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!

theora_image_transport/Packet.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_theora_image_transport_Packet_h
akashvibhute 0:30537dec6e0b 2 #define _ROS_theora_image_transport_Packet_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 theora_image_transport
akashvibhute 0:30537dec6e0b 11 {
akashvibhute 0:30537dec6e0b 12
akashvibhute 0:30537dec6e0b 13 class Packet : public ros::Msg
akashvibhute 0:30537dec6e0b 14 {
akashvibhute 0:30537dec6e0b 15 public:
akashvibhute 0:30537dec6e0b 16 std_msgs::Header header;
akashvibhute 0:30537dec6e0b 17 uint8_t data_length;
akashvibhute 0:30537dec6e0b 18 uint8_t st_data;
akashvibhute 0:30537dec6e0b 19 uint8_t * data;
akashvibhute 0:30537dec6e0b 20 int32_t b_o_s;
akashvibhute 0:30537dec6e0b 21 int32_t e_o_s;
akashvibhute 0:30537dec6e0b 22 int64_t granulepos;
akashvibhute 0:30537dec6e0b 23 int64_t packetno;
akashvibhute 0:30537dec6e0b 24
akashvibhute 0:30537dec6e0b 25 Packet():
akashvibhute 0:30537dec6e0b 26 header(),
akashvibhute 0:30537dec6e0b 27 data_length(0), data(NULL),
akashvibhute 0:30537dec6e0b 28 b_o_s(0),
akashvibhute 0:30537dec6e0b 29 e_o_s(0),
akashvibhute 0:30537dec6e0b 30 granulepos(0),
akashvibhute 0:30537dec6e0b 31 packetno(0)
akashvibhute 0:30537dec6e0b 32 {
akashvibhute 0:30537dec6e0b 33 }
akashvibhute 0:30537dec6e0b 34
akashvibhute 0:30537dec6e0b 35 virtual int serialize(unsigned char *outbuffer) const
akashvibhute 0:30537dec6e0b 36 {
akashvibhute 0:30537dec6e0b 37 int offset = 0;
akashvibhute 0:30537dec6e0b 38 offset += this->header.serialize(outbuffer + offset);
akashvibhute 0:30537dec6e0b 39 *(outbuffer + offset++) = data_length;
akashvibhute 0:30537dec6e0b 40 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 41 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 42 *(outbuffer + offset++) = 0;
akashvibhute 0:30537dec6e0b 43 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 44 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 45 offset += sizeof(this->data[i]);
akashvibhute 0:30537dec6e0b 46 }
akashvibhute 0:30537dec6e0b 47 union {
akashvibhute 0:30537dec6e0b 48 int32_t real;
akashvibhute 0:30537dec6e0b 49 uint32_t base;
akashvibhute 0:30537dec6e0b 50 } u_b_o_s;
akashvibhute 0:30537dec6e0b 51 u_b_o_s.real = this->b_o_s;
akashvibhute 0:30537dec6e0b 52 *(outbuffer + offset + 0) = (u_b_o_s.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 53 *(outbuffer + offset + 1) = (u_b_o_s.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 54 *(outbuffer + offset + 2) = (u_b_o_s.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 55 *(outbuffer + offset + 3) = (u_b_o_s.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 56 offset += sizeof(this->b_o_s);
akashvibhute 0:30537dec6e0b 57 union {
akashvibhute 0:30537dec6e0b 58 int32_t real;
akashvibhute 0:30537dec6e0b 59 uint32_t base;
akashvibhute 0:30537dec6e0b 60 } u_e_o_s;
akashvibhute 0:30537dec6e0b 61 u_e_o_s.real = this->e_o_s;
akashvibhute 0:30537dec6e0b 62 *(outbuffer + offset + 0) = (u_e_o_s.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 63 *(outbuffer + offset + 1) = (u_e_o_s.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 64 *(outbuffer + offset + 2) = (u_e_o_s.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 65 *(outbuffer + offset + 3) = (u_e_o_s.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 66 offset += sizeof(this->e_o_s);
akashvibhute 0:30537dec6e0b 67 union {
