rosserial for Hydro
Fork of rosserial_mbed_lib by
dianostic_msgs/SelfTest.h@3:1cf99502f396, 2011-11-12 (annotated)
- Committer:
- nucho
- Date:
- Sat Nov 12 23:54:45 2011 +0000
- Revision:
- 3:1cf99502f396
- Parent:
- 0:77afd7560544
- Child:
- 4:684f39d0c346
This program supported the revision of 167 of rosserial.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 3:1cf99502f396 | 1 | #ifndef _ROS_SERVICE_SelfTest_h |
nucho | 3:1cf99502f396 | 2 | #define _ROS_SERVICE_SelfTest_h |
nucho | 0:77afd7560544 | 3 | #include <stdint.h> |
nucho | 0:77afd7560544 | 4 | #include <string.h> |
nucho | 0:77afd7560544 | 5 | #include <stdlib.h> |
nucho | 3:1cf99502f396 | 6 | #include "ros/msg.h" |
nucho | 0:77afd7560544 | 7 | #include "diagnostic_msgs/DiagnosticStatus.h" |
nucho | 3:1cf99502f396 | 8 | #include "diagnostic_msgs/byte.h" |
nucho | 0:77afd7560544 | 9 | |
nucho | 0:77afd7560544 | 10 | namespace diagnostic_msgs |
nucho | 0:77afd7560544 | 11 | { |
nucho | 0:77afd7560544 | 12 | |
nucho | 0:77afd7560544 | 13 | static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; |
nucho | 0:77afd7560544 | 14 | |
nucho | 0:77afd7560544 | 15 | class SelfTestRequest : public ros::Msg |
nucho | 0:77afd7560544 | 16 | { |
nucho | 0:77afd7560544 | 17 | public: |
nucho | 0:77afd7560544 | 18 | |
nucho | 3:1cf99502f396 | 19 | virtual int serialize(unsigned char *outbuffer) const |
nucho | 0:77afd7560544 | 20 | { |
nucho | 0:77afd7560544 | 21 | int offset = 0; |
nucho | 0:77afd7560544 | 22 | return offset; |
nucho | 0:77afd7560544 | 23 | } |
nucho | 0:77afd7560544 | 24 | |
nucho | 0:77afd7560544 | 25 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 0:77afd7560544 | 26 | { |
nucho | 0:77afd7560544 | 27 | int offset = 0; |
nucho | 0:77afd7560544 | 28 | return offset; |
nucho | 0:77afd7560544 | 29 | } |
nucho | 0:77afd7560544 | 30 | |
nucho | 3:1cf99502f396 | 31 | virtual const char * getType(){ return SELFTEST; }; |
nucho | 3:1cf99502f396 | 32 | virtual const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; |
nucho | 0:77afd7560544 | 33 | |
nucho | 0:77afd7560544 | 34 | }; |
nucho | 0:77afd7560544 | 35 | |
nucho | 0:77afd7560544 | 36 | class SelfTestResponse : public ros::Msg |
nucho | 0:77afd7560544 | 37 | { |
nucho | 0:77afd7560544 | 38 | public: |
nucho | 0:77afd7560544 | 39 | char * id; |
nucho | 3:1cf99502f396 | 40 | diagnostic_msgs::byte passed; |
nucho | 3:1cf99502f396 | 41 | uint8_t status_length; |
nucho | 0:77afd7560544 | 42 | diagnostic_msgs::DiagnosticStatus st_status; |
nucho | 0:77afd7560544 | 43 | diagnostic_msgs::DiagnosticStatus * status; |
nucho | 0:77afd7560544 | 44 | |
nucho | 3:1cf99502f396 | 45 | virtual int serialize(unsigned char *outbuffer) const |
nucho | 0:77afd7560544 | 46 | { |
nucho | 0:77afd7560544 | 47 | int offset = 0; |
nucho | 3:1cf99502f396 | 48 | uint32_t * length_id = (uint32_t *)(outbuffer + offset); |
nucho | 0:77afd7560544 | 49 | *length_id = strlen( (const char*) this->id); |
