hidaka sato / ros_lib_melodic

Just changed OUTPUT_SIZE and INPUT_SIZE in ros/node_handle.h

Dependencies:   BufferedSerial

Dependents:   WRS2020_mecanum_node

diagnostic_msgs/DiagnosticStatus.h@2:5d429be7d0aa, 2020-11-02 (annotated)

Committer:
sgrsn
Date:
Mon Nov 02 09:00:01 2020 +0000
Revision:
2:5d429be7d0aa
Parent:
0:04ac6be8229a 
Change INPUT_SIZE and OUTPUT_SIZE on node_handle.h to pub sub

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_diagnostic_msgs_DiagnosticStatus_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "diagnostic_msgs/KeyValue.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace diagnostic_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class DiagnosticStatus : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef int8_t _level_type;
Gary Servin 0:04ac6be8229a 17 _level_type level;
Gary Servin 0:04ac6be8229a 18 typedef const char* _name_type;
Gary Servin 0:04ac6be8229a 19 _name_type name;
Gary Servin 0:04ac6be8229a 20 typedef const char* _message_type;
Gary Servin 0:04ac6be8229a 21 _message_type message;
Gary Servin 0:04ac6be8229a 22 typedef const char* _hardware_id_type;
Gary Servin 0:04ac6be8229a 23 _hardware_id_type hardware_id;
Gary Servin 0:04ac6be8229a 24 uint32_t values_length;
Gary Servin 0:04ac6be8229a 25 typedef diagnostic_msgs::KeyValue _values_type;
Gary Servin 0:04ac6be8229a 26 _values_type st_values;
Gary Servin 0:04ac6be8229a 27 _values_type * values;
Gary Servin 0:04ac6be8229a 28 enum { OK = 0 };
Gary Servin 0:04ac6be8229a 29 enum { WARN = 1 };
Gary Servin 0:04ac6be8229a 30 enum { ERROR = 2 };
Gary Servin 0:04ac6be8229a 31 enum { STALE = 3 };
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 DiagnosticStatus():
Gary Servin 0:04ac6be8229a 34 level(0),
Gary Servin 0:04ac6be8229a 35 name(""),
Gary Servin 0:04ac6be8229a 36 message(""),
Gary Servin 0:04ac6be8229a 37 hardware_id(""),
Gary Servin 0:04ac6be8229a 38 values_length(0), values(NULL)
Gary Servin 0:04ac6be8229a 39 {
Gary Servin 0:04ac6be8229a 40 }
Gary Servin 0:04ac6be8229a 41
Gary Servin 0:04ac6be8229a 42 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 43 {
Gary Servin 0:04ac6be8229a 44 int offset = 0;
Gary Servin 0:04ac6be8229a 45 union {
Gary Servin 0:04ac6be8229a 46 int8_t real;
Gary Servin 0:04ac6be8229a 47 uint8_t base;
Gary Servin 0:04ac6be8229a 48 } u_level;
Gary Servin 0:04ac6be8229a 49 u_level.real = this->level;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 offset += sizeof(this->level);
Gary Servin 0:04ac6be8229a 52 uint32_t length_name = strlen(this->name);
Gary Servin 0:04ac6be8229a 53 varToArr(outbuffer + offset, length_name);
Gary Servin 0:04ac6be8229a 54 offset += 4;
Gary Servin 0:04ac6be8229a 55 memcpy(outbuffer + offset, this->name, length_name);
Gary Servin 0:04ac6be8229a 56 offset += length_name;
Gary Servin 0:04ac6be8229a 57 uint32_t length_message = strlen(this->message);
Gary Servin 0:04ac6be8229a 58 varToArr(outbuffer + offset, length_message);
Gary Servin 0:04ac6be8229a 59 offset += 4;
Gary Servin 0:04ac6be8229a 60 memcpy(outbuffer + offset, this->message, length_message);
Gary Servin 0:04ac6be8229a 61 offset += length_message;
Gary Servin 0:04ac6be8229a 62 uint32_t length_hardware_id = strlen(this->hardware_id);
Gary Servin 0:04ac6be8229a 63 varToArr(outbuffer + offset, length_hardware_id);
Gary Servin 0:04ac6be8229a 64 offset += 4;
Gary Servin 0:04ac6be8229a 65 memcpy(outbuffer + offset, this->hardware_id, length_hardware_id);
Gary Servin 0:04ac6be8229a 66 offset += length_hardware_id;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 0) = (this->values_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 1) = (this->values_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 2) = (this->values_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 3) = (this->values_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 offset += sizeof(this->values_length);
