Robotic Team 1 / ros_lib_indigo

LAB

Dependencies:   BufferedSerial

Dependents:   ROS_Remote_Car

Fork of ros_lib_indigo by Gary Servin

sensor_msgs/Image.h@1:1523bf60b9a9, 2018-04-19 (annotated)

Committer:
MechanicalThomas
Date:
Thu Apr 19 14:57:05 2018 +0000
Revision:
1:1523bf60b9a9
Parent:
0:fd24f7ca9688 
000;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_sensor_msgs_Image_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_Image_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace sensor_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class Image : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 uint32_t height;
garyservin 0:fd24f7ca9688 18 uint32_t width;
garyservin 0:fd24f7ca9688 19 const char* encoding;
garyservin 0:fd24f7ca9688 20 uint8_t is_bigendian;
garyservin 0:fd24f7ca9688 21 uint32_t step;
garyservin 0:fd24f7ca9688 22 uint8_t data_length;
garyservin 0:fd24f7ca9688 23 uint8_t st_data;
garyservin 0:fd24f7ca9688 24 uint8_t * data;
garyservin 0:fd24f7ca9688 25
garyservin 0:fd24f7ca9688 26 Image():
garyservin 0:fd24f7ca9688 27 header(),
garyservin 0:fd24f7ca9688 28 height(0),
garyservin 0:fd24f7ca9688 29 width(0),
garyservin 0:fd24f7ca9688 30 encoding(""),
garyservin 0:fd24f7ca9688 31 is_bigendian(0),
garyservin 0:fd24f7ca9688 32 step(0),
garyservin 0:fd24f7ca9688 33 data_length(0), data(NULL)
garyservin 0:fd24f7ca9688 34 {
garyservin 0:fd24f7ca9688 35 }
garyservin 0:fd24f7ca9688 36
garyservin 0:fd24f7ca9688 37 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 38 {
garyservin 0:fd24f7ca9688 39 int offset = 0;
garyservin 0:fd24f7ca9688 40 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 42 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 44 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 45 offset += sizeof(this->height);
garyservin 0:fd24f7ca9688 46 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 47 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 48 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 49 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 50 offset += sizeof(this->width);
garyservin 0:fd24f7ca9688 51 uint32_t length_encoding = strlen(this->encoding);
garyservin 0:fd24f7ca9688 52 memcpy(outbuffer + offset, &length_encoding, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 53 offset += 4;
garyservin 0:fd24f7ca9688 54 memcpy(outbuffer + offset, this->encoding, length_encoding);
garyservin 0:fd24f7ca9688 55 offset += length_encoding;
garyservin 0:fd24f7ca9688 56 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 57 offset += sizeof(this->is_bigendian);
garyservin 0:fd24f7ca9688 58 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 59 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
garyservin 0:fd24f7ca9688 60 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
garyservin 0:fd24f7ca9688 61 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
garyservin 0:fd24f7ca9688 62 offset += sizeof(this->step);
garyservin 0:fd24f7ca9688 63 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 64 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 65 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 66 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 67 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 68 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 69 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 70 }
garyservin 0:fd24f7ca9688 71 return offset;
garyservin 0:fd24f7ca9688 72 }
garyservin 0:fd24f7ca9688 73
garyservin 0:fd24f7ca9688 74 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 75 {
garyservin 0:fd24f7ca9688 76 int offset = 0;
garyservin 0:fd24f7ca9688 77 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 78 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 79 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 80 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 81 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 82 offset += sizeof(this->height);
garyservin 0:fd24f7ca9688 83 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 84 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 85 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 86 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 87 offset += sizeof(this->width);
garyservin 0:fd24f7ca9688 88 uint32_t length_encoding;
garyservin 0:fd24f7ca9688 89 memcpy(&length_encoding, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 90 offset += 4;
garyservin 0:fd24f7ca9688 91 for(unsigned int k= offset; k< offset+length_encoding; ++k){
garyservin 0:fd24f7ca9688 92 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 93 }
garyservin 0:fd24f7ca9688 94 inbuffer[offset+length_encoding-1]=0;
garyservin 0:fd24f7ca9688 95 this->encoding = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 96 offset += length_encoding;
garyservin 0:fd24f7ca9688 97 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 98 offset += sizeof(this->is_bigendian);
garyservin 0:fd24f7ca9688 99 this->step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 100 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:fd24f7ca9688 101 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:fd24f7ca9688 102 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:fd24f7ca9688 103 offset += sizeof(this->step);
garyservin 0:fd24f7ca9688 104 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 105 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 106 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:fd24f7ca9688 107 offset += 3;
garyservin 0:fd24f7ca9688 108 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 109 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 110 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 111 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 112 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:fd24f7ca9688 113 }
garyservin 0:fd24f7ca9688 114 return offset;
garyservin 0:fd24f7ca9688 115 }
garyservin 0:fd24f7ca9688 116
garyservin 0:fd24f7ca9688 117 const char * getType(){ return "sensor_msgs/Image"; };
garyservin 0:fd24f7ca9688 118 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
garyservin 0:fd24f7ca9688 119
garyservin 0:fd24f7ca9688 120 };
garyservin 0:fd24f7ca9688 121
garyservin 0:fd24f7ca9688 122 }
garyservin 0:fd24f7ca9688 123 #endif