akashvibhute 0:30537dec6e0b 68 int64_t real;
akashvibhute 0:30537dec6e0b 69 uint64_t base;
akashvibhute 0:30537dec6e0b 70 } u_granulepos;
akashvibhute 0:30537dec6e0b 71 u_granulepos.real = this->granulepos;
akashvibhute 0:30537dec6e0b 72 *(outbuffer + offset + 0) = (u_granulepos.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 73 *(outbuffer + offset + 1) = (u_granulepos.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 74 *(outbuffer + offset + 2) = (u_granulepos.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 75 *(outbuffer + offset + 3) = (u_granulepos.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 76 *(outbuffer + offset + 4) = (u_granulepos.base >> (8 * 4)) & 0xFF;
akashvibhute 0:30537dec6e0b 77 *(outbuffer + offset + 5) = (u_granulepos.base >> (8 * 5)) & 0xFF;
akashvibhute 0:30537dec6e0b 78 *(outbuffer + offset + 6) = (u_granulepos.base >> (8 * 6)) & 0xFF;
akashvibhute 0:30537dec6e0b 79 *(outbuffer + offset + 7) = (u_granulepos.base >> (8 * 7)) & 0xFF;
akashvibhute 0:30537dec6e0b 80 offset += sizeof(this->granulepos);
akashvibhute 0:30537dec6e0b 81 union {
akashvibhute 0:30537dec6e0b 82 int64_t real;
akashvibhute 0:30537dec6e0b 83 uint64_t base;
akashvibhute 0:30537dec6e0b 84 } u_packetno;
akashvibhute 0:30537dec6e0b 85 u_packetno.real = this->packetno;
akashvibhute 0:30537dec6e0b 86 *(outbuffer + offset + 0) = (u_packetno.base >> (8 * 0)) & 0xFF;
akashvibhute 0:30537dec6e0b 87 *(outbuffer + offset + 1) = (u_packetno.base >> (8 * 1)) & 0xFF;
akashvibhute 0:30537dec6e0b 88 *(outbuffer + offset + 2) = (u_packetno.base >> (8 * 2)) & 0xFF;
akashvibhute 0:30537dec6e0b 89 *(outbuffer + offset + 3) = (u_packetno.base >> (8 * 3)) & 0xFF;
akashvibhute 0:30537dec6e0b 90 *(outbuffer + offset + 4) = (u_packetno.base >> (8 * 4)) & 0xFF;
akashvibhute 0:30537dec6e0b 91 *(outbuffer + offset + 5) = (u_packetno.base >> (8 * 5)) & 0xFF;
akashvibhute 0:30537dec6e0b 92 *(outbuffer + offset + 6) = (u_packetno.base >> (8 * 6)) & 0xFF;
akashvibhute 0:30537dec6e0b 93 *(outbuffer + offset + 7) = (u_packetno.base >> (8 * 7)) & 0xFF;
akashvibhute 0:30537dec6e0b 94 offset += sizeof(this->packetno);
akashvibhute 0:30537dec6e0b 95 return offset;
akashvibhute 0:30537dec6e0b 96 }
akashvibhute 0:30537dec6e0b 97
akashvibhute 0:30537dec6e0b 98 virtual int deserialize(unsigned char *inbuffer)
akashvibhute 0:30537dec6e0b 99 {
akashvibhute 0:30537dec6e0b 100 int offset = 0;
akashvibhute 0:30537dec6e0b 101 offset += this->header.deserialize(inbuffer + offset);
akashvibhute 0:30537dec6e0b 102 uint8_t data_lengthT = *(inbuffer + offset++);
akashvibhute 0:30537dec6e0b 103 if(data_lengthT > data_length)
akashvibhute 0:30537dec6e0b 104 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
akashvibhute 0:30537dec6e0b 105 offset += 3;
akashvibhute 0:30537dec6e0b 106 data_length = data_lengthT;
akashvibhute 0:30537dec6e0b 107 for( uint8_t i = 0; i < data_length; i++){
akashvibhute 0:30537dec6e0b 108 this->st_data = ((uint8_t) (*(inbuffer + offset)));
akashvibhute 0:30537dec6e0b 109 offset += sizeof(this->st_data);
akashvibhute 0:30537dec6e0b 110 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
akashvibhute 0:30537dec6e0b 111 }
akashvibhute 0:30537dec6e0b 112 union {
akashvibhute 0:30537dec6e0b 113 int32_t real;
akashvibhute 0:30537dec6e0b 114 uint32_t base;
akashvibhute 0:30537dec6e0b 115 } u_b_o_s;
akashvibhute 0:30537dec6e0b 116 u_b_o_s.base = 0;
