jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

dianostic_msgs/SelfTest.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_SERVICE_SelfTest_h
jjzak 6:3c54bc7badd4 2 #define _ROS_SERVICE_SelfTest_h
jjzak 6:3c54bc7badd4 3 #include <stdint.h>
jjzak 6:3c54bc7badd4 4 #include <string.h>
jjzak 6:3c54bc7badd4 5 #include <stdlib.h>
jjzak 6:3c54bc7badd4 6 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 7 #include "diagnostic_msgs/DiagnosticStatus.h"
jjzak 6:3c54bc7badd4 8
jjzak 6:3c54bc7badd4 9 namespace diagnostic_msgs
jjzak 6:3c54bc7badd4 10 {
jjzak 6:3c54bc7badd4 11
jjzak 6:3c54bc7badd4 12 static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
jjzak 6:3c54bc7badd4 13
jjzak 6:3c54bc7badd4 14 class SelfTestRequest : public ros::Msg
jjzak 6:3c54bc7badd4 15 {
jjzak 6:3c54bc7badd4 16 public:
jjzak 6:3c54bc7badd4 17
jjzak 6:3c54bc7badd4 18 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 19 {
jjzak 6:3c54bc7badd4 20 int offset = 0;
jjzak 6:3c54bc7badd4 21 return offset;
jjzak 6:3c54bc7badd4 22 }
jjzak 6:3c54bc7badd4 23
jjzak 6:3c54bc7badd4 24 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 25 {
jjzak 6:3c54bc7badd4 26 int offset = 0;
jjzak 6:3c54bc7badd4 27 return offset;
jjzak 6:3c54bc7badd4 28 }
jjzak 6:3c54bc7badd4 29
jjzak 6:3c54bc7badd4 30 const char * getType(){ return SELFTEST; };
jjzak 6:3c54bc7badd4 31 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
jjzak 6:3c54bc7badd4 32
jjzak 6:3c54bc7badd4 33 };
jjzak 6:3c54bc7badd4 34
jjzak 6:3c54bc7badd4 35 class SelfTestResponse : public ros::Msg
jjzak 6:3c54bc7badd4 36 {
jjzak 6:3c54bc7badd4 37 public:
jjzak 6:3c54bc7badd4 38 char * id;
jjzak 6:3c54bc7badd4 39 int8_t passed;
jjzak 6:3c54bc7badd4 40 uint8_t status_length;
jjzak 6:3c54bc7badd4 41 diagnostic_msgs::DiagnosticStatus st_status;
jjzak 6:3c54bc7badd4 42 diagnostic_msgs::DiagnosticStatus * status;
jjzak 6:3c54bc7badd4 43
jjzak 6:3c54bc7badd4 44 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 45 {
jjzak 6:3c54bc7badd4 46 int offset = 0;
jjzak 6:3c54bc7badd4 47 uint32_t length_id = strlen( (const char*) this->id);
jjzak 6:3c54bc7badd4 48 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 49 offset += 4;
jjzak 6:3c54bc7badd4 50 memcpy(outbuffer + offset, this->id, length_id);
jjzak 6:3c54bc7badd4 51 offset += length_id;
jjzak 6:3c54bc7badd4 52 union {
jjzak 6:3c54bc7badd4 53 int8_t real;
jjzak 6:3c54bc7badd4 54 uint8_t base;
jjzak 6:3c54bc7badd4 55 } u_passed;
jjzak 6:3c54bc7badd4 56 u_passed.real = this->passed;
jjzak 6:3c54bc7badd4 57 *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 58 offset += sizeof(this->passed);
jjzak 6:3c54bc7badd4 59 *(outbuffer + offset++) = status_length;
jjzak 6:3c54bc7badd4 60 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 61 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 62 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 63 for( uint8_t i = 0; i < status_length; i++){
jjzak 6:3c54bc7badd4 64 offset += this->status[i].serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 65 }
jjzak 6:3c54bc7badd4 66 return offset;
jjzak 6:3c54bc7badd4 67 }
jjzak 6:3c54bc7badd4 68
jjzak 6:3c54bc7badd4 69 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 70 {
jjzak 6:3c54bc7badd4 71 int offset = 0;
jjzak 6:3c54bc7badd4 72 uint32_t length_id;
jjzak 6:3c54bc7badd4 73 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 74 offset += 4;
jjzak 6:3c54bc7badd4 75 for(unsigned int k= offset; k< offset+length_id; ++k){
jjzak 6:3c54bc7badd4 76 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 77 }
jjzak 6:3c54bc7badd4 78 inbuffer[offset+length_id-1]=0;
jjzak 6:3c54bc7badd4 79 this->id = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 80 offset += length_id;
jjzak 6:3c54bc7badd4 81 union {
jjzak 6:3c54bc7badd4 82 int8_t real;
jjzak 6:3c54bc7badd4 83 uint8_t base;
jjzak 6:3c54bc7badd4 84 } u_passed;
jjzak 6:3c54bc7badd4 85 u_passed.base = 0;
jjzak 6:3c54bc7badd4 86 u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
jjzak 6:3c54bc7badd4 87 this->passed = u_passed.real;
jjzak 6:3c54bc7badd4 88 offset += sizeof(this->passed);
jjzak 6:3c54bc7badd4 89 uint8_t status_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 90 if(status_lengthT > status_length)
jjzak 6:3c54bc7badd4 91 this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
jjzak 6:3c54bc7badd4 92 offset += 3;
jjzak 6:3c54bc7badd4 93 status_length = status_lengthT;
jjzak 6:3c54bc7badd4 94 for( uint8_t i = 0; i < status_length; i++){
jjzak 6:3c54bc7badd4 95 offset += this->st_status.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 96 memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
jjzak 6:3c54bc7badd4 97 }
jjzak 6:3c54bc7badd4 98 return offset;
jjzak 6:3c54bc7badd4 99 }
jjzak 6:3c54bc7badd4 100
jjzak 6:3c54bc7badd4 101 const char * getType(){ return SELFTEST; };
jjzak 6:3c54bc7badd4 102 const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; };
jjzak 6:3c54bc7badd4 103
jjzak 6:3c54bc7badd4 104 };
jjzak 6:3c54bc7badd4 105
jjzak 6:3c54bc7badd4 106 class SelfTest {
jjzak 6:3c54bc7badd4 107 public:
jjzak 6:3c54bc7badd4 108 typedef SelfTestRequest Request;
jjzak 6:3c54bc7badd4 109 typedef SelfTestResponse Response;
jjzak 6:3c54bc7badd4 110 };
jjzak 6:3c54bc7badd4 111
jjzak 6:3c54bc7badd4 112 }
jjzak 6:3c54bc7badd4 113 #endif
jjzak 6:3c54bc7badd4 114