liu isad
rosserial for Hydro
Fork of
rosserial_mbed_lib
by 
nucho
dianostic_msgs/SelfTest.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_SERVICE_SelfTest_h |
| nucho | 0:77afd7560544 | 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 | 0:77afd7560544 | 6 | #include "../ros/msg.h" |
| nucho | 0:77afd7560544 | 7 | #include "diagnostic_msgs/DiagnosticStatus.h" |
| nucho | 0:77afd7560544 | 8 | |
| nucho | 0:77afd7560544 | 9 | namespace diagnostic_msgs |
| nucho | 0:77afd7560544 | 10 | { |
| nucho | 0:77afd7560544 | 11 | |
| nucho | 0:77afd7560544 | 12 | static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; |
| nucho | 0:77afd7560544 | 13 | |
| nucho | 0:77afd7560544 | 14 | class SelfTestRequest : public ros::Msg |
| nucho | 0:77afd7560544 | 15 | { |
| nucho | 0:77afd7560544 | 16 | public: |
| nucho | 0:77afd7560544 | 17 | |
| nucho | 0:77afd7560544 | 18 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 19 | { |
| nucho | 0:77afd7560544 | 20 | int offset = 0; |
| nucho | 0:77afd7560544 | 21 | return offset; |
| nucho | 0:77afd7560544 | 22 | } |
| nucho | 0:77afd7560544 | 23 | |
| nucho | 0:77afd7560544 | 24 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 25 | { |
| nucho | 0:77afd7560544 | 26 | int offset = 0; |
| nucho | 0:77afd7560544 | 27 | return offset; |
| nucho | 0:77afd7560544 | 28 | } |
| nucho | 0:77afd7560544 | 29 | |
| nucho | 0:77afd7560544 | 30 | const char * getType(){ return SELFTEST; }; |
| nucho | 0:77afd7560544 | 31 | |
| nucho | 0:77afd7560544 | 32 | }; |
| nucho | 0:77afd7560544 | 33 | |
| nucho | 0:77afd7560544 | 34 | class SelfTestResponse : public ros::Msg |
| nucho | 0:77afd7560544 | 35 | { |
| nucho | 0:77afd7560544 | 36 | public: |
| nucho | 0:77afd7560544 | 37 | char * id; |
| nucho | 0:77afd7560544 | 38 | unsigned char passed; |
| nucho | 0:77afd7560544 | 39 | unsigned char status_length; |
| nucho | 0:77afd7560544 | 40 | diagnostic_msgs::DiagnosticStatus st_status; |
| nucho | 0:77afd7560544 | 41 | diagnostic_msgs::DiagnosticStatus * status; |
| nucho | 0:77afd7560544 | 42 | |
| nucho | 0:77afd7560544 | 43 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 44 | { |
| nucho | 0:77afd7560544 | 45 | int offset = 0; |
| nucho | 0:77afd7560544 | 46 | long * length_id = (long *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 47 | *length_id = strlen( (const char*) this->id); |
| nucho | 0:77afd7560544 | 48 | offset += 4; |
| nucho | 0:77afd7560544 | 49 | memcpy(outbuffer + offset, this->id, *length_id); |
| nucho | 0:77afd7560544 | 50 | offset += *length_id; |
| nucho | 0:77afd7560544 | 51 | union { |
| nucho | 0:77afd7560544 | 52 | unsigned char real; |
| nucho | 0:77afd7560544 | 53 | unsigned char base; |
| nucho | 0:77afd7560544 | 54 | } u_passed; |
| nucho | 0:77afd7560544 | 55 | u_passed.real = this->passed; |
| nucho | 0:77afd7560544 | 56 | *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 57 | offset += sizeof(this->passed); |
| nucho | 0:77afd7560544 | 58 | *(outbuffer + offset++) = status_length; |
| nucho | 0:77afd7560544 | 59 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 60 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 61 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 62 | for( unsigned char i = 0; i < status_length; i++){ |
| nucho | 0:77afd7560544 | 63 | offset += this->status[i].serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 64 | } |
| nucho | 0:77afd7560544 | 65 | return offset; |
| nucho | 0:77afd7560544 | 66 | } |
| nucho | 0:77afd7560544 | 67 | |
| nucho | 0:77afd7560544 | 68 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 69 | { |
| nucho | 0:77afd7560544 | 70 | int offset = 0; |
| nucho | 0:77afd7560544 | 71 | uint32_t length_id = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 72 | offset += 4; |
| nucho | 0:77afd7560544 | 73 | for(unsigned int k= offset; k< offset+length_id; ++k){ |
| nucho | 0:77afd7560544 | 74 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:77afd7560544 | 75 | } |
| nucho | 0:77afd7560544 | 76 | inbuffer[offset+length_id-1]=0; |
| nucho | 0:77afd7560544 | 77 | this->id = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 78 | offset += length_id; |
| nucho | 0:77afd7560544 | 79 | union { |
| nucho | 0:77afd7560544 | 80 | unsigned char real; |
| nucho | 0:77afd7560544 | 81 | unsigned char base; |
| nucho | 0:77afd7560544 | 82 | } u_passed; |
| nucho | 0:77afd7560544 | 83 | u_passed.base = 0; |
| nucho | 0:77afd7560544 | 84 | u_passed.base |= ((typeof(u_passed.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 85 | this->passed = u_passed.real; |
| nucho | 0:77afd7560544 | 86 | offset += sizeof(this->passed); |
| nucho | 0:77afd7560544 | 87 | unsigned char status_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 88 | if(status_lengthT > status_length) |
| nucho | 0:77afd7560544 | 89 | this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); |
| nucho | 0:77afd7560544 | 90 | offset += 3; |
| nucho | 0:77afd7560544 | 91 | status_length = status_lengthT; |
| nucho | 0:77afd7560544 | 92 | for( unsigned char i = 0; i < status_length; i++){ |
| nucho | 0:77afd7560544 | 93 | offset += this->st_status.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 94 | memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus)); |
| nucho | 0:77afd7560544 | 95 | } |
| nucho | 0:77afd7560544 | 96 | return offset; |
| nucho | 0:77afd7560544 | 97 | } |
| nucho | 0:77afd7560544 | 98 | |
| nucho | 0:77afd7560544 | 99 | virtual const char * getType(){ return SELFTEST; }; |
| nucho | 0:77afd7560544 | 100 | |
| nucho | 0:77afd7560544 | 101 | }; |
| nucho | 0:77afd7560544 | 102 | |
| nucho | 0:77afd7560544 | 103 | } |
| nucho | 0:77afd7560544 | 104 | #endif |