Image.h

00001 #ifndef _ROS_sensor_msgs_Image_h
00002 #define _ROS_sensor_msgs_Image_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 Image : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       uint32_t height;
00018       uint32_t width;
00019       const char* encoding;
00020       uint8_t is_bigendian;
00021       uint32_t step;
00022       uint8_t data_length;
00023       uint8_t st_data;
00024       uint8_t * data;
00025 
00026     Image():
00027       header(),
00028       height(0),
00029       width(0),
00030       encoding(""),
00031       is_bigendian(0),
00032       step(0),
00033       data_length(0), data(NULL)
00034     {
00035     }
00036 
00037     virtual int serialize(unsigned char *outbuffer) const
00038     {
00039       int offset = 0;
00040       offset += this->header.serialize(outbuffer + offset);
00041       *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
00042       *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
00043       *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
00044       *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
00045       offset += sizeof(this->height);
00046       *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
00047       *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
00048       *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
00049       *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
00050       offset += sizeof(this->width);
00051       uint32_t length_encoding = strlen(this->encoding);
00052       memcpy(outbuffer + offset, &length_encoding, sizeof(uint32_t));
00053       offset += 4;
00054       memcpy(outbuffer + offset, this->encoding, length_encoding);
00055       offset += length_encoding;
00056       *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
00057       offset += sizeof(this->is_bigendian);
00058       *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
00059       *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
00060       *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
00061       *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
00062       offset += sizeof(this->step);
00063       *(outbuffer + offset++) = data_length;
00064       *(outbuffer + offset++) = 0;
00065       *(outbuffer + offset++) = 0;
00066       *(outbuffer + offset++) = 0;
00067       for( uint8_t i = 0; i < data_length; i++){
00068       *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00069       offset += sizeof(this->data[i]);
00070       }
00071       return offset;
00072     }
00073 
00074     virtual int deserialize(unsigned char *inbuffer)
00075     {
00076       int offset = 0;
00077       offset += this->header.deserialize(inbuffer + offset);
00078       this->height =  ((uint32_t) (*(inbuffer + offset)));
00079       this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00080       this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00081       this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00082       offset += sizeof(this->height);
00083       this->width =  ((uint32_t) (*(inbuffer + offset)));
00084       this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00085       this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00086       this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00087       offset += sizeof(this->width);
00088       uint32_t length_encoding;
00089       memcpy(&length_encoding, (inbuffer + offset), sizeof(uint32_t));
00090       offset += 4;
00091       for(unsigned int k= offset; k< offset+length_encoding; ++k){
00092           inbuffer[k-1]=inbuffer[k];
00093       }
00094       inbuffer[offset+length_encoding-1]=0;
00095       this->encoding = (char *)(inbuffer + offset-1);
00096       offset += length_encoding;
00097       this->is_bigendian =  ((uint8_t) (*(inbuffer + offset)));
00098       offset += sizeof(this->is_bigendian);
00099       this->step =  ((uint32_t) (*(inbuffer + offset)));
00100       this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00101       this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00102       this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00103       offset += sizeof(this->step);
00104       uint8_t data_lengthT = *(inbuffer + offset++);
00105       if(data_lengthT > data_length)
00106         this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00107       offset += 3;
00108       data_length = data_lengthT;
00109       for( uint8_t i = 0; i < data_length; i++){
00110       this->st_data =  ((uint8_t) (*(inbuffer + offset)));
00111       offset += sizeof(this->st_data);
00112         memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00113       }
00114      return offset;
00115     }
00116 
00117     const char * getType(){ return "sensor_msgs/Image"; };
00118     const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
00119 
00120   };
00121 
00122 }
00123 #endif