nucho
This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.
Dependents: rosserial_mbed robot_S2
dianostic_msgs/DiagnosticStatus.h@4:684f39d0c346, 2012-02-29 (annotated)
- Committer:
- nucho
- Date:
- Wed Feb 29 23:00:21 2012 +0000
- Revision:
- 4:684f39d0c346
- Parent:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 4:684f39d0c346 | 1 | #ifndef ros_diagnostic_msgs_DiagnosticStatus_h |
| nucho | 4:684f39d0c346 | 2 | #define ros_diagnostic_msgs_DiagnosticStatus_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 3:1cf99502f396 | 7 | #include "ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include "diagnostic_msgs/KeyValue.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 3:1cf99502f396 | 10 | namespace diagnostic_msgs |
| nucho | 3:1cf99502f396 | 11 | { |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 3:1cf99502f396 | 13 | class DiagnosticStatus : public ros::Msg |
| nucho | 3:1cf99502f396 | 14 | { |
| nucho | 3:1cf99502f396 | 15 | public: |
| nucho | 4:684f39d0c346 | 16 | unsigned char level; |
| nucho | 3:1cf99502f396 | 17 | char * name; |
| nucho | 3:1cf99502f396 | 18 | char * message; |
| nucho | 3:1cf99502f396 | 19 | char * hardware_id; |
| nucho | 4:684f39d0c346 | 20 | unsigned char values_length; |
| nucho | 3:1cf99502f396 | 21 | diagnostic_msgs::KeyValue st_values; |
| nucho | 3:1cf99502f396 | 22 | diagnostic_msgs::KeyValue * values; |
| nucho | 3:1cf99502f396 | 23 | enum { OK = 0 }; |
| nucho | 3:1cf99502f396 | 24 | enum { WARN = 1 }; |
| nucho | 3:1cf99502f396 | 25 | enum { ERROR = 2 }; |
| nucho | 0:77afd7560544 | 26 | |
| nucho | 4:684f39d0c346 | 27 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 3:1cf99502f396 | 28 | { |
| nucho | 3:1cf99502f396 | 29 | int offset = 0; |
| nucho | 4:684f39d0c346 | 30 | union { |
| nucho | 4:684f39d0c346 | 31 | unsigned char real; |
| nucho | 4:684f39d0c346 | 32 | unsigned char base; |
| nucho | 4:684f39d0c346 | 33 | } u_level; |
| nucho | 4:684f39d0c346 | 34 | u_level.real = this->level; |
| nucho | 4:684f39d0c346 | 35 | *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF; |
| nucho | 4:684f39d0c346 | 36 | offset += sizeof(this->level); |
| nucho | 4:684f39d0c346 | 37 | long * length_name = (long *)(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 38 | *length_name = strlen( (const char*) this->name); |
| nucho | 3:1cf99502f396 | 39 | offset += 4; |
| nucho | 3:1cf99502f396 | 40 | memcpy(outbuffer + offset, this->name, *length_name); |
| nucho | 3:1cf99502f396 | 41 | offset += *length_name; |
| nucho | 4:684f39d0c346 | 42 | long * length_message = (long *)(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 43 | *length_message = strlen( (const char*) this->message); |
| nucho | 3:1cf99502f396 | 44 | offset += 4; |
| nucho | 3:1cf99502f396 | 45 | memcpy(outbuffer + offset, this->message, *length_message); |
| nucho | 3:1cf99502f396 | 46 | offset += *length_message; |
| nucho | 4:684f39d0c346 | 47 | long * length_hardware_id = (long *)(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 48 | *length_hardware_id = strlen( (const char*) this->hardware_id); |
| nucho | 3:1cf99502f396 | 49 | offset += 4; |
| nucho | 3:1cf99502f396 | 50 | memcpy(outbuffer + offset, this->hardware_id, *length_hardware_id); |
| nucho | 3:1cf99502f396 | 51 | offset += *length_hardware_id; |
| nucho | 3:1cf99502f396 | 52 | *(outbuffer + offset++) = values_length; |
| nucho | 3:1cf99502f396 | 53 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 54 | *(outbuffer + offset++) = 0; |
| nucho | 3:1cf99502f396 | 55 | *(outbuffer + offset++) = 0; |
| nucho | 4:684f39d0c346 | 56 | for( unsigned char i = 0; i < values_length; i++){ |
| nucho | 3:1cf99502f396 | 57 | offset += this->values[i].serialize(outbuffer + offset); |