Gary Servin 0:04ac6be8229a 72 for( uint32_t i = 0; i < values_length; i++){
Gary Servin 0:04ac6be8229a 73 offset += this->values[i].serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 74 }
Gary Servin 0:04ac6be8229a 75 return offset;
Gary Servin 0:04ac6be8229a 76 }
Gary Servin 0:04ac6be8229a 77
Gary Servin 0:04ac6be8229a 78 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 79 {
Gary Servin 0:04ac6be8229a 80 int offset = 0;
Gary Servin 0:04ac6be8229a 81 union {
Gary Servin 0:04ac6be8229a 82 int8_t real;
Gary Servin 0:04ac6be8229a 83 uint8_t base;
Gary Servin 0:04ac6be8229a 84 } u_level;
Gary Servin 0:04ac6be8229a 85 u_level.base = 0;
Gary Servin 0:04ac6be8229a 86 u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 87 this->level = u_level.real;
Gary Servin 0:04ac6be8229a 88 offset += sizeof(this->level);
Gary Servin 0:04ac6be8229a 89 uint32_t length_name;
Gary Servin 0:04ac6be8229a 90 arrToVar(length_name, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 91 offset += 4;
Gary Servin 0:04ac6be8229a 92 for(unsigned int k= offset; k< offset+length_name; ++k){
Gary Servin 0:04ac6be8229a 93 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 94 }
Gary Servin 0:04ac6be8229a 95 inbuffer[offset+length_name-1]=0;
Gary Servin 0:04ac6be8229a 96 this->name = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 97 offset += length_name;
Gary Servin 0:04ac6be8229a 98 uint32_t length_message;
Gary Servin 0:04ac6be8229a 99 arrToVar(length_message, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 100 offset += 4;
Gary Servin 0:04ac6be8229a 101 for(unsigned int k= offset; k< offset+length_message; ++k){
Gary Servin 0:04ac6be8229a 102 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104 inbuffer[offset+length_message-1]=0;
Gary Servin 0:04ac6be8229a 105 this->message = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 106 offset += length_message;
Gary Servin 0:04ac6be8229a 107 uint32_t length_hardware_id;
Gary Servin 0:04ac6be8229a 108 arrToVar(length_hardware_id, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 109 offset += 4;
Gary Servin 0:04ac6be8229a 110 for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
Gary Servin 0:04ac6be8229a 111 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 112 }
Gary Servin 0:04ac6be8229a 113 inbuffer[offset+length_hardware_id-1]=0;
Gary Servin 0:04ac6be8229a 114 this->hardware_id = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 115 offset += length_hardware_id;
Gary Servin 0:04ac6be8229a 116 uint32_t values_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 117 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 118 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 119 values_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 120 offset += sizeof(this->values_length);
Gary Servin 0:04ac6be8229a 121 if(values_lengthT > values_length)
Gary Servin 0:04ac6be8229a 122 this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
Gary Servin 0:04ac6be8229a 123 values_length = values_lengthT;
Gary Servin 0:04ac6be8229a 124 for( uint32_t i = 0; i < values_length; i++){
Gary Servin 0:04ac6be8229a 125 offset += this->st_values.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 126 memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
Gary Servin 0:04ac6be8229a 127 }
Gary Servin 0:04ac6be8229a 128 return offset;
Gary Servin 0:04ac6be8229a 129 }
Gary Servin 0:04ac6be8229a 130
Gary Servin 0:04ac6be8229a 131 const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; };
Gary Servin 0:04ac6be8229a 132 const char * getMD5(){ return "d0ce08bc6e5ba34c7754f563a9cabaf1"; };
Gary Servin 0:04ac6be8229a 133
Gary Servin 0:04ac6be8229a 134 };
Gary Servin 0:04ac6be8229a 135
Gary Servin 0:04ac6be8229a 136 }
Gary Servin 0:04ac6be8229a 137 #endif