ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
diagnostic_msgs/SelfTest.h@2:f2240ad62eaf, 2019-08-01 (annotated)
- Committer:
- fllay
- Date:
- Thu Aug 01 17:08:55 2019 +0000
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
fix time.h
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
garyservin | 0:9e9b7db60fd5 | 1 | #ifndef _ROS_SERVICE_SelfTest_h |
garyservin | 0:9e9b7db60fd5 | 2 | #define _ROS_SERVICE_SelfTest_h |
garyservin | 0:9e9b7db60fd5 | 3 | #include <stdint.h> |
garyservin | 0:9e9b7db60fd5 | 4 | #include <string.h> |
garyservin | 0:9e9b7db60fd5 | 5 | #include <stdlib.h> |
garyservin | 0:9e9b7db60fd5 | 6 | #include "ros/msg.h" |
garyservin | 0:9e9b7db60fd5 | 7 | #include "diagnostic_msgs/DiagnosticStatus.h" |
garyservin | 0:9e9b7db60fd5 | 8 | |
garyservin | 0:9e9b7db60fd5 | 9 | namespace diagnostic_msgs |
garyservin | 0:9e9b7db60fd5 | 10 | { |
garyservin | 0:9e9b7db60fd5 | 11 | |
garyservin | 0:9e9b7db60fd5 | 12 | static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; |
garyservin | 0:9e9b7db60fd5 | 13 | |
garyservin | 0:9e9b7db60fd5 | 14 | class SelfTestRequest : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 15 | { |
garyservin | 0:9e9b7db60fd5 | 16 | public: |
garyservin | 0:9e9b7db60fd5 | 17 | |
garyservin | 0:9e9b7db60fd5 | 18 | SelfTestRequest() |
garyservin | 0:9e9b7db60fd5 | 19 | { |
garyservin | 0:9e9b7db60fd5 | 20 | } |
garyservin | 0:9e9b7db60fd5 | 21 | |
garyservin | 0:9e9b7db60fd5 | 22 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 23 | { |
garyservin | 0:9e9b7db60fd5 | 24 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 25 | return offset; |
garyservin | 0:9e9b7db60fd5 | 26 | } |
garyservin | 0:9e9b7db60fd5 | 27 | |
garyservin | 0:9e9b7db60fd5 | 28 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 29 | { |
garyservin | 0:9e9b7db60fd5 | 30 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 31 | return offset; |
garyservin | 0:9e9b7db60fd5 | 32 | } |
garyservin | 0:9e9b7db60fd5 | 33 | |
garyservin | 0:9e9b7db60fd5 | 34 | const char * getType(){ return SELFTEST; }; |
garyservin | 0:9e9b7db60fd5 | 35 | const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
garyservin | 0:9e9b7db60fd5 | 36 | |
garyservin | 0:9e9b7db60fd5 | 37 | }; |
garyservin | 0:9e9b7db60fd5 | 38 | |
garyservin | 0:9e9b7db60fd5 | 39 | class SelfTestResponse : public ros::Msg |
garyservin | 0:9e9b7db60fd5 | 40 | { |
garyservin | 0:9e9b7db60fd5 | 41 | public: |
garyservin | 0:9e9b7db60fd5 | 42 | typedef const char* _id_type; |
garyservin | 0:9e9b7db60fd5 | 43 | _id_type id; |
garyservin | 0:9e9b7db60fd5 | 44 | typedef int8_t _passed_type; |
garyservin | 0:9e9b7db60fd5 | 45 | _passed_type passed; |
garyservin | 0:9e9b7db60fd5 | 46 | uint32_t status_length; |
garyservin | 0:9e9b7db60fd5 | 47 | typedef diagnostic_msgs::DiagnosticStatus _status_type; |
garyservin | 0:9e9b7db60fd5 | 48 | _status_type st_status; |
garyservin | 0:9e9b7db60fd5 | 49 | _status_type * status; |
garyservin | 0:9e9b7db60fd5 | 50 | |
garyservin | 0:9e9b7db60fd5 | 51 | SelfTestResponse(): |
garyservin | 0:9e9b7db60fd5 | 52 | id(""), |
garyservin | 0:9e9b7db60fd5 | 53 | passed(0), |
garyservin | 0:9e9b7db60fd5 | 54 | status_length(0), status(NULL) |
garyservin | 0:9e9b7db60fd5 | 55 | { |
garyservin | 0:9e9b7db60fd5 | 56 | } |
garyservin | 0:9e9b7db60fd5 | 57 | |
garyservin | 0:9e9b7db60fd5 | 58 | virtual int serialize(unsigned char *outbuffer) const |
garyservin | 0:9e9b7db60fd5 | 59 | { |
garyservin | 0:9e9b7db60fd5 | 60 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 61 | uint32_t length_id = strlen(this->id); |
garyservin | 0:9e9b7db60fd5 | 62 | varToArr(outbuffer + offset, length_id); |
garyservin | 0:9e9b7db60fd5 | 63 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 64 | memcpy(outbuffer + offset, this->id, length_id); |
garyservin | 0:9e9b7db60fd5 | 65 | offset += length_id; |
garyservin | 0:9e9b7db60fd5 | 66 | union { |
garyservin | 0:9e9b7db60fd5 | 67 | int8_t real; |
garyservin | 0:9e9b7db60fd5 | 68 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 69 | } u_passed; |
garyservin | 0:9e9b7db60fd5 | 70 | u_passed.real = this->passed; |
