CompressedImage.h

00001 #ifndef _ROS_sensor_msgs_CompressedImage_h
00002 #define _ROS_sensor_msgs_CompressedImage_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace sensor_msgs
00011 {
00012 
00013   class CompressedImage : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       const char* format;
00018       uint8_t data_length;
00019       uint8_t st_data;
00020       uint8_t * data;
00021 
00022     CompressedImage():
00023       header(),
00024       format(""),
00025       data_length(0), data(NULL)
00026     {
00027     }
00028 
00029     virtual int serialize(unsigned char *outbuffer) const
00030     {
00031       int offset = 0;
00032       offset += this->header.serialize(outbuffer + offset);
00033       uint32_t length_format = strlen(this->format);
00034       memcpy(outbuffer + offset, &length_format, sizeof(uint32_t));
00035       offset += 4;
00036       memcpy(outbuffer + offset, this->format, length_format);
00037       offset += length_format;
00038       *(outbuffer + offset++) = data_length;
00039       *(outbuffer + offset++) = 0;
00040       *(outbuffer + offset++) = 0;
00041       *(outbuffer + offset++) = 0;
00042       for( uint8_t i = 0; i < data_length; i++){
00043       *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00044       offset += sizeof(this->data[i]);
00045       }
00046       return offset;
00047     }
00048 
00049     virtual int deserialize(unsigned char *inbuffer)
00050     {
00051       int offset = 0;
00052       offset += this->header.deserialize(inbuffer + offset);
00053       uint32_t length_format;
00054       memcpy(&length_format, (inbuffer + offset), sizeof(uint32_t));
00055       offset += 4;
00056       for(unsigned int k= offset; k< offset+length_format; ++k){
00057           inbuffer[k-1]=inbuffer[k];
00058       }
00059       inbuffer[offset+length_format-1]=0;
00060       this->format = (char *)(inbuffer + offset-1);
00061       offset += length_format;
00062       uint8_t data_lengthT = *(inbuffer + offset++);
00063       if(data_lengthT > data_length)
00064         this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00065       offset += 3;
00066       data_length = data_lengthT;
00067       for( uint8_t i = 0; i < data_length; i++){
00068       this->st_data =  ((uint8_t) (*(inbuffer + offset)));
00069       offset += sizeof(this->st_data);
00070         memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00071       }
00072      return offset;
00073     }
00074 
00075     const char * getType(){ return "sensor_msgs/CompressedImage"; };
00076     const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
00077 
00078   };
00079 
00080 }
00081 #endif