akashvibhute 0:30537dec6e0b 117 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 118 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 119 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 120 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 121 this->b_o_s = u_b_o_s.real;
akashvibhute 0:30537dec6e0b 122 offset += sizeof(this->b_o_s);
akashvibhute 0:30537dec6e0b 123 union {
akashvibhute 0:30537dec6e0b 124 int32_t real;
akashvibhute 0:30537dec6e0b 125 uint32_t base;
akashvibhute 0:30537dec6e0b 126 } u_e_o_s;
akashvibhute 0:30537dec6e0b 127 u_e_o_s.base = 0;
akashvibhute 0:30537dec6e0b 128 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 129 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 130 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 131 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 132 this->e_o_s = u_e_o_s.real;
akashvibhute 0:30537dec6e0b 133 offset += sizeof(this->e_o_s);
akashvibhute 0:30537dec6e0b 134 union {
akashvibhute 0:30537dec6e0b 135 int64_t real;
akashvibhute 0:30537dec6e0b 136 uint64_t base;
akashvibhute 0:30537dec6e0b 137 } u_granulepos;
akashvibhute 0:30537dec6e0b 138 u_granulepos.base = 0;
akashvibhute 0:30537dec6e0b 139 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 140 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 141 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 142 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 143 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
akashvibhute 0:30537dec6e0b 144 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
akashvibhute 0:30537dec6e0b 145 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
akashvibhute 0:30537dec6e0b 146 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
akashvibhute 0:30537dec6e0b 147 this->granulepos = u_granulepos.real;
akashvibhute 0:30537dec6e0b 148 offset += sizeof(this->granulepos);
akashvibhute 0:30537dec6e0b 149 union {
akashvibhute 0:30537dec6e0b 150 int64_t real;
akashvibhute 0:30537dec6e0b 151 uint64_t base;
akashvibhute 0:30537dec6e0b 152 } u_packetno;
akashvibhute 0:30537dec6e0b 153 u_packetno.base = 0;
akashvibhute 0:30537dec6e0b 154 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
akashvibhute 0:30537dec6e0b 155 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
akashvibhute 0:30537dec6e0b 156 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
akashvibhute 0:30537dec6e0b 157 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
akashvibhute 0:30537dec6e0b 158 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
akashvibhute 0:30537dec6e0b 159 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
akashvibhute 0:30537dec6e0b 160 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
akashvibhute 0:30537dec6e0b 161 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
akashvibhute 0:30537dec6e0b 162 this->packetno = u_packetno.real;
akashvibhute 0:30537dec6e0b 163 offset += sizeof(this->packetno);
akashvibhute 0:30537dec6e0b 164 return offset;
akashvibhute 0:30537dec6e0b 165 }
akashvibhute 0:30537dec6e0b 166
akashvibhute 0:30537dec6e0b 167 const char * getType(){ return "theora_image_transport/Packet"; };
akashvibhute 0:30537dec6e0b 168 const char * getMD5(){ return "33ac4e14a7cff32e7e0d65f18bb410f3"; };
akashvibhute 0:30537dec6e0b 169
akashvibhute 0:30537dec6e0b 170 };
akashvibhute 0:30537dec6e0b 171
akashvibhute 0:30537dec6e0b 172 }
akashvibhute 0:30537dec6e0b 173 #endif