset = 0;
akashvibhute 0:30537dec6e0b 74 union {
akashvibhute 0:30537dec6e0b 75 int8_t real;
akashvibhute 0:30537dec6e0b 76 uint8_t base;
akashvibhute 0:30537dec6e0b 77 } u_level;
akashvibhute 0:30537dec6e0b 78 u_level.base = 0;
akashvibhute 0:30537dec6e0b 79 u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 80 this->level = u_level.real;
akashvibhute 0:30537dec6e0b 81 offset += sizeof(this->level);
akashvibhute 0:30537dec6e0b 82 uint32_t length_name;
akashvibhute 0:30537dec6e0b 83 memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 84 offset += 4;
akashvibhute 0:30537dec6e0b 85 for(unsigned int k= offset; k< offset+length_name; ++k){
akashvibhute 0:30537dec6e0b 86 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 87 }
akashvibhute 0:30537dec6e0b 88 inbuffer[offset+length_name-1]=0;
akashvibhute 0:30537dec6e0b 89 this->name = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 90 offset += length_name;
akashvibhute 0:30537dec6e0b 91 uint32_t length_message;
akashvibhute 0:30537dec6e0b 92 memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 93 offset += 4;
akashvibhute 0:30537dec6e0b 94 for(unsigned int k= offset; k< offset+length_message; ++k){
akashvibhute 0:30537dec6e0b 95 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 96 }
akashvibhute 0:30537dec6e0b 97 inbuffer[offset+length_message-1]=0;
akashvibhute 0:30537dec6e0b 98 this->message = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 99 offset += length_message;
akashvibhute 0:30537dec6e0b 100 uint32_t length_hardware_id;
akashvibhute 0:30537dec6e0b 101 memcpy(&length_hardware_id, (inbuffer + offset), sizeof(uint32_t));
akashvibhute 0:30537dec6e0b 102 offset += 4;
akashvibhute 0:30537dec6e0b 103 for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
akashvibhute 0:30537dec6e0b 104 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 105 }
akashvibhute 0:30537dec6e0b 106 inbuffer[offset+length_hardware_id-1]=0;
akashvibhute 0:30537dec6e0b 107 this->hardware_id = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 108 offset += length_hardware_id;
akashvibhute 0:30537dec6e0b 109 uint8_t values_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 110 if(values_lengthT > values_length)
akashvibhute 0:30537dec6e0b 111 this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
akashvibhute 0:30537dec6e0b 112 offset += 3;
akashvibhute 0:30537dec6e0b 113 values_length = values_lengthT;
akashvibhute 0:30537dec6e0b 114 for( uint8_t i = 0; i < values_length; i++){
akashvibhute 0:30537dec6e0b 115 offset += this->st_values.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 116 memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
akashvibhute 0:30537dec6e0b 117 }
akashvibhute 0:30537dec6e0b 118 return offset;
akashvibhute 0:30537dec6e0b 119 }
akashvibhute 0:30537dec6e0b 120
akashvibhute 0:30537dec6e0b 121 const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; };
akashvibhute 0:30537dec6e0b 122 const char * getMD5(){ return "67d15a62edb26e9d52b0f0efa3ef9da7"; };
akashvibhute 0:30537dec6e0b 123
akashvibhute 0:30537dec6e0b 124 };
akashvibhute 0:30537dec6e0b 125
akashvibhute 0:30537dec6e0b 126 }
akashvibhute 0:30537dec6e0b 127 #endif