a
Diff: theora_image_transport/Packet.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/theora_image_transport/Packet.h Sat Dec 31 00:48:34 2016 +0000 @@ -0,0 +1,183 @@ +#ifndef _ROS_theora_image_transport_Packet_h +#define _ROS_theora_image_transport_Packet_h + +#include <stdint.h> +#include <string.h> +#include <stdlib.h> +#include "ros/msg.h" +#include "std_msgs/Header.h" + +namespace theora_image_transport +{ + + class Packet : public ros::Msg + { + public: + typedef std_msgs::Header _header_type; + _header_type header; + uint32_t data_length; + typedef uint8_t _data_type; + _data_type st_data; + _data_type * data; + typedef int32_t _b_o_s_type; + _b_o_s_type b_o_s; + typedef int32_t _e_o_s_type; + _e_o_s_type e_o_s; + typedef int64_t _granulepos_type; + _granulepos_type granulepos; + typedef int64_t _packetno_type; + _packetno_type packetno; + + Packet(): + header(), + data_length(0), data(NULL), + b_o_s(0), + e_o_s(0), + granulepos(0), + packetno(0) + { + } + + virtual int serialize(unsigned char *outbuffer) const + { + int offset = 0; + offset += this->header.serialize(outbuffer + offset); + *(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]); + } + union { + int32_t real; + uint32_t base; + } u_b_o_s; + u_b_o_s.real = this->b_o_s; + *(outbuffer + offset + 0) = (u_b_o_s.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_b_o_s.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_b_o_s.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_b_o_s.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->b_o_s); + union { + int32_t real; + uint32_t base; + } u_e_o_s; + u_e_o_s.real = this->e_o_s; + *(outbuffer + offset + 0) = (u_e_o_s.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_e_o_s.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_e_o_s.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_e_o_s.base >> (8 * 3)) & 0xFF; + offset += sizeof(this->e_o_s); + union { + int64_t real; + uint64_t base; + } u_granulepos; + u_granulepos.real = this->granulepos; + *(outbuffer + offset + 0) = (u_granulepos.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_granulepos.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_granulepos.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_granulepos.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_granulepos.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_granulepos.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_granulepos.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_granulepos.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->granulepos); + union { + int64_t real; + uint64_t base; + } u_packetno; + u_packetno.real = this->packetno; + *(outbuffer + offset + 0) = (u_packetno.base >> (8 * 0)) & 0xFF; + *(outbuffer + offset + 1) = (u_packetno.base >> (8 * 1)) & 0xFF; + *(outbuffer + offset + 2) = (u_packetno.base >> (8 * 2)) & 0xFF; + *(outbuffer + offset + 3) = (u_packetno.base >> (8 * 3)) & 0xFF; + *(outbuffer + offset + 4) = (u_packetno.base >> (8 * 4)) & 0xFF; + *(outbuffer + offset + 5) = (u_packetno.base >> (8 * 5)) & 0xFF; + *(outbuffer + offset + 6) = (u_packetno.base >> (8 * 6)) & 0xFF; + *(outbuffer + offset + 7) = (u_packetno.base >> (8 * 7)) & 0xFF; + offset += sizeof(this->packetno); + return offset; + } + + virtual int deserialize(unsigned char *inbuffer) + { + int offset = 0; + offset += this->header.deserialize(inbuffer + offset); + 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)); + } + union { + int32_t real; + uint32_t base; + } u_b_o_s; + u_b_o_s.base = 0; + u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->b_o_s = u_b_o_s.real; + offset += sizeof(this->b_o_s); + union { + int32_t real; + uint32_t base; + } u_e_o_s; + u_e_o_s.base = 0; + u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); + this->e_o_s = u_e_o_s.real; + offset += sizeof(this->e_o_s); + union { + int64_t real; + uint64_t base; + } u_granulepos; + u_granulepos.base = 0; + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->granulepos = u_granulepos.real; + offset += sizeof(this->granulepos); + union { + int64_t real; + uint64_t base; + } u_packetno; + u_packetno.base = 0; + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6); + u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7); + this->packetno = u_packetno.real; + offset += sizeof(this->packetno); + return offset; + } + + const char * getType(){ return "theora_image_transport/Packet"; }; + const char * getMD5(){ return "33ac4e14a7cff32e7e0d65f18bb410f3"; }; + + }; + +} +#endif \ No newline at end of file