Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

diagnostic_msgs/SelfTest.h@2:ab8333331642, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:48:22 2018 +0000
Revision:
2:ab8333331642
Parent:
0:9e9b7db60fd5 
Working towards twists

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