Fa Cake / ros_lib_kinetic

ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

Dependents:   mbed-os-example-blinky

sensor_msgs/Image.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_Image_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_Image_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class Image : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 typedef uint32_t _height_type;
garyservin 0:9e9b7db60fd5 19 _height_type height;
garyservin 0:9e9b7db60fd5 20 typedef uint32_t _width_type;
garyservin 0:9e9b7db60fd5 21 _width_type width;
garyservin 0:9e9b7db60fd5 22 typedef const char* _encoding_type;
garyservin 0:9e9b7db60fd5 23 _encoding_type encoding;
garyservin 0:9e9b7db60fd5 24 typedef uint8_t _is_bigendian_type;
garyservin 0:9e9b7db60fd5 25 _is_bigendian_type is_bigendian;
garyservin 0:9e9b7db60fd5 26 typedef uint32_t _step_type;
garyservin 0:9e9b7db60fd5 27 _step_type step;
garyservin 0:9e9b7db60fd5 28 uint32_t data_length;
garyservin 0:9e9b7db60fd5 29 typedef uint8_t _data_type;
garyservin 0:9e9b7db60fd5 30 _data_type st_data;
garyservin 0:9e9b7db60fd5 31 _data_type * data;
garyservin 0:9e9b7db60fd5 32
garyservin 0:9e9b7db60fd5 33 Image():
garyservin 0:9e9b7db60fd5 34 header(),
garyservin 0:9e9b7db60fd5 35 height(0),
garyservin 0:9e9b7db60fd5 36 width(0),
garyservin 0:9e9b7db60fd5 37 encoding(""),
garyservin 0:9e9b7db60fd5 38 is_bigendian(0),
garyservin 0:9e9b7db60fd5 39 step(0),
garyservin 0:9e9b7db60fd5 40 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 41 {
garyservin 0:9e9b7db60fd5 42 }
garyservin 0:9e9b7db60fd5 43
garyservin 0:9e9b7db60fd5 44 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 45 {
garyservin 0:9e9b7db60fd5 46 int offset = 0;
garyservin 0:9e9b7db60fd5 47 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 50 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 53 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 54 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 55 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 56 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 57 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 58 uint32_t length_encoding = strlen(this->encoding);
garyservin 0:9e9b7db60fd5 59 varToArr(outbuffer + offset, length_encoding);
garyservin 0:9e9b7db60fd5 60 offset += 4;
garyservin 0:9e9b7db60fd5 61 memcpy(outbuffer + offset, this->encoding, length_encoding);
garyservin 0:9e9b7db60fd5 62 offset += length_encoding;
garyservin 0:9e9b7db60fd5 63 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 64 offset += sizeof(this->is_bigendian);
garyservin 0:9e9b7db60fd5 65 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 66 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 67 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 68 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 69 offset += sizeof(this->step);
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 74 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 75 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 76 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 77 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 83 {
garyservin 0:9e9b7db60fd5 84 int offset = 0;
garyservin 0:9e9b7db60fd5 85 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 86 this->height = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 87 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 88 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 89 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 90 offset += sizeof(this->height);
garyservin 0:9e9b7db60fd5 91 this->width = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 92 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 93 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 94 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 95 offset += sizeof(this->width);
garyservin 0:9e9b7db60fd5 96 uint32_t length_encoding;
garyservin 0:9e9b7db60fd5 97 arrToVar(length_encoding, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 98 offset += 4;
garyservin 0:9e9b7db60fd5 99 for(unsigned int k= offset; k< offset+length_encoding; ++k){
garyservin 0:9e9b7db60fd5 100 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 101 }
garyservin 0:9e9b7db60fd5 102 inbuffer[offset+length_encoding-1]=0;
garyservin 0:9e9b7db60fd5 103 this->encoding = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 104 offset += length_encoding;
garyservin 0:9e9b7db60fd5 105 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 106 offset += sizeof(this->is_bigendian);
garyservin 0:9e9b7db60fd5 107 this->step = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 108 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 109 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 110 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 111 offset += sizeof(this->step);
garyservin 0:9e9b7db60fd5 112 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 113 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 114 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 115 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 116 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 117 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 118 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 119 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 120 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 121 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 122 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 123 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 124 }
garyservin 0:9e9b7db60fd5 125 return offset;
garyservin 0:9e9b7db60fd5 126 }
garyservin 0:9e9b7db60fd5 127
garyservin 0:9e9b7db60fd5 128 const char * getType(){ return "sensor_msgs/Image"; };
garyservin 0:9e9b7db60fd5 129 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
garyservin 0:9e9b7db60fd5 130
garyservin 0:9e9b7db60fd5 131 };
garyservin 0:9e9b7db60fd5 132
garyservin 0:9e9b7db60fd5 133 }
garyservin 0:9e9b7db60fd5 134 #endif