garyservin | 0:9e9b7db60fd5 | 71 | *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 72 | offset += sizeof(this->passed); |
garyservin | 0:9e9b7db60fd5 | 73 | *(outbuffer + offset + 0) = (this->status_length >> (8 * 0)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 74 | *(outbuffer + offset + 1) = (this->status_length >> (8 * 1)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 75 | *(outbuffer + offset + 2) = (this->status_length >> (8 * 2)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 76 | *(outbuffer + offset + 3) = (this->status_length >> (8 * 3)) & 0xFF; |
garyservin | 0:9e9b7db60fd5 | 77 | offset += sizeof(this->status_length); |
garyservin | 0:9e9b7db60fd5 | 78 | for( uint32_t i = 0; i < status_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 79 | offset += this->status[i].serialize(outbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 80 | } |
garyservin | 0:9e9b7db60fd5 | 81 | return offset; |
garyservin | 0:9e9b7db60fd5 | 82 | } |
garyservin | 0:9e9b7db60fd5 | 83 | |
garyservin | 0:9e9b7db60fd5 | 84 | virtual int deserialize(unsigned char *inbuffer) |
garyservin | 0:9e9b7db60fd5 | 85 | { |
garyservin | 0:9e9b7db60fd5 | 86 | int offset = 0; |
garyservin | 0:9e9b7db60fd5 | 87 | uint32_t length_id; |
garyservin | 0:9e9b7db60fd5 | 88 | arrToVar(length_id, (inbuffer + offset)); |
garyservin | 0:9e9b7db60fd5 | 89 | offset += 4; |
garyservin | 0:9e9b7db60fd5 | 90 | for(unsigned int k= offset; k< offset+length_id; ++k){ |
garyservin | 0:9e9b7db60fd5 | 91 | inbuffer[k-1]=inbuffer[k]; |
garyservin | 0:9e9b7db60fd5 | 92 | } |
garyservin | 0:9e9b7db60fd5 | 93 | inbuffer[offset+length_id-1]=0; |
garyservin | 0:9e9b7db60fd5 | 94 | this->id = (char *)(inbuffer + offset-1); |
garyservin | 0:9e9b7db60fd5 | 95 | offset += length_id; |
garyservin | 0:9e9b7db60fd5 | 96 | union { |
garyservin | 0:9e9b7db60fd5 | 97 | int8_t real; |
garyservin | 0:9e9b7db60fd5 | 98 | uint8_t base; |
garyservin | 0:9e9b7db60fd5 | 99 | } u_passed; |
garyservin | 0:9e9b7db60fd5 | 100 | u_passed.base = 0; |
garyservin | 0:9e9b7db60fd5 | 101 | u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); |
garyservin | 0:9e9b7db60fd5 | 102 | this->passed = u_passed.real; |
garyservin | 0:9e9b7db60fd5 | 103 | offset += sizeof(this->passed); |
garyservin | 0:9e9b7db60fd5 | 104 | uint32_t status_lengthT = ((uint32_t) (*(inbuffer + offset))); |
garyservin | 0:9e9b7db60fd5 | 105 | status_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); |
garyservin | 0:9e9b7db60fd5 | 106 | status_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); |
garyservin | 0:9e9b7db60fd5 | 107 | status_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); |
garyservin | 0:9e9b7db60fd5 | 108 | offset += sizeof(this->status_length); |
garyservin | 0:9e9b7db60fd5 | 109 | if(status_lengthT > status_length) |
garyservin | 0:9e9b7db60fd5 | 110 | this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); |
garyservin | 0:9e9b7db60fd5 | 111 | status_length = status_lengthT; |
garyservin | 0:9e9b7db60fd5 | 112 | for( uint32_t i = 0; i < status_length; i++){ |
garyservin | 0:9e9b7db60fd5 | 113 | offset += this->st_status.deserialize(inbuffer + offset); |
garyservin | 0:9e9b7db60fd5 | 114 | memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus)); |
garyservin | 0:9e9b7db60fd5 | 115 | } |
garyservin | 0:9e9b7db60fd5 | 116 | return offset; |
garyservin | 0:9e9b7db60fd5 | 117 | } |
garyservin | 0:9e9b7db60fd5 | 118 | |
garyservin | 0:9e9b7db60fd5 | 119 | const char * getType(){ return SELFTEST; }; |
garyservin | 0:9e9b7db60fd5 | 120 | const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; }; |
garyservin | 0:9e9b7db60fd5 | 121 | |
garyservin | 0:9e9b7db60fd5 | 122 | }; |
garyservin | 0:9e9b7db60fd5 | 123 | |
garyservin | 0:9e9b7db60fd5 | 124 | class SelfTest { |
garyservin | 0:9e9b7db60fd5 | 125 | public: |
garyservin | 0:9e9b7db60fd5 | 126 | typedef SelfTestRequest Request; |
garyservin | 0:9e9b7db60fd5 | 127 | typedef SelfTestResponse Response; |
garyservin | 0:9e9b7db60fd5 | 128 | }; |
garyservin | 0:9e9b7db60fd5 | 129 | |
garyservin | 0:9e9b7db60fd5 | 130 | } |
garyservin | 0:9e9b7db60fd5 | 131 | #endif |