John Lam / ros_lib_melodic

make changes on buffer serial

Dependencies:   BufferedSerial

Dependents:  

theora_image_transport/Packet.h@0:04ac6be8229a, 2019-11-08 (annotated)

Committer:
Gary Servin
Date:
Fri Nov 08 14:38:09 2019 -0300
Revision:
0:04ac6be8229a
Initial commit, generated based on a clean melodic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_theora_image_transport_Packet_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_theora_image_transport_Packet_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace theora_image_transport
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Packet : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 uint32_t data_length;
Gary Servin 0:04ac6be8229a 19 typedef uint8_t _data_type;
Gary Servin 0:04ac6be8229a 20 _data_type st_data;
Gary Servin 0:04ac6be8229a 21 _data_type * data;
Gary Servin 0:04ac6be8229a 22 typedef int32_t _b_o_s_type;
Gary Servin 0:04ac6be8229a 23 _b_o_s_type b_o_s;
Gary Servin 0:04ac6be8229a 24 typedef int32_t _e_o_s_type;
Gary Servin 0:04ac6be8229a 25 _e_o_s_type e_o_s;
Gary Servin 0:04ac6be8229a 26 typedef int64_t _granulepos_type;
Gary Servin 0:04ac6be8229a 27 _granulepos_type granulepos;
Gary Servin 0:04ac6be8229a 28 typedef int64_t _packetno_type;
Gary Servin 0:04ac6be8229a 29 _packetno_type packetno;
Gary Servin 0:04ac6be8229a 30
Gary Servin 0:04ac6be8229a 31 Packet():
Gary Servin 0:04ac6be8229a 32 header(),
Gary Servin 0:04ac6be8229a 33 data_length(0), data(NULL),
Gary Servin 0:04ac6be8229a 34 b_o_s(0),
Gary Servin 0:04ac6be8229a 35 e_o_s(0),
Gary Servin 0:04ac6be8229a 36 granulepos(0),
Gary Servin 0:04ac6be8229a 37 packetno(0)
Gary Servin 0:04ac6be8229a 38 {
Gary Servin 0:04ac6be8229a 39 }
Gary Servin 0:04ac6be8229a 40
Gary Servin 0:04ac6be8229a 41 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 42 {
Gary Servin 0:04ac6be8229a 43 int offset = 0;
Gary Servin 0:04ac6be8229a 44 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 45 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 46 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 47 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 50 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->data[i]);
Gary Servin 0:04ac6be8229a 53 }
Gary Servin 0:04ac6be8229a 54 union {
Gary Servin 0:04ac6be8229a 55 int32_t real;
Gary Servin 0:04ac6be8229a 56 uint32_t base;
Gary Servin 0:04ac6be8229a 57 } u_b_o_s;
Gary Servin 0:04ac6be8229a 58 u_b_o_s.real = this->b_o_s;
Gary Servin 0:04ac6be8229a 59 *(outbuffer + offset + 0) = (u_b_o_s.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 60 *(outbuffer + offset + 1) = (u_b_o_s.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 61 *(outbuffer + offset + 2) = (u_b_o_s.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 62 *(outbuffer + offset + 3) = (u_b_o_s.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 63 offset += sizeof(this->b_o_s);
Gary Servin 0:04ac6be8229a 64 union {
Gary Servin 0:04ac6be8229a 65 int32_t real;
Gary Servin 0:04ac6be8229a 66 uint32_t base;
Gary Servin 0:04ac6be8229a 67 } u_e_o_s;
Gary Servin 0:04ac6be8229a 68 u_e_o_s.real = this->e_o_s;
Gary Servin 0:04ac6be8229a 69 *(outbuffer + offset + 0) = (u_e_o_s.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 1) = (u_e_o_s.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 2) = (u_e_o_s.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 3) = (u_e_o_s.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 offset += sizeof(this->e_o_s);
Gary Servin 0:04ac6be8229a 74 union {
Gary Servin 0:04ac6be8229a 75 int64_t real;
Gary Servin 0:04ac6be8229a 76 uint64_t base;
Gary Servin 0:04ac6be8229a 77 } u_granulepos;
Gary Servin 0:04ac6be8229a 78 u_granulepos.real = this->granulepos;
Gary Servin 0:04ac6be8229a 79 *(outbuffer + offset + 0) = (u_granulepos.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 80 *(outbuffer + offset + 1) = (u_granulepos.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 81 *(outbuffer + offset + 2) = (u_granulepos.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 82 *(outbuffer + offset + 3) = (u_granulepos.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 83 *(outbuffer + offset + 4) = (u_granulepos.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 84 *(outbuffer + offset + 5) = (u_granulepos.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 85 *(outbuffer + offset + 6) = (u_granulepos.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 86 *(outbuffer + offset + 7) = (u_granulepos.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 87 offset += sizeof(this->granulepos);
Gary Servin 0:04ac6be8229a 88 union {
Gary Servin 0:04ac6be8229a 89 int64_t real;
Gary Servin 0:04ac6be8229a 90 uint64_t base;
Gary Servin 0:04ac6be8229a 91 } u_packetno;
Gary Servin 0:04ac6be8229a 92 u_packetno.real = this->packetno;
Gary Servin 0:04ac6be8229a 93 *(outbuffer + offset + 0) = (u_packetno.base >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 94 *(outbuffer + offset + 1) = (u_packetno.base >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 95 *(outbuffer + offset + 2) = (u_packetno.base >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 96 *(outbuffer + offset + 3) = (u_packetno.base >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 97 *(outbuffer + offset + 4) = (u_packetno.base >> (8 * 4)) & 0xFF;
