Pipe Inpection Robot / Mbed OS capstone_finish

capstone_finish

Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/Image.h@10:ca4e4062701a, 2019-11-26 (annotated)

Committer:
Jeonghoon
Date:
Tue Nov 26 15:30:27 2019 +0000
Revision:
10:ca4e4062701a
Parent:
3:2a3664dc6634 
capstone finish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_Image_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_Image_h
Jeonghoon 3:2a3664dc6634 3
Jeonghoon 3:2a3664dc6634 4 #include <stdint.h>
Jeonghoon 3:2a3664dc6634 5 #include <string.h>
Jeonghoon 3:2a3664dc6634 6 #include <stdlib.h>
Jeonghoon 3:2a3664dc6634 7 #include "ros/msg.h"
Jeonghoon 3:2a3664dc6634 8 #include "std_msgs/Header.h"
Jeonghoon 3:2a3664dc6634 9 #include <vector>
Jeonghoon 3:2a3664dc6634 10
Jeonghoon 3:2a3664dc6634 11 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 12 {
Jeonghoon 3:2a3664dc6634 13
Jeonghoon 3:2a3664dc6634 14 class Image : public ros::Msg
Jeonghoon 3:2a3664dc6634 15 {
Jeonghoon 3:2a3664dc6634 16 public:
Jeonghoon 3:2a3664dc6634 17 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 18 _header_type header;
Jeonghoon 3:2a3664dc6634 19 typedef uint32_t _height_type;
Jeonghoon 3:2a3664dc6634 20 _height_type height;
Jeonghoon 3:2a3664dc6634 21 typedef uint32_t _width_type;
Jeonghoon 3:2a3664dc6634 22 _width_type width;
Jeonghoon 3:2a3664dc6634 23 typedef const char* _encoding_type;
Jeonghoon 3:2a3664dc6634 24 _encoding_type encoding;
Jeonghoon 3:2a3664dc6634 25 typedef uint8_t _is_bigendian_type;
Jeonghoon 3:2a3664dc6634 26 _is_bigendian_type is_bigendian;
Jeonghoon 3:2a3664dc6634 27 typedef uint32_t _step_type;
Jeonghoon 3:2a3664dc6634 28 _step_type step;
Jeonghoon 3:2a3664dc6634 29 uint32_t data_length;
Jeonghoon 3:2a3664dc6634 30 typedef uint8_t _data_type;
Jeonghoon 3:2a3664dc6634 31 _data_type st_data;
Jeonghoon 3:2a3664dc6634 32 _data_type * data;
Jeonghoon 3:2a3664dc6634 33
Jeonghoon 3:2a3664dc6634 34 Image():
Jeonghoon 3:2a3664dc6634 35 header(),
Jeonghoon 3:2a3664dc6634 36 height(0),
Jeonghoon 3:2a3664dc6634 37 width(0),
Jeonghoon 3:2a3664dc6634 38 encoding(""),
Jeonghoon 3:2a3664dc6634 39 is_bigendian(0),
Jeonghoon 3:2a3664dc6634 40 step(0),
Jeonghoon 3:2a3664dc6634 41 data_length(0), data(NULL)
Jeonghoon 3:2a3664dc6634 42 {
Jeonghoon 3:2a3664dc6634 43 }
Jeonghoon 3:2a3664dc6634 44
Jeonghoon 3:2a3664dc6634 45 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 46 {
Jeonghoon 3:2a3664dc6634 47 int offset = 0;
Jeonghoon 3:2a3664dc6634 48 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 49 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 50 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 51 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 52 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 53 offset += sizeof(this->height);
Jeonghoon 3:2a3664dc6634 54 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 55 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 56 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 57 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 58 offset += sizeof(this->width);
Jeonghoon 3:2a3664dc6634 59 uint32_t length_encoding = strlen(this->encoding);
Jeonghoon 3:2a3664dc6634 60 varToArr(outbuffer + offset, length_encoding);
Jeonghoon 3:2a3664dc6634 61 offset += 4;
Jeonghoon 3:2a3664dc6634 62 memcpy(outbuffer + offset, this->encoding, length_encoding);
Jeonghoon 3:2a3664dc6634 63 offset += length_encoding;
Jeonghoon 3:2a3664dc6634 64 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 65 offset += sizeof(this->is_bigendian);
Jeonghoon 3:2a3664dc6634 66 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 67 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 68 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 69 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 70 offset += sizeof(this->step);
Jeonghoon 3:2a3664dc6634 71 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 72 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 73 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 74 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 75 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 76 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 77 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 78 offset += sizeof(this->data[i]);
Jeonghoon 3:2a3664dc6634 79 }
Jeonghoon 3:2a3664dc6634 80 return offset;
Jeonghoon 3:2a3664dc6634 81 }
Jeonghoon 3:2a3664dc6634 82
Jeonghoon 3:2a3664dc6634 83 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 84 {
Jeonghoon 3:2a3664dc6634 85 int offset = 0;
Jeonghoon 3:2a3664dc6634 86 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 87 this->height = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 88 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 89 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 90 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 91 offset += sizeof(this->height);
Jeonghoon 3:2a3664dc6634 92 this->width = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 93 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 94 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 95 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 96 offset += sizeof(this->width);
Jeonghoon 3:2a3664dc6634 97 uint32_t length_encoding;
Jeonghoon 3:2a3664dc6634 98 arrToVar(length_encoding, (inbuffer + offset));
Jeonghoon 3:2a3664dc6634 99 offset += 4;
Jeonghoon 3:2a3664dc6634 100 for(unsigned int k= offset; k< offset+length_encoding; ++k){
Jeonghoon 3:2a3664dc6634 101 inbuffer[k-1]=inbuffer[k];
Jeonghoon 3:2a3664dc6634 102 }
Jeonghoon 3:2a3664dc6634 103 inbuffer[offset+length_encoding-1]=0;
Jeonghoon 3:2a3664dc6634 104 this->encoding = (char *)(inbuffer + offset-1);
Jeonghoon 3:2a3664dc6634 105 offset += length_encoding;
Jeonghoon 3:2a3664dc6634 106 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 107 offset += sizeof(this->is_bigendian);
Jeonghoon 3:2a3664dc6634 108 this->step = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 109 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 110 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 111 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 112 offset += sizeof(this->step);
Jeonghoon 3:2a3664dc6634 113 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 114 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 115 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 116 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 117 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 118 if(data_lengthT > data_length)
Jeonghoon 3:2a3664dc6634 119 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
Jeonghoon 3:2a3664dc6634 120 data_length = data_lengthT;
Jeonghoon 3:2a3664dc6634 121 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 122 this->st_data = ((uint8_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 123 offset += sizeof(this->st_data);
Jeonghoon 3:2a3664dc6634 124 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
Jeonghoon 3:2a3664dc6634 125 }
Jeonghoon 3:2a3664dc6634 126 return offset;
Jeonghoon 3:2a3664dc6634 127 }
Jeonghoon 3:2a3664dc6634 128
Jeonghoon 3:2a3664dc6634 129 const char * getType(){ return "sensor_msgs/Image"; };
Jeonghoon 3:2a3664dc6634 130 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
Jeonghoon 3:2a3664dc6634 131
Jeonghoon 3:2a3664dc6634 132 };
Jeonghoon 3:2a3664dc6634 133
Jeonghoon 3:2a3664dc6634 134 }
Jeonghoon 3:2a3664dc6634 135 #endif