| nucho | 3:1cf99502f396 | 58 | } |
| nucho | 3:1cf99502f396 | 59 | return offset; |
| nucho | 0:77afd7560544 | 60 | } |
| nucho | 0:77afd7560544 | 61 | |
| nucho | 3:1cf99502f396 | 62 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 3:1cf99502f396 | 63 | { |
| nucho | 3:1cf99502f396 | 64 | int offset = 0; |
| nucho | 4:684f39d0c346 | 65 | union { |
| nucho | 4:684f39d0c346 | 66 | unsigned char real; |
| nucho | 4:684f39d0c346 | 67 | unsigned char base; |
| nucho | 4:684f39d0c346 | 68 | } u_level; |
| nucho | 4:684f39d0c346 | 69 | u_level.base = 0; |
| nucho | 4:684f39d0c346 | 70 | u_level.base |= ((typeof(u_level.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 4:684f39d0c346 | 71 | this->level = u_level.real; |
| nucho | 4:684f39d0c346 | 72 | offset += sizeof(this->level); |
| nucho | 3:1cf99502f396 | 73 | uint32_t length_name = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 74 | offset += 4; |
| nucho | 3:1cf99502f396 | 75 | for(unsigned int k= offset; k< offset+length_name; ++k){ |
| nucho | 3:1cf99502f396 | 76 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 4:684f39d0c346 | 77 | } |
| nucho | 3:1cf99502f396 | 78 | inbuffer[offset+length_name-1]=0; |
| nucho | 3:1cf99502f396 | 79 | this->name = (char *)(inbuffer + offset-1); |
| nucho | 3:1cf99502f396 | 80 | offset += length_name; |
| nucho | 3:1cf99502f396 | 81 | uint32_t length_message = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 82 | offset += 4; |
| nucho | 3:1cf99502f396 | 83 | for(unsigned int k= offset; k< offset+length_message; ++k){ |
| nucho | 3:1cf99502f396 | 84 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 4:684f39d0c346 | 85 | } |
| nucho | 3:1cf99502f396 | 86 | inbuffer[offset+length_message-1]=0; |
| nucho | 3:1cf99502f396 | 87 | this->message = (char *)(inbuffer + offset-1); |
| nucho | 3:1cf99502f396 | 88 | offset += length_message; |
| nucho | 3:1cf99502f396 | 89 | uint32_t length_hardware_id = *(uint32_t *)(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 90 | offset += 4; |
| nucho | 3:1cf99502f396 | 91 | for(unsigned int k= offset; k< offset+length_hardware_id; ++k){ |
| nucho | 3:1cf99502f396 | 92 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 4:684f39d0c346 | 93 | } |
| nucho | 3:1cf99502f396 | 94 | inbuffer[offset+length_hardware_id-1]=0; |
| nucho | 3:1cf99502f396 | 95 | this->hardware_id = (char *)(inbuffer + offset-1); |
| nucho | 3:1cf99502f396 | 96 | offset += length_hardware_id; |
| nucho | 4:684f39d0c346 | 97 | unsigned char values_lengthT = *(inbuffer + offset++); |
| nucho | 3:1cf99502f396 | 98 | if(values_lengthT > values_length) |
| nucho | 3:1cf99502f396 | 99 | this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue)); |
| nucho | 3:1cf99502f396 | 100 | offset += 3; |
| nucho | 3:1cf99502f396 | 101 | values_length = values_lengthT; |
| nucho | 4:684f39d0c346 | 102 | for( unsigned char i = 0; i < values_length; i++){ |
| nucho | 3:1cf99502f396 | 103 | offset += this->st_values.deserialize(inbuffer + offset); |
| nucho | 3:1cf99502f396 | 104 | memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue)); |
| nucho | 3:1cf99502f396 | 105 | } |
| nucho | 3:1cf99502f396 | 106 | return offset; |
| nucho | 0:77afd7560544 | 107 | } |
| nucho | 0:77afd7560544 | 108 | |
| nucho | 3:1cf99502f396 | 109 | virtual const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; }; |
| nucho | 3:1cf99502f396 | 110 | virtual const char * getMD5(){ return "67d15a62edb26e9d52b0f0efa3ef9da7"; }; |
| nucho | 0:77afd7560544 | 111 | |
| nucho | 3:1cf99502f396 | 112 | }; |
| nucho | 0:77afd7560544 | 113 | |
| nucho | 0:77afd7560544 | 114 | } |
| nucho | 0:77afd7560544 | 115 | #endif |