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 #include "diagnostic_msgs/byte.h"
00009 
00010 namespace diagnostic_msgs
00011 {
00012 
00013 static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
00014 
00015   class SelfTestRequest : public ros::Msg
00016   {
00017     public:
00018 
00019     virtual int serialize(unsigned char *outbuffer) const
00020     {
00021       int offset = 0;
00022       return offset;
00023     }
00024 
00025     virtual int deserialize(unsigned char *inbuffer)
00026     {
00027       int offset = 0;
00028      return offset;
00029     }
00030 
00031     const char * getType(){ return SELFTEST; };
00032     const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
00033 
00034   };
00035 
00036   class SelfTestResponse : public ros::Msg
00037   {
00038     public:
00039       char * id;
00040       diagnostic_msgs::byte passed;
00041       uint8_t status_length;
00042       diagnostic_msgs::DiagnosticStatus st_status;
00043       diagnostic_msgs::DiagnosticStatus * status;
00044 
00045     virtual int serialize(unsigned char *outbuffer) const
00046     {
00047       int offset = 0;
00048       uint32_t * length_id = (uint32_t *)(outbuffer + offset);
00049       *length_id = strlen( (const char*) this->id);
00050       offset += 4;
00051       memcpy(outbuffer + offset, this->id, *length_id);
00052       offset += *length_id;
00053       offset += this->passed.serialize(outbuffer + offset);
00054       *(outbuffer + offset++) = status_length;
00055       *(outbuffer + offset++) = 0;
00056       *(outbuffer + offset++) = 0;
00057       *(outbuffer + offset++) = 0;
00058       for( uint8_t i = 0; i < status_length; i++){
00059       offset += this->status[i].serialize(outbuffer + offset);
00060       }
00061       return offset;
00062     }
00063 
00064     virtual int deserialize(unsigned char *inbuffer)
00065     {
00066       int offset = 0;
00067       uint32_t length_id = *(uint32_t *)(inbuffer + offset);
00068       offset += 4;
00069       for(unsigned int k= offset; k< offset+length_id; ++k){
00070           inbuffer[k-1]=inbuffer[k];
00071       }
00072       inbuffer[offset+length_id-1]=0;
00073       this->id = (char *)(inbuffer + offset-1);
00074       offset += length_id;
00075       offset += this->passed.deserialize(inbuffer + offset);
00076       uint8_t status_lengthT = *(inbuffer + offset++);
00077       if(status_lengthT > status_length)
00078         this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
00079       offset += 3;
00080       status_length = status_lengthT;
00081       for( uint8_t i = 0; i < status_length; i++){
00082       offset += this->st_status.deserialize(inbuffer + offset);
00083         memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
00084       }
00085      return offset;
00086     }
00087 
00088     const char * getType(){ return SELFTEST; };
00089     const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; };
00090 
00091   };
00092 
00093   class SelfTest {
00094     public:
00095     typedef SelfTestRequest Request;
00096     typedef SelfTestResponse Response;
00097   };
00098 
00099 }
00100 #endif