CompressedImage.h

00001 #ifndef _ROS_sensor_msgs_CompressedImage_h
00002 #define _ROS_sensor_msgs_CompressedImage_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace sensor_msgs
00011 {
00012 
00013   class CompressedImage : public ros::Msg
00014   {
00015     public:
00016       typedef std_msgs::Header _header_type;
00017       _header_type header;
00018       typedef const char* _format_type;
00019       _format_type format;
00020       uint32_t data_length;
00021       typedef uint8_t _data_type;
00022       _data_type st_data;
00023       _data_type * data;
00024 
00025     CompressedImage():
00026       header(),
00027       format(""),
00028       data_length(0), data(NULL)
00029     {
00030     }
00031 
00032     virtual int serialize(unsigned char *outbuffer) const
00033     {
00034       int offset = 0;
00035       offset += this->header.serialize(outbuffer + offset);
00036       uint32_t length_format = strlen(this->format);
00037       varToArr(outbuffer + offset, length_format);
00038       offset += 4;
00039       memcpy(outbuffer + offset, this->format, length_format);
00040       offset += length_format;
00041       *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
00042       *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
00043       *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
00044       *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
00045       offset += sizeof(this->data_length);
00046       for( uint32_t i = 0; i < data_length; i++){
00047       *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00048       offset += sizeof(this->data[i]);
00049       }
00050       return offset;
00051     }
00052 
00053     virtual int deserialize(unsigned char *inbuffer)
00054     {
00055       int offset = 0;
00056       offset += this->header.deserialize(inbuffer + offset);
00057       uint32_t length_format;
00058       arrToVar(length_format, (inbuffer + offset));
00059       offset += 4;
00060       for(unsigned int k= offset; k< offset+length_format; ++k){
00061           inbuffer[k-1]=inbuffer[k];
00062       }
00063       inbuffer[offset+length_format-1]=0;
00064       this->format = (char *)(inbuffer + offset-1);
00065       offset += length_format;
00066       uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
00067       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
00068       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
00069       data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
00070       offset += sizeof(this->data_length);
00071       if(data_lengthT > data_length)
00072         this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00073       data_length = data_lengthT;
00074       for( uint32_t i = 0; i < data_length; i++){
00075       this->st_data =  ((uint8_t) (*(inbuffer + offset)));
00076       offset += sizeof(this->st_data);
00077         memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00078       }
00079      return offset;
00080     }
00081 
00082     const char * getType(){ return "sensor_msgs/CompressedImage"; };
00083     const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
00084 
00085   };
00086 
00087 }
00088 #endif