ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

diagnostic_msgs/SelfTest.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_SERVICE_SelfTest_h
garyservin 0:fd24f7ca9688 2 #define _ROS_SERVICE_SelfTest_h
garyservin 0:fd24f7ca9688 3 #include <stdint.h>
garyservin 0:fd24f7ca9688 4 #include <string.h>
garyservin 0:fd24f7ca9688 5 #include <stdlib.h>
garyservin 0:fd24f7ca9688 6 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 7 #include "diagnostic_msgs/DiagnosticStatus.h"
garyservin 0:fd24f7ca9688 8
garyservin 0:fd24f7ca9688 9 namespace diagnostic_msgs
garyservin 0:fd24f7ca9688 10 {
garyservin 0:fd24f7ca9688 11
garyservin 0:fd24f7ca9688 12 static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
garyservin 0:fd24f7ca9688 13
garyservin 0:fd24f7ca9688 14 class SelfTestRequest : public ros::Msg
garyservin 0:fd24f7ca9688 15 {
garyservin 0:fd24f7ca9688 16 public:
garyservin 0:fd24f7ca9688 17
garyservin 0:fd24f7ca9688 18 SelfTestRequest()
garyservin 0:fd24f7ca9688 19 {
garyservin 0:fd24f7ca9688 20 }
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 23 {
garyservin 0:fd24f7ca9688 24 int offset = 0;
garyservin 0:fd24f7ca9688 25 return offset;
garyservin 0:fd24f7ca9688 26 }
garyservin 0:fd24f7ca9688 27
garyservin 0:fd24f7ca9688 28 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 29 {
garyservin 0:fd24f7ca9688 30 int offset = 0;
garyservin 0:fd24f7ca9688 31 return offset;
garyservin 0:fd24f7ca9688 32 }
garyservin 0:fd24f7ca9688 33
garyservin 0:fd24f7ca9688 34 const char * getType(){ return SELFTEST; };
garyservin 0:fd24f7ca9688 35 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
garyservin 0:fd24f7ca9688 36
garyservin 0:fd24f7ca9688 37 };
garyservin 0:fd24f7ca9688 38
garyservin 0:fd24f7ca9688 39 class SelfTestResponse : public ros::Msg
garyservin 0:fd24f7ca9688 40 {
garyservin 0:fd24f7ca9688 41 public:
garyservin 0:fd24f7ca9688 42 const char* id;
garyservin 0:fd24f7ca9688 43 int8_t passed;
garyservin 0:fd24f7ca9688 44 uint8_t status_length;
garyservin 0:fd24f7ca9688 45 diagnostic_msgs::DiagnosticStatus st_status;
garyservin 0:fd24f7ca9688 46 diagnostic_msgs::DiagnosticStatus * status;
garyservin 0:fd24f7ca9688 47
garyservin 0:fd24f7ca9688 48 SelfTestResponse():
garyservin 0:fd24f7ca9688 49 id(""),
garyservin 0:fd24f7ca9688 50 passed(0),
garyservin 0:fd24f7ca9688 51 status_length(0), status(NULL)
garyservin 0:fd24f7ca9688 52 {
garyservin 0:fd24f7ca9688 53 }
garyservin 0:fd24f7ca9688 54
garyservin 0:fd24f7ca9688 55 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 56 {
garyservin 0:fd24f7ca9688 57 int offset = 0;
garyservin 0:fd24f7ca9688 58 uint32_t length_id = strlen(this->id);
garyservin 0:fd24f7ca9688 59 memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 60 offset += 4;
garyservin 0:fd24f7ca9688 61 memcpy(outbuffer + offset, this->id, length_id);
garyservin 0:fd24f7ca9688 62 offset += length_id;
garyservin 0:fd24f7ca9688 63 union {
garyservin 0:fd24f7ca9688 64 int8_t real;
garyservin 0:fd24f7ca9688 65 uint8_t base;
garyservin 0:fd24f7ca9688 66 } u_passed;
garyservin 0:fd24f7ca9688 67 u_passed.real = this->passed;
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 69 offset += sizeof(this->passed);
garyservin 0:fd24f7ca9688 70 *(outbuffer + offset++) = status_length;
garyservin 0:fd24f7ca9688 71 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 72 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 73 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 74 for( uint8_t i = 0; i < status_length; i++){
garyservin 0:fd24f7ca9688 75 offset += this->status[i].serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 76 }
garyservin 0:fd24f7ca9688 77 return offset;
garyservin 0:fd24f7ca9688 78 }
garyservin 0:fd24f7ca9688 79
garyservin 0:fd24f7ca9688 80 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 81 {
garyservin 0:fd24f7ca9688 82 int offset = 0;
garyservin 0:fd24f7ca9688 83 uint32_t length_id;
garyservin 0:fd24f7ca9688 84 memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 85 offset += 4;
garyservin 0:fd24f7ca9688 86 for(unsigned int k= offset; k< offset+length_id; ++k){
garyservin 0:fd24f7ca9688 87 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 88 }
garyservin 0:fd24f7ca9688 89 inbuffer[offset+length_id-1]=0;
garyservin 0:fd24f7ca9688 90 this->id = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 91 offset += length_id;
garyservin 0:fd24f7ca9688 92 union {
garyservin 0:fd24f7ca9688 93 int8_t real;
garyservin 0:fd24f7ca9688 94 uint8_t base;
garyservin 0:fd24f7ca9688 95 } u_passed;
garyservin 0:fd24f7ca9688 96 u_passed.base = 0;
garyservin 0:fd24f7ca9688 97 u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:fd24f7ca9688 98 this->passed = u_passed.real;
garyservin 0:fd24f7ca9688 99 offset += sizeof(this->passed);
garyservin 0:fd24f7ca9688 100 uint8_t status_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 101 if(status_lengthT > status_length)
garyservin 0:fd24f7ca9688 102 this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
garyservin 0:fd24f7ca9688 103 offset += 3;
garyservin 0:fd24f7ca9688 104 status_length = status_lengthT;
garyservin 0:fd24f7ca9688 105 for( uint8_t i = 0; i < status_length; i++){
garyservin 0:fd24f7ca9688 106 offset += this->st_status.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 107 memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
garyservin 0:fd24f7ca9688 108 }
garyservin 0:fd24f7ca9688 109 return offset;
garyservin 0:fd24f7ca9688 110 }
garyservin 0:fd24f7ca9688 111
garyservin 0:fd24f7ca9688 112 const char * getType(){ return SELFTEST; };
garyservin 0:fd24f7ca9688 113 const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; };
garyservin 0:fd24f7ca9688 114
garyservin 0:fd24f7ca9688 115 };
garyservin 0:fd24f7ca9688 116
garyservin 0:fd24f7ca9688 117 class SelfTest {
garyservin 0:fd24f7ca9688 118 public:
garyservin 0:fd24f7ca9688 119 typedef SelfTestRequest Request;
garyservin 0:fd24f7ca9688 120 typedef SelfTestResponse Response;
garyservin 0:fd24f7ca9688 121 };
garyservin 0:fd24f7ca9688 122
garyservin 0:fd24f7ca9688 123 }
garyservin 0:fd24f7ca9688 124 #endif