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