Fork of ROS Serial Library
Dependencies: BufferedSerial
Diff: sensor_msgs/CompressedImage.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/sensor_msgs/CompressedImage.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,88 @@ +#ifndef _ROS_sensor_msgs_CompressedImage_h +#define _ROS_sensor_msgs_CompressedImage_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace sensor_msgs +{ + + class CompressedImage : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + typedef const char* _format_type; + _format_type format; + uint32_t data_length; + typedef uint8_t _data_type; + _data_type st_data; + _data_type * data; + + CompressedImage(): + header(), + format(""), + data_length(0), data(NULL) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + uint32_t length_format = strlen(this->format); + varToArr(outbuffer + offset, length_format); + offset += 4; + memcpy(outbuffer + offset, this->format, length_format); + offset += length_format; + *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; + offset += sizeof(this->data_length); + for( uint32_t i = 0; i < data_length; i++){ + *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; + offset += sizeof(this->data[i]); + } + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + uint32_t length_format; + arrToVar(length_format, (inbuffer + offset)); + offset += 4; + for(unsigned int k= offset; k< offset+length_format; ++k){ + inbuffer[k-1]=inbuffer[k]; + } + inbuffer[offset+length_format-1]=0; + this->format = (char *)(inbuffer + offset-1); + offset += length_format; + uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); + data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + offset += sizeof(this->data_length); + if(data_lengthT > data_length) + this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); + data_length = data_lengthT; + for( uint32_t i = 0; i < data_length; i++){ + this->st_data = ((uint8_t) (*(inbuffer + offset))); + offset += sizeof(this->st_data); + memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); + } + return offset; + } + + const char * getType(){ return "sensor_msgs/CompressedImage"; }; + const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; }; + + }; + +} +#endif \ No newline at end of file