Gary Servin 0:04ac6be8229a 98 *(outbuffer + offset + 5) = (u_packetno.base >> (8 * 5)) & 0xFF;
Gary Servin 0:04ac6be8229a 99 *(outbuffer + offset + 6) = (u_packetno.base >> (8 * 6)) & 0xFF;
Gary Servin 0:04ac6be8229a 100 *(outbuffer + offset + 7) = (u_packetno.base >> (8 * 7)) & 0xFF;
Gary Servin 0:04ac6be8229a 101 offset += sizeof(this->packetno);
Gary Servin 0:04ac6be8229a 102 return offset;
Gary Servin 0:04ac6be8229a 103 }
Gary Servin 0:04ac6be8229a 104
Gary Servin 0:04ac6be8229a 105 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 106 {
Gary Servin 0:04ac6be8229a 107 int offset = 0;
Gary Servin 0:04ac6be8229a 108 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 109 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 110 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 111 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 112 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 113 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 114 if(data_lengthT > data_length)
Gary Servin 0:04ac6be8229a 115 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
Gary Servin 0:04ac6be8229a 116 data_length = data_lengthT;
Gary Servin 0:04ac6be8229a 117 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 118 this->st_data = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 119 offset += sizeof(this->st_data);
Gary Servin 0:04ac6be8229a 120 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
Gary Servin 0:04ac6be8229a 121 }
Gary Servin 0:04ac6be8229a 122 union {
Gary Servin 0:04ac6be8229a 123 int32_t real;
Gary Servin 0:04ac6be8229a 124 uint32_t base;
Gary Servin 0:04ac6be8229a 125 } u_b_o_s;
Gary Servin 0:04ac6be8229a 126 u_b_o_s.base = 0;
Gary Servin 0:04ac6be8229a 127 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 128 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 129 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 130 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 131 this->b_o_s = u_b_o_s.real;
Gary Servin 0:04ac6be8229a 132 offset += sizeof(this->b_o_s);
Gary Servin 0:04ac6be8229a 133 union {
Gary Servin 0:04ac6be8229a 134 int32_t real;
Gary Servin 0:04ac6be8229a 135 uint32_t base;
Gary Servin 0:04ac6be8229a 136 } u_e_o_s;
Gary Servin 0:04ac6be8229a 137 u_e_o_s.base = 0;
Gary Servin 0:04ac6be8229a 138 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 139 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 140 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 141 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 142 this->e_o_s = u_e_o_s.real;
Gary Servin 0:04ac6be8229a 143 offset += sizeof(this->e_o_s);
Gary Servin 0:04ac6be8229a 144 union {
Gary Servin 0:04ac6be8229a 145 int64_t real;
Gary Servin 0:04ac6be8229a 146 uint64_t base;
Gary Servin 0:04ac6be8229a 147 } u_granulepos;
Gary Servin 0:04ac6be8229a 148 u_granulepos.base = 0;
Gary Servin 0:04ac6be8229a 149 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 150 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 151 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 152 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 153 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 154 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 155 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 156 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 157 this->granulepos = u_granulepos.real;
Gary Servin 0:04ac6be8229a 158 offset += sizeof(this->granulepos);
Gary Servin 0:04ac6be8229a 159 union {
Gary Servin 0:04ac6be8229a 160 int64_t real;
Gary Servin 0:04ac6be8229a 161 uint64_t base;
Gary Servin 0:04ac6be8229a 162 } u_packetno;
Gary Servin 0:04ac6be8229a 163 u_packetno.base = 0;
Gary Servin 0:04ac6be8229a 164 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
Gary Servin 0:04ac6be8229a 165 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 166 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 167 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 168 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
Gary Servin 0:04ac6be8229a 169 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
Gary Servin 0:04ac6be8229a 170 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
Gary Servin 0:04ac6be8229a 171 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
Gary Servin 0:04ac6be8229a 172 this->packetno = u_packetno.real;
Gary Servin 0:04ac6be8229a 173 offset += sizeof(this->packetno);
Gary Servin 0:04ac6be8229a 174 return offset;
Gary Servin 0:04ac6be8229a 175 }
Gary Servin 0:04ac6be8229a 176
Gary Servin 0:04ac6be8229a 177 const char * getType(){ return "theora_image_transport/Packet"; };
Gary Servin 0:04ac6be8229a 178 const char * getMD5(){ return "33ac4e14a7cff32e7e0d65f18bb410f3"; };
Gary Servin 0:04ac6be8229a 179
Gary Servin 0:04ac6be8229a 180 };
Gary Servin 0:04ac6be8229a 181
Gary Servin 0:04ac6be8229a 182 }
Gary Servin 0:04ac6be8229a 183 #endif