hairo
Dependencies: mbed BufferedSerial
Diff: diagnostic_msgs/SelfTest.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/diagnostic_msgs/SelfTest.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,131 @@ +#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: + + SelfTestRequest() + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + return offset; + } + + const char * getType(){ return SELFTEST; }; + const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; + + }; + + class SelfTestResponse : public ros::Msg + { + public: + typedef const char* _id_type; + _id_type id; + typedef int8_t _passed_type; + _passed_type passed; + uint32_t status_length; + typedef diagnostic_msgs::DiagnosticStatus _status_type; + _status_type st_status; + _status_type * status; + + SelfTestResponse(): + id(""), + passed(0), + status_length(0), status(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + uint32_t length_id = strlen(this->id); + varToArr(outbuffer + offset, length_id); + offset += 4; + memcpy(outbuffer + offset, this->id, length_id); + offset += length_id; + union { + int8_t real; + uint8_t base; + } u_passed; + u_passed.real = this->passed; + *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF; + offset += sizeof(this->passed); + *(outbuffer + offset + 0) = (this->status_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->status_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->status_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->status_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->status_length); + for( uint32_t 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; + arrToVar(length_id, (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 { + int8_t real; + uint8_t base; + } u_passed; + u_passed.base = 0; + u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); + this->passed = u_passed.real; + offset += sizeof(this->passed); + uint32_t status_lengthT = ((uint32_t) (*(inbuffer + offset))); + status_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + status_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + status_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->status_length); + if(status_lengthT > status_length) + this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); + status_length = status_lengthT; + for( uint32_t 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; + } + + const char * getType(){ return SELFTEST; }; + const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; }; + + }; + + class SelfTest { + public: + typedef SelfTestRequest Request; + typedef SelfTestResponse Response; + }; + +} +#endif