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dianostic_msgs/DiagnosticStatus.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 1:ff0ec969dad1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:77afd7560544 | 1 | #ifndef ros_DiagnosticStatus_h |
nucho | 0:77afd7560544 | 2 | #define ros_DiagnosticStatus_h |
nucho | 0:77afd7560544 | 3 | |
nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
nucho | 0:77afd7560544 | 5 | #include <string.h> |
nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
nucho | 0:77afd7560544 | 8 | #include "diagnostic_msgs/KeyValue.h" |
nucho | 0:77afd7560544 | 9 | |
nucho | 0:77afd7560544 | 10 | namespace diagnostic_msgs |
nucho | 0:77afd7560544 | 11 | { |
nucho | 0:77afd7560544 | 12 | |
nucho | 0:77afd7560544 | 13 | class DiagnosticStatus : public ros::Msg |
nucho | 0:77afd7560544 | 14 | { |
nucho | 0:77afd7560544 | 15 | public: |
nucho | 0:77afd7560544 | 16 | unsigned char level; |
nucho | 0:77afd7560544 | 17 | char * name; |
nucho | 0:77afd7560544 | 18 | char * message; |
nucho | 0:77afd7560544 | 19 | char * hardware_id; |
nucho | 0:77afd7560544 | 20 | unsigned char values_length; |
nucho | 0:77afd7560544 | 21 | diagnostic_msgs::KeyValue st_values; |
nucho | 0:77afd7560544 | 22 | diagnostic_msgs::KeyValue * values; |
nucho | 0:77afd7560544 | 23 | enum { OK = 0 }; |
nucho | 0:77afd7560544 | 24 | enum { WARN = 1 }; |
nucho | 0:77afd7560544 | 25 | enum { ERROR = 2 }; |
nucho | 0:77afd7560544 | 26 | |
nucho | 0:77afd7560544 | 27 | virtual int serialize(unsigned char *outbuffer) |
nucho | 0:77afd7560544 | 28 | { |
nucho | 0:77afd7560544 | 29 | int offset = 0; |
nucho | 0:77afd7560544 | 30 | union { |
nucho | 0:77afd7560544 | 31 | unsigned char real; |
nucho | 0:77afd7560544 | 32 | unsigned char base; |
nucho | 0:77afd7560544 | 33 | } u_level; |
nucho | 0:77afd7560544 | 34 | u_level.real = this->level; |
nucho | 0:77afd7560544 | 35 | *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF; |
nucho | 0:77afd7560544 | 36 | offset += sizeof(this->level); |
nucho | 0:77afd7560544 | 37 | long * length_name = (long *)(outbuffer + offset); |
nucho | 0:77afd7560544 | 38 | *length_name = strlen( (const char*) this->name); |
nucho | 0:77afd7560544 | 39 | offset += 4; |
nucho | 0:77afd7560544 | 40 | memcpy(outbuffer + offset, this->name, *length_name); |
nucho | 0:77afd7560544 | 41 | offset += *length_name; |
nucho | 0:77afd7560544 | 42 | long * length_message = (long *)(outbuffer + offset); |
nucho | 0:77afd7560544 | 43 | *length_message = strlen( (const char*) this->message); |
nucho | 0:77afd7560544 | 44 | offset += 4; |
nucho | 0:77afd7560544 | 45 | memcpy(outbuffer + offset, this->message, *length_message); |
nucho | 0:77afd7560544 | 46 | offset += *length_message; |
nucho | 0:77afd7560544 | 47 | long * length_hardware_id = (long *)(outbuffer + offset); |
nucho | 0:77afd7560544 | 48 | *length_hardware_id = strlen( (const char*) this->hardware_id); |
nucho | 0:77afd7560544 | 49 | offset += 4; |
nucho | 0:77afd7560544 | 50 | memcpy(outbuffer + offset, this->hardware_id, *length_hardware_id); |
nucho | 0:77afd7560544 | 51 | offset += *length_hardware_id; |
nucho | 0:77afd7560544 | 52 | *(outbuffer + offset++) = values_length; |
nucho | 0:77afd7560544 | 53 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 54 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 55 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 56 | for( unsigned char i = 0; i < values_length; i++){ |
