AudioData.h

00001 #ifndef _ROS_audio_common_msgs_AudioData_h
00002 #define _ROS_audio_common_msgs_AudioData_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 
00009 namespace audio_common_msgs
00010 {
00011 
00012   class AudioData : public ros::Msg
00013   {
00014     public:
00015       uint32_t data_length;
00016       typedef uint8_t _data_type;
00017       _data_type st_data;
00018       _data_type * data;
00019 
00020     AudioData():
00021       data_length(0), data(NULL)
00022     {
00023     }
00024 
00025     virtual int serialize(unsigned char *outbuffer) const
00026     {
00027       int offset = 0;
00028       *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
00029       *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
00030       *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
00031       *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
00032       offset += sizeof(this->data_length);
00033       for( uint32_t i = 0; i < data_length; i++){
00034       *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00035       offset += sizeof(this->data[i]);
00036       }
00037       return offset;
00038     }
00039 
00040     virtual int deserialize(unsigned char *inbuffer)
00041     {
00042       int offset = 0;
00043       uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00044       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00045       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00046       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00047       offset += sizeof(this->data_length);
00048       if(data_lengthT > data_length)
00049         this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00050       data_length = data_lengthT;
00051       for( uint32_t i = 0; i < data_length; i++){
00052       this->st_data =  ((uint8_t) (*(inbuffer + offset)));
00053       offset += sizeof(this->st_data);
00054         memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00055       }
00056      return offset;
00057     }
00058 
00059     virtual const char * getType(){ return "audio_common_msgs/AudioData"; };
00060     virtual const char * getMD5(){ return "f43a8e1b362b75baa741461b46adc7e0"; };
00061 
00062   };
00063 
00064 }
00065 #endif