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
Diff: dianostic_msgs/SelfTest.h
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/dianostic_msgs/SelfTest.h Fri Aug 19 09:06:30 2011 +0000 @@ -0,0 +1,104 @@ +#ifndef ros_SERVICE_SelfTest_h +#define ros_SERVICE_SelfTest_h +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "../ros/msg.h" +#include "diagnostic_msgs/DiagnosticStatus.h" + +namespace diagnostic_msgs +{ + +static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; + + class SelfTestRequest : public ros::Msg + { + public: + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + return offset; + } + + const char * getType(){ return SELFTEST; }; + + }; + + class SelfTestResponse : public ros::Msg + { + public: + char * id; + unsigned char passed; + unsigned char status_length; + diagnostic_msgs::DiagnosticStatus st_status; + diagnostic_msgs::DiagnosticStatus * status; + + virtual int serialize(unsigned char *outbuffer) + { + int offset = 0; + long * length_id = (long *)(outbuffer + offset); + *length_id = strlen( (const char*) this->id); + offset += 4; + memcpy(outbuffer + offset, this->id, *length_id); + offset += *length_id; + union { + unsigned char real; + unsigned char base; + } u_passed; + u_passed.real = this->passed; + *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->passed); + *(outbuffer + offset++) = status_length; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + *(outbuffer + offset++) = 0; + for( unsigned char i = 0; i < status_length; i++){ + offset += this->status[i].serialize(outbuffer + offset); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + uint32_t length_id = *(uint32_t *)(inbuffer + offset); + offset += 4; + for(unsigned int k= offset; k< offset+length_id; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_id-1]=0; + this->id = (char *)(inbuffer + offset-1); + offset += length_id; + union { + unsigned char real; + unsigned char base; + } u_passed; + u_passed.base = 0; + u_passed.base |= ((typeof(u_passed.base)) (*(inbuffer + offset + 0))) << (8 * 0); + this->passed = u_passed.real; + offset += sizeof(this->passed); + unsigned char status_lengthT = *(inbuffer + offset++); + if(status_lengthT > status_length) + this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); + offset += 3; + status_length = status_lengthT; + for( unsigned char i = 0; i < status_length; i++){ + offset += this->st_status.deserialize(inbuffer + offset); + memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus)); + } + return offset; + } + + virtual const char * getType(){ return SELFTEST; }; + + }; + +} +#endif \ No newline at end of file