Go to the documentation of this file.00001 #ifndef ros_SERVICE_SelfTest_h
00002 #define ros_SERVICE_SelfTest_h
00003 #include <stdint.h>
00004 #include <string.h>
00005 #include <stdlib.h>
00006 #include "../ros/msg.h"
00007 #include "diagnostic_msgs/DiagnosticStatus.h"
00008
00009 namespace diagnostic_msgs
00010 {
00011
00012 static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
00013
00014 class SelfTestRequest : public ros::Msg
00015 {
00016 public:
00017
00018 virtual int serialize(unsigned char *outbuffer)
00019 {
00020 int offset = 0;
00021 return offset;
00022 }
00023
00024 virtual int deserialize(unsigned char *inbuffer)
00025 {
00026 int offset = 0;
00027 return offset;
00028 }
00029
00030 const char * getType(){ return SELFTEST; };
00031
00032 };
00033
00034 class SelfTestResponse : public ros::Msg
00035 {
00036 public:
00037 char * id;
00038 unsigned char passed;
00039 unsigned char status_length;
00040 diagnostic_msgs::DiagnosticStatus st_status;
00041 diagnostic_msgs::DiagnosticStatus * status;
00042
00043 virtual int serialize(unsigned char *outbuffer)
00044 {
00045 int offset = 0;
00046 long * length_id = (long *)(outbuffer + offset);
00047 *length_id = strlen( (const char*) this->id);
00048 offset += 4;
00049 memcpy(outbuffer + offset, this->id, *length_id);
00050 offset += *length_id;
00051 union {
00052 unsigned char real;
00053 unsigned char base;
00054 } u_passed;
00055 u_passed.real = this->passed;
00056 *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
00057 offset += sizeof(this->passed);
00058 *(outbuffer + offset++) = status_length;
00059 *(outbuffer + offset++) = 0;
00060 *(outbuffer + offset++) = 0;
00061 *(outbuffer + offset++) = 0;
00062 for( unsigned char i = 0; i < status_length; i++){
00063 offset += this->status[i].serialize(outbuffer + offset);
00064 }
00065 return offset;
00066 }
00067
00068 virtual int deserialize(unsigned char *inbuffer)
00069 {
00070 int offset = 0;
00071 uint32_t length_id = *(uint32_t *)(inbuffer + offset);
00072 offset += 4;
00073 for(unsigned int k= offset; k< offset+length_id; ++k){
00074 inbuffer[k-1]=inbuffer[k];
00075 }
00076 inbuffer[offset+length_id-1]=0;
00077 this->id = (char *)(inbuffer + offset-1);
00078 offset += length_id;
00079 union {
00080 unsigned char real;
00081 unsigned char base;
00082 } u_passed;
00083 u_passed.base = 0;
00084 u_passed.base |= ((typeof(u_passed.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00085 this->passed = u_passed.real;
00086 offset += sizeof(this->passed);
00087 unsigned char status_lengthT = *(inbuffer + offset++);
00088 if(status_lengthT > status_length)
00089 this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
00090 offset += 3;
00091 status_length = status_lengthT;
00092 for( unsigned char i = 0; i < status_length; i++){
00093 offset += this->st_status.deserialize(inbuffer + offset);
00094 memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
00095 }
00096 return offset;
00097 }
00098
00099 const char * getType(){ return SELFTEST; };
00100
00101 };
00102
00103 }
00104 #endif
