rosserial for Hydro
Fork of rosserial_mbed_lib by
sensor_msgs/CompressedImage.h
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:1cf99502f396
- Parent:
- 0:77afd7560544
File content as of revision 3:1cf99502f396:
#ifndef _ROS_sensor_msgs_CompressedImage_h #define _ROS_sensor_msgs_CompressedImage_h #include <stdint.h> #include <string.h> #include <stdlib.h> #include "ros/msg.h" #include "std_msgs/Header.h" namespace sensor_msgs { class CompressedImage : public ros::Msg { public: std_msgs::Header header; char * format; uint8_t data_length; uint8_t st_data; uint8_t * data; virtual int serialize(unsigned char *outbuffer) const { int offset = 0; offset += this->header.serialize(outbuffer + offset); uint32_t * length_format = (uint32_t *)(outbuffer + offset); *length_format = strlen( (const char*) this->format); offset += 4; memcpy(outbuffer + offset, this->format, *length_format); offset += *length_format; *(outbuffer + offset++) = data_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( uint8_t i = 0; i < data_length; i++){ *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF; offset += sizeof(this->data[i]); } return offset; } virtual int deserialize(unsigned char *inbuffer) { int offset = 0; offset += this->header.deserialize(inbuffer + offset); uint32_t length_format = *(uint32_t *)(inbuffer + offset); offset += 4; for(unsigned int k= offset; k< offset+length_format; ++k){ inbuffer[k-1]=inbuffer[k]; } inbuffer[offset+length_format-1]=0; this->format = (char *)(inbuffer + offset-1); offset += length_format; uint8_t data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); offset += 3; data_length = data_lengthT; for( uint8_t i = 0; i < data_length; i++){ this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); } return offset; } virtual const char * getType(){ return "sensor_msgs/CompressedImage"; }; virtual const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; }; }; } #endif