liu isad
rosserial for Hydro
Fork of
rosserial_mbed_lib
by 
nucho
sensor_msgs/CompressedImage.h@0:77afd7560544, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:30 2011 +0000
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| nucho | 0:77afd7560544 | 1 | #ifndef ros_CompressedImage_h |
| nucho | 0:77afd7560544 | 2 | #define ros_CompressedImage_h |
| nucho | 0:77afd7560544 | 3 | |
| nucho | 0:77afd7560544 | 4 | #include <stdint.h> |
| nucho | 0:77afd7560544 | 5 | #include <string.h> |
| nucho | 0:77afd7560544 | 6 | #include <stdlib.h> |
| nucho | 0:77afd7560544 | 7 | #include "../ros/msg.h" |
| nucho | 0:77afd7560544 | 8 | #include "std_msgs/Header.h" |
| nucho | 0:77afd7560544 | 9 | |
| nucho | 0:77afd7560544 | 10 | namespace sensor_msgs |
| nucho | 0:77afd7560544 | 11 | { |
| nucho | 0:77afd7560544 | 12 | |
| nucho | 0:77afd7560544 | 13 | class CompressedImage : public ros::Msg |
| nucho | 0:77afd7560544 | 14 | { |
| nucho | 0:77afd7560544 | 15 | public: |
| nucho | 0:77afd7560544 | 16 | std_msgs::Header header; |
| nucho | 0:77afd7560544 | 17 | char * format; |
| nucho | 0:77afd7560544 | 18 | unsigned char data_length; |
| nucho | 0:77afd7560544 | 19 | unsigned char st_data; |
| nucho | 0:77afd7560544 | 20 | unsigned char * data; |
| nucho | 0:77afd7560544 | 21 | |
| nucho | 0:77afd7560544 | 22 | virtual int serialize(unsigned char *outbuffer) |
| nucho | 0:77afd7560544 | 23 | { |
| nucho | 0:77afd7560544 | 24 | int offset = 0; |
| nucho | 0:77afd7560544 | 25 | offset += this->header.serialize(outbuffer + offset); |
| nucho | 0:77afd7560544 | 26 | long * length_format = (long *)(outbuffer + offset); |
| nucho | 0:77afd7560544 | 27 | *length_format = strlen( (const char*) this->format); |
| nucho | 0:77afd7560544 | 28 | offset += 4; |
| nucho | 0:77afd7560544 | 29 | memcpy(outbuffer + offset, this->format, *length_format); |
| nucho | 0:77afd7560544 | 30 | offset += *length_format; |
| nucho | 0:77afd7560544 | 31 | *(outbuffer + offset++) = data_length; |
| nucho | 0:77afd7560544 | 32 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 33 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 34 | *(outbuffer + offset++) = 0; |
| nucho | 0:77afd7560544 | 35 | for( unsigned char i = 0; i < data_length; i++){ |
| nucho | 0:77afd7560544 | 36 | union { |
| nucho | 0:77afd7560544 | 37 | unsigned char real; |
| nucho | 0:77afd7560544 | 38 | unsigned char base; |
| nucho | 0:77afd7560544 | 39 | } u_datai; |
| nucho | 0:77afd7560544 | 40 | u_datai.real = this->data[i]; |
| nucho | 0:77afd7560544 | 41 | *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; |
| nucho | 0:77afd7560544 | 42 | offset += sizeof(this->data[i]); |
| nucho | 0:77afd7560544 | 43 | } |
| nucho | 0:77afd7560544 | 44 | return offset; |
| nucho | 0:77afd7560544 | 45 | } |
| nucho | 0:77afd7560544 | 46 | |
| nucho | 0:77afd7560544 | 47 | virtual int deserialize(unsigned char *inbuffer) |
| nucho | 0:77afd7560544 | 48 | { |
| nucho | 0:77afd7560544 | 49 | int offset = 0; |
| nucho | 0:77afd7560544 | 50 | offset += this->header.deserialize(inbuffer + offset); |
| nucho | 0:77afd7560544 | 51 | uint32_t length_format = *(uint32_t *)(inbuffer + offset); |
| nucho | 0:77afd7560544 | 52 | offset += 4; |
| nucho | 0:77afd7560544 | 53 | for(unsigned int k= offset; k< offset+length_format; ++k){ |
| nucho | 0:77afd7560544 | 54 | inbuffer[k-1]=inbuffer[k]; |
| nucho | 0:77afd7560544 | 55 | } |
| nucho | 0:77afd7560544 | 56 | inbuffer[offset+length_format-1]=0; |
| nucho | 0:77afd7560544 | 57 | this->format = (char *)(inbuffer + offset-1); |
| nucho | 0:77afd7560544 | 58 | offset += length_format; |
| nucho | 0:77afd7560544 | 59 | unsigned char data_lengthT = *(inbuffer + offset++); |
| nucho | 0:77afd7560544 | 60 | if(data_lengthT > data_length) |
| nucho | 0:77afd7560544 | 61 | this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); |
| nucho | 0:77afd7560544 | 62 | offset += 3; |
| nucho | 0:77afd7560544 | 63 | data_length = data_lengthT; |
| nucho | 0:77afd7560544 | 64 | for( unsigned char i = 0; i < data_length; i++){ |
| nucho | 0:77afd7560544 | 65 | union { |
| nucho | 0:77afd7560544 | 66 | unsigned char real; |
| nucho | 0:77afd7560544 | 67 | unsigned char base; |
| nucho | 0:77afd7560544 | 68 | } u_st_data; |
| nucho | 0:77afd7560544 | 69 | u_st_data.base = 0; |
| nucho | 0:77afd7560544 | 70 | u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
| nucho | 0:77afd7560544 | 71 | this->st_data = u_st_data.real; |
| nucho | 0:77afd7560544 | 72 | offset += sizeof(this->st_data); |
| nucho | 0:77afd7560544 | 73 | memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); |
| nucho | 0:77afd7560544 | 74 | } |
| nucho | 0:77afd7560544 | 75 | return offset; |
| nucho | 0:77afd7560544 | 76 | } |
| nucho | 0:77afd7560544 | 77 | |
| nucho | 0:77afd7560544 | 78 | virtual const char * getType(){ return "sensor_msgs/CompressedImage"; }; |
| nucho | 0:77afd7560544 | 79 | |
| nucho | 0:77afd7560544 | 80 | }; |
| nucho | 0:77afd7560544 | 81 | |
| nucho | 0:77afd7560544 | 82 | } |
| nucho | 0:77afd7560544 | 83 | #endif |