ROS Serial library for Mbed platforms for ROS Kinetic Kame. Check http://wiki.ros.org/rosserial_mbed/ for more information.
Dependents: mbed-os-example-blinky
sensor_msgs/CompressedImage.h
- Committer:
- fllay
- Date:
- 2019-08-01
- Revision:
- 2:f2240ad62eaf
- Parent:
- 0:9e9b7db60fd5
File content as of revision 2:f2240ad62eaf:
#ifndef _ROS_sensor_msgs_CompressedImage_h #define _ROS_sensor_msgs_CompressedImage_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class CompressedImage : public ros::Msg { public: typedef std_msgs::Header _header_type; _header_type header; typedef const char* _format_type; _format_type format; uint32_t data_length; typedef uint8_t _data_type; _data_type st_data; _data_type * data; CompressedImage(): header(), format(""), data_length(0), data(NULL) { } virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t length_format = strlen(this->format); varToArr(outbuffer + offset, length_format); offset += 4; memcpy(outbuffer + offset, this->format, length_format); offset += length_format; *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF; offset += sizeof(this->data_length); for( uint32_t i = 0; i < data_length; i++){ *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; offset += sizeof(this->data[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_format; arrToVar(length_format, (inbuffer + offset)); offset += 4; for(unsigned int k= offset; k< offset+length_format; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_format-1]=0; this->format = (char *)(inbuffer + offset-1); offset += length_format; uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); offset += sizeof(this->data_length); if(data_lengthT > data_length) this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); data_length = data_lengthT; for( uint32_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)); } return offset; } const char * getType(){ return "sensor_msgs/CompressedImage"; }; const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; }; }; } #endif