nucho | 0:77afd7560544 | 50 | offset += 4; |
nucho | 0:77afd7560544 | 51 | memcpy(outbuffer + offset, this->id, *length_id); |
nucho | 0:77afd7560544 | 52 | offset += *length_id; |
nucho | 3:1cf99502f396 | 53 | offset += this->passed.serialize(outbuffer + offset); |
nucho | 0:77afd7560544 | 54 | *(outbuffer + offset++) = status_length; |
nucho | 0:77afd7560544 | 55 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 56 | *(outbuffer + offset++) = 0; |
nucho | 0:77afd7560544 | 57 | *(outbuffer + offset++) = 0; |
nucho | 3:1cf99502f396 | 58 | for( uint8_t i = 0; i < status_length; i++){ |
nucho | 0:77afd7560544 | 59 | offset += this->status[i].serialize(outbuffer + offset); |
nucho | 0:77afd7560544 | 60 | } |
nucho | 0:77afd7560544 | 61 | return offset; |
nucho | 0:77afd7560544 | 62 | } |
nucho | 0:77afd7560544 | 63 | |
nucho | 0:77afd7560544 | 64 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 0:77afd7560544 | 65 | { |
nucho | 0:77afd7560544 | 66 | int offset = 0; |
nucho | 0:77afd7560544 | 67 | uint32_t length_id = *(uint32_t *)(inbuffer + offset); |
nucho | 0:77afd7560544 | 68 | offset += 4; |
nucho | 0:77afd7560544 | 69 | for(unsigned int k= offset; k< offset+length_id; ++k){ |
nucho | 0:77afd7560544 | 70 | inbuffer[k-1]=inbuffer[k]; |
nucho | 3:1cf99502f396 | 71 | } |
nucho | 0:77afd7560544 | 72 | inbuffer[offset+length_id-1]=0; |
nucho | 0:77afd7560544 | 73 | this->id = (char *)(inbuffer + offset-1); |
nucho | 0:77afd7560544 | 74 | offset += length_id; |
nucho | 3:1cf99502f396 | 75 | offset += this->passed.deserialize(inbuffer + offset); |
nucho | 3:1cf99502f396 | 76 | uint8_t status_lengthT = *(inbuffer + offset++); |
nucho | 0:77afd7560544 | 77 | if(status_lengthT > status_length) |
nucho | 0:77afd7560544 | 78 | this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); |
nucho | 0:77afd7560544 | 79 | offset += 3; |
nucho | 0:77afd7560544 | 80 | status_length = status_lengthT; |
nucho | 3:1cf99502f396 | 81 | for( uint8_t i = 0; i < status_length; i++){ |
nucho | 0:77afd7560544 | 82 | offset += this->st_status.deserialize(inbuffer + offset); |
nucho | 0:77afd7560544 | 83 | memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus)); |
nucho | 0:77afd7560544 | 84 | } |
nucho | 0:77afd7560544 | 85 | return offset; |
nucho | 0:77afd7560544 | 86 | } |
nucho | 0:77afd7560544 | 87 | |
nucho | 0:77afd7560544 | 88 | virtual const char * getType(){ return SELFTEST; }; |
nucho | 3:1cf99502f396 | 89 | virtual const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; }; |
nucho | 0:77afd7560544 | 90 | |
nucho | 0:77afd7560544 | 91 | }; |
nucho | 0:77afd7560544 | 92 | |
nucho | 3:1cf99502f396 | 93 | class SelfTest { |
nucho | 3:1cf99502f396 | 94 | public: |
nucho | 3:1cf99502f396 | 95 | typedef SelfTestRequest Request; |
nucho | 3:1cf99502f396 | 96 | typedef SelfTestResponse Response; |
nucho | 3:1cf99502f396 | 97 | }; |
nucho | 3:1cf99502f396 | 98 | |
nucho | 0:77afd7560544 | 99 | } |
nucho | 0:77afd7560544 | 100 | #endif |