nucho | 0:77afd7560544 | 57 | offset += this->values[i].serialize(outbuffer + offset); |
nucho | 0:77afd7560544 | 58 | } |
nucho | 0:77afd7560544 | 59 | return offset; |
nucho | 0:77afd7560544 | 60 | } |
nucho | 0:77afd7560544 | 61 | |
nucho | 0:77afd7560544 | 62 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 0:77afd7560544 | 63 | { |
nucho | 0:77afd7560544 | 64 | int offset = 0; |
nucho | 0:77afd7560544 | 65 | union { |
nucho | 0:77afd7560544 | 66 | unsigned char real; |
nucho | 0:77afd7560544 | 67 | unsigned char base; |
nucho | 0:77afd7560544 | 68 | } u_level; |
nucho | 0:77afd7560544 | 69 | u_level.base = 0; |
nucho | 0:77afd7560544 | 70 | u_level.base |= ((typeof(u_level.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:77afd7560544 | 71 | this->level = u_level.real; |
nucho | 0:77afd7560544 | 72 | offset += sizeof(this->level); |
nucho | 0:77afd7560544 | 73 | uint32_t length_name = *(uint32_t *)(inbuffer + offset); |
nucho | 0:77afd7560544 | 74 | offset += 4; |
nucho | 0:77afd7560544 | 75 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
nucho | 0:77afd7560544 | 76 | inbuffer[k-1]=inbuffer[k]; |
nucho | 0:77afd7560544 | 77 | } |
nucho | 0:77afd7560544 | 78 | inbuffer[offset+length_name-1]=0; |
nucho | 0:77afd7560544 | 79 | this->name = (char *)(inbuffer + offset-1); |
nucho | 0:77afd7560544 | 80 | offset += length_name; |
nucho | 0:77afd7560544 | 81 | uint32_t length_message = *(uint32_t *)(inbuffer + offset); |
nucho | 0:77afd7560544 | 82 | offset += 4; |
nucho | 0:77afd7560544 | 83 | for(unsigned int k= offset; k< offset+length_message; ++k){ |
nucho | 0:77afd7560544 | 84 | inbuffer[k-1]=inbuffer[k]; |
nucho | 0:77afd7560544 | 85 | } |
nucho | 0:77afd7560544 | 86 | inbuffer[offset+length_message-1]=0; |
nucho | 0:77afd7560544 | 87 | this->message = (char *)(inbuffer + offset-1); |
nucho | 0:77afd7560544 | 88 | offset += length_message; |
nucho | 0:77afd7560544 | 89 | uint32_t length_hardware_id = *(uint32_t *)(inbuffer + offset); |
nucho | 0:77afd7560544 | 90 | offset += 4; |
nucho | 0:77afd7560544 | 91 | for(unsigned int k= offset; k< offset+length_hardware_id; ++k){ |
nucho | 0:77afd7560544 | 92 | inbuffer[k-1]=inbuffer[k]; |
nucho | 0:77afd7560544 | 93 | } |
nucho | 0:77afd7560544 | 94 | inbuffer[offset+length_hardware_id-1]=0; |
nucho | 0:77afd7560544 | 95 | this->hardware_id = (char *)(inbuffer + offset-1); |
nucho | 0:77afd7560544 | 96 | offset += length_hardware_id; |
nucho | 0:77afd7560544 | 97 | unsigned char values_lengthT = *(inbuffer + offset++); |
nucho | 0:77afd7560544 | 98 | if(values_lengthT > values_length) |
nucho | 0:77afd7560544 | 99 | this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue)); |
nucho | 0:77afd7560544 | 100 | offset += 3; |
nucho | 0:77afd7560544 | 101 | values_length = values_lengthT; |
nucho | 0:77afd7560544 | 102 | for( unsigned char i = 0; i < values_length; i++){ |
nucho | 0:77afd7560544 | 103 | offset += this->st_values.deserialize(inbuffer + offset); |
nucho | 0:77afd7560544 | 104 | memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue)); |
nucho | 0:77afd7560544 | 105 | } |
nucho | 0:77afd7560544 | 106 | return offset; |
nucho | 0:77afd7560544 | 107 | } |
nucho | 0:77afd7560544 | 108 | |
nucho | 0:77afd7560544 | 109 | virtual const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; }; |
nucho | 0:77afd7560544 | 110 | |
nucho | 0:77afd7560544 | 111 | }; |
nucho | 0:77afd7560544 | 112 | |
nucho | 0:77afd7560544 | 113 | } |
nucho | 0:77afd7560544 | 114 | #endif |