rosserial library for mbed Inspired by nucho's rosserial library This library is still under development
Dependents: mbed_roshydro_test
Library still under development!
theora_image_transport/Packet.h
- Committer:
- akashvibhute
- Date:
- 2015-02-15
- Revision:
- 0:30537dec6e0b
File content as of revision 0:30537dec6e0b:
#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: std_msgs::Header header; uint8_t data_length; uint8_t st_data; uint8_t * data; int32_t b_o_s; int32_t e_o_s; int64_t granulepos; int64_t 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++) = data_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_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); uint8_t data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); offset += 3; data_length = data_lengthT; for( uint8_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