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       char * format;
00018       uint8_t data_length;
00019       uint8_t st_data;
00020       uint8_t * data;
00021 
00022     virtual int serialize(unsigned char *outbuffer) const
00023     {
00024       int offset = 0;
00025       offset += this->header.serialize(outbuffer + offset);
00026       uint32_t * length_format = (uint32_t *)(outbuffer + offset);
00027       *length_format = strlen( (const char*) this->format);
00028       offset += 4;
00029       memcpy(outbuffer + offset, this->format, *length_format);
00030       offset += *length_format;
00031       *(outbuffer + offset++) = data_length;
00032       *(outbuffer + offset++) = 0;
00033       *(outbuffer + offset++) = 0;
00034       *(outbuffer + offset++) = 0;
00035       for( uint8_t i = 0; i < data_length; i++){
00036       *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00037       offset += sizeof(this->data[i]);
00038       }
00039       return offset;
00040     }
00041 
00042     virtual int deserialize(unsigned char *inbuffer)
00043     {
00044       int offset = 0;
00045       offset += this->header.deserialize(inbuffer + offset);
00046       uint32_t length_format = *(uint32_t *)(inbuffer + offset);
00047       offset += 4;
00048       for(unsigned int k= offset; k< offset+length_format; ++k){
00049           inbuffer[k-1]=inbuffer[k];
00050       }
00051       inbuffer[offset+length_format-1]=0;
00052       this->format = (char *)(inbuffer + offset-1);
00053       offset += length_format;
00054       uint8_t data_lengthT = *(inbuffer + offset++);
00055       if(data_lengthT > data_length)
00056         this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00057       offset += 3;
00058       data_length = data_lengthT;
00059       for( uint8_t i = 0; i < data_length; i++){
00060       this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00061       offset += sizeof(this->st_data);
00062         memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00063       }
00064      return offset;
00065     }
00066 
00067     virtual const char * getType(){ return "sensor_msgs/CompressedImage"; };
00068     virtual const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
00069 
00070   };
00071 
00072 }
00073 #endif