Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

diagnostic_msgs/SelfTest.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew 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