SelfTest.h
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 #include "diagnostic_msgs/byte.h" 00009 00010 namespace diagnostic_msgs 00011 { 00012 00013 static const char SELFTEST[] = "diagnostic_msgs/SelfTest"; 00014 00015 class SelfTestRequest : public ros::Msg 00016 { 00017 public: 00018 00019 virtual int serialize(unsigned char *outbuffer) const 00020 { 00021 int offset = 0; 00022 return offset; 00023 } 00024 00025 virtual int deserialize(unsigned char *inbuffer) 00026 { 00027 int offset = 0; 00028 return offset; 00029 } 00030 00031 const char * getType(){ return SELFTEST; }; 00032 const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; }; 00033 00034 }; 00035 00036 class SelfTestResponse : public ros::Msg 00037 { 00038 public: 00039 char * id; 00040 diagnostic_msgs::byte passed; 00041 uint8_t status_length; 00042 diagnostic_msgs::DiagnosticStatus st_status; 00043 diagnostic_msgs::DiagnosticStatus * status; 00044 00045 virtual int serialize(unsigned char *outbuffer) const 00046 { 00047 int offset = 0; 00048 uint32_t * length_id = (uint32_t *)(outbuffer + offset); 00049 *length_id = strlen( (const char*) this->id); 00050 offset += 4; 00051 memcpy(outbuffer + offset, this->id, *length_id); 00052 offset += *length_id; 00053 offset += this->passed.serialize(outbuffer + offset); 00054 *(outbuffer + offset++) = status_length; 00055 *(outbuffer + offset++) = 0; 00056 *(outbuffer + offset++) = 0; 00057 *(outbuffer + offset++) = 0; 00058 for( uint8_t i = 0; i < status_length; i++){ 00059 offset += this->status[i].serialize(outbuffer + offset); 00060 } 00061 return offset; 00062 } 00063 00064 virtual int deserialize(unsigned char *inbuffer) 00065 { 00066 int offset = 0; 00067 uint32_t length_id = *(uint32_t *)(inbuffer + offset); 00068 offset += 4; 00069 for(unsigned int k= offset; k< offset+length_id; ++k){ 00070 inbuffer[k-1]=inbuffer[k]; 00071 } 00072 inbuffer[offset+length_id-1]=0; 00073 this->id = (char *)(inbuffer + offset-1); 00074 offset += length_id; 00075 offset += this->passed.deserialize(inbuffer + offset); 00076 uint8_t status_lengthT = *(inbuffer + offset++); 00077 if(status_lengthT > status_length) 00078 this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus)); 00079 offset += 3; 00080 status_length = status_lengthT; 00081 for( uint8_t i = 0; i < status_length; i++){ 00082 offset += this->st_status.deserialize(inbuffer + offset); 00083 memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus)); 00084 } 00085 return offset; 00086 } 00087 00088 const char * getType(){ return SELFTEST; }; 00089 const char * getMD5(){ return "74c9372c870a76da4fc2b3973978b898"; }; 00090 00091 }; 00092 00093 class SelfTest { 00094 public: 00095 typedef SelfTestRequest Request; 00096 typedef SelfTestResponse Response; 00097 }; 00098 00099 } 00100 #endif