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Dependencies:   BufferedSerial motor_sn7544

sensor_msgs/CompressedImage.h@3:2a3664dc6634, 2019-08-13 (annotated)

Committer:
Jeonghoon
Date:
Tue Aug 13 05:53:22 2019 +0000
Revision:
3:2a3664dc6634
with ROS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Jeonghoon 3:2a3664dc6634 1 #ifndef _ROS_sensor_msgs_CompressedImage_h
Jeonghoon 3:2a3664dc6634 2 #define _ROS_sensor_msgs_CompressedImage_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
Jeonghoon 3:2a3664dc6634 10 namespace sensor_msgs
Jeonghoon 3:2a3664dc6634 11 {
Jeonghoon 3:2a3664dc6634 12
Jeonghoon 3:2a3664dc6634 13 class CompressedImage : public ros::Msg
Jeonghoon 3:2a3664dc6634 14 {
Jeonghoon 3:2a3664dc6634 15 public:
Jeonghoon 3:2a3664dc6634 16 typedef std_msgs::Header _header_type;
Jeonghoon 3:2a3664dc6634 17 _header_type header;
Jeonghoon 3:2a3664dc6634 18 typedef const char* _format_type;
Jeonghoon 3:2a3664dc6634 19 _format_type format;
Jeonghoon 3:2a3664dc6634 20 uint32_t data_length;
Jeonghoon 3:2a3664dc6634 21 typedef uint8_t _data_type;
Jeonghoon 3:2a3664dc6634 22 _data_type st_data;
Jeonghoon 3:2a3664dc6634 23 _data_type * data;
Jeonghoon 3:2a3664dc6634 24
Jeonghoon 3:2a3664dc6634 25 CompressedImage():
Jeonghoon 3:2a3664dc6634 26 header(),
Jeonghoon 3:2a3664dc6634 27 format(""),
Jeonghoon 3:2a3664dc6634 28 data_length(0), data(NULL)
Jeonghoon 3:2a3664dc6634 29 {
Jeonghoon 3:2a3664dc6634 30 }
Jeonghoon 3:2a3664dc6634 31
Jeonghoon 3:2a3664dc6634 32 virtual int serialize(unsigned char *outbuffer) const
Jeonghoon 3:2a3664dc6634 33 {
Jeonghoon 3:2a3664dc6634 34 int offset = 0;
Jeonghoon 3:2a3664dc6634 35 offset += this->header.serialize(outbuffer + offset);
Jeonghoon 3:2a3664dc6634 36 uint32_t length_format = strlen(this->format);
Jeonghoon 3:2a3664dc6634 37 varToArr(outbuffer + offset, length_format);
Jeonghoon 3:2a3664dc6634 38 offset += 4;
Jeonghoon 3:2a3664dc6634 39 memcpy(outbuffer + offset, this->format, length_format);
Jeonghoon 3:2a3664dc6634 40 offset += length_format;
Jeonghoon 3:2a3664dc6634 41 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 42 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Jeonghoon 3:2a3664dc6634 43 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Jeonghoon 3:2a3664dc6634 44 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Jeonghoon 3:2a3664dc6634 45 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 46 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 47 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
Jeonghoon 3:2a3664dc6634 48 offset += sizeof(this->data[i]);
Jeonghoon 3:2a3664dc6634 49 }
Jeonghoon 3:2a3664dc6634 50 return offset;
Jeonghoon 3:2a3664dc6634 51 }
Jeonghoon 3:2a3664dc6634 52
Jeonghoon 3:2a3664dc6634 53 virtual int deserialize(unsigned char *inbuffer)
Jeonghoon 3:2a3664dc6634 54 {
Jeonghoon 3:2a3664dc6634 55 int offset = 0;
Jeonghoon 3:2a3664dc6634 56 offset += this->header.deserialize(inbuffer + offset);
Jeonghoon 3:2a3664dc6634 57 uint32_t length_format;
Jeonghoon 3:2a3664dc6634 58 arrToVar(length_format, (inbuffer + offset));
Jeonghoon 3:2a3664dc6634 59 offset += 4;
Jeonghoon 3:2a3664dc6634 60 for(unsigned int k= offset; k< offset+length_format; ++k){
Jeonghoon 3:2a3664dc6634 61 inbuffer[k-1]=inbuffer[k];
Jeonghoon 3:2a3664dc6634 62 }
Jeonghoon 3:2a3664dc6634 63 inbuffer[offset+length_format-1]=0;
Jeonghoon 3:2a3664dc6634 64 this->format = (char *)(inbuffer + offset-1);
Jeonghoon 3:2a3664dc6634 65 offset += length_format;
Jeonghoon 3:2a3664dc6634 66 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 67 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Jeonghoon 3:2a3664dc6634 68 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Jeonghoon 3:2a3664dc6634 69 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Jeonghoon 3:2a3664dc6634 70 offset += sizeof(this->data_length);
Jeonghoon 3:2a3664dc6634 71 if(data_lengthT > data_length)
Jeonghoon 3:2a3664dc6634 72 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
Jeonghoon 3:2a3664dc6634 73 data_length = data_lengthT;
Jeonghoon 3:2a3664dc6634 74 for( uint32_t i = 0; i < data_length; i++){
Jeonghoon 3:2a3664dc6634 75 this->st_data = ((uint8_t) (*(inbuffer + offset)));
Jeonghoon 3:2a3664dc6634 76 offset += sizeof(this->st_data);
Jeonghoon 3:2a3664dc6634 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
Jeonghoon 3:2a3664dc6634 78 }
Jeonghoon 3:2a3664dc6634 79 return offset;
Jeonghoon 3:2a3664dc6634 80 }
Jeonghoon 3:2a3664dc6634 81
Jeonghoon 3:2a3664dc6634 82 const char * getType(){ return "sensor_msgs/CompressedImage"; };
Jeonghoon 3:2a3664dc6634 83 const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
Jeonghoon 3:2a3664dc6634 84
Jeonghoon 3:2a3664dc6634 85 };
Jeonghoon 3:2a3664dc6634 86
Jeonghoon 3:2a3664dc6634 87 }
Jeonghoon 3:2a3664dc6634 88 #endif