Akash Vibhute / Mbed 2 deprecated rosserial_hydro

rosserial library for mbed Inspired by nucho's rosserial library This library is still under development

Dependencies:   MODSERIAL mbed

Dependents:   mbed_roshydro_test

Library still under development!

sensor_msgs/Image.h@0:30537dec6e0b, 2015-02-15 (annotated)

Committer:
akashvibhute
Date:
Sun Feb 15 10:53:43 2015 +0000
Revision:
0:30537dec6e0b
First commit; Library still need to be debugged, compilation issues with new mbed and modserial updates.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 0:30537dec6e0b 1 #ifndef _ROS_sensor_msgs_Image_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_sensor_msgs_Image_h
akashvibhute 0:30537dec6e0b 3
akashvibhute 0:30537dec6e0b 4 #include <stdint.h>
akashvibhute 0:30537dec6e0b 5 #include <string.h>
akashvibhute 0:30537dec6e0b 6 #include <stdlib.h>
akashvibhute 0:30537dec6e0b 7 #include "ros/msg.h"
akashvibhute 0:30537dec6e0b 8 #include "std_msgs/Header.h"
akashvibhute 0:30537dec6e0b 9
akashvibhute 0:30537dec6e0b 10 namespace sensor_msgs
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class Image : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 17 uint32_t height;
akashvibhute 0:30537dec6e0b 18 uint32_t width;
akashvibhute 0:30537dec6e0b 19 char * encoding;
akashvibhute 0:30537dec6e0b 20 uint8_t is_bigendian;
akashvibhute 0:30537dec6e0b 21 uint32_t step;
akashvibhute 0:30537dec6e0b 22 uint8_t data_length;
akashvibhute 0:30537dec6e0b 23 uint8_t st_data;
akashvibhute 0:30537dec6e0b 24 uint8_t * data;
akashvibhute 0:30537dec6e0b 25
akashvibhute 0:30537dec6e0b 26 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 27 {
akashvibhute 0:30537dec6e0b 28 int offset = 0;
akashvibhute 0:30537dec6e0b 29 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 30 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 31 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 32 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 33 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 34 offset += sizeof(this->height);
akashvibhute 0:30537dec6e0b 35 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 36 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 37 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 38 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 39 offset += sizeof(this->width);
akashvibhute 0:30537dec6e0b 40 uint32_t * length_encoding = (uint32_t *)(outbuffer + offset);
akashvibhute 0:30537dec6e0b 41 *length_encoding = strlen( (const char*) this->encoding);
akashvibhute 0:30537dec6e0b 42 offset += 4;
akashvibhute 0:30537dec6e0b 43 memcpy(outbuffer + offset, this->encoding, *length_encoding);
akashvibhute 0:30537dec6e0b 44 offset += *length_encoding;
akashvibhute 0:30537dec6e0b 45 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 46 offset += sizeof(this->is_bigendian);
akashvibhute 0:30537dec6e0b 47 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 48 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 49 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 50 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 51 offset += sizeof(this->step);
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset++) = data_length;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 56 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 57 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 58 offset += sizeof(this->data[i]);
akashvibhute 0:30537dec6e0b 59 }
akashvibhute 0:30537dec6e0b 60 return offset;
akashvibhute 0:30537dec6e0b 61 }
akashvibhute 0:30537dec6e0b 62
akashvibhute 0:30537dec6e0b 63 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 64 {
akashvibhute 0:30537dec6e0b 65 int offset = 0;
akashvibhute 0:30537dec6e0b 66 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 67 this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 68 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 69 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 70 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 71 offset += sizeof(this->height);
akashvibhute 0:30537dec6e0b 72 this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 73 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 74 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 75 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 76 offset += sizeof(this->width);
akashvibhute 0:30537dec6e0b 77 uint32_t length_encoding = *(uint32_t *)(inbuffer + offset);
akashvibhute 0:30537dec6e0b 78 offset += 4;
akashvibhute 0:30537dec6e0b 79 for(unsigned int k= offset; k< offset+length_encoding; ++k){
akashvibhute 0:30537dec6e0b 80 inbuffer[k-1]=inbuffer[k];
akashvibhute 0:30537dec6e0b 81 }
akashvibhute 0:30537dec6e0b 82 inbuffer[offset+length_encoding-1]=0;
akashvibhute 0:30537dec6e0b 83 this->encoding = (char *)(inbuffer + offset-1);
akashvibhute 0:30537dec6e0b 84 offset += length_encoding;
akashvibhute 0:30537dec6e0b 85 this->is_bigendian |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 86 offset += sizeof(this->is_bigendian);
akashvibhute 0:30537dec6e0b 87 this->step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 88 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 89 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 90 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 91 offset += sizeof(this->step);
akashvibhute 0:30537dec6e0b 92 uint8_t data_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 93 if(data_lengthT > data_length)
akashvibhute 0:30537dec6e0b 94 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
akashvibhute 0:30537dec6e0b 95 offset += 3;
akashvibhute 0:30537dec6e0b 96 data_length = data_lengthT;
akashvibhute 0:30537dec6e0b 97 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 98 this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 99 offset += sizeof(this->st_data);
akashvibhute 0:30537dec6e0b 100 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
akashvibhute 0:30537dec6e0b 101 }
akashvibhute 0:30537dec6e0b 102 return offset;
akashvibhute 0:30537dec6e0b 103 }
akashvibhute 0:30537dec6e0b 104
akashvibhute 0:30537dec6e0b 105 virtual const char * getType(){ return "sensor_msgs/Image"; };
akashvibhute 0:30537dec6e0b 106 virtual const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
akashvibhute 0:30537dec6e0b 107
akashvibhute 0:30537dec6e0b 108 };
akashvibhute 0:30537dec6e0b 109
akashvibhute 0:30537dec6e0b 110 }
akashvibhute 0:30537dec6e0b 111 #endif