Jacob Hernandez / ros_lib_kinetic

This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/CompressedImage.h

Committer:
jacobepfl1692
Date:
2017-10-17
Revision:
2:9114cc24ddcf
Parent:
0:9e9b7db60fd5

File content as of revision 2:9114cc24ddcf:

#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:
      typedef std_msgs::Header _header_type;
      _header_type header;
      typedef const char* _format_type;
      _format_type format;
      uint32_t data_length;
      typedef uint8_t _data_type;
      _data_type st_data;
      _data_type * data;

    CompressedImage():
      header(),
      format(""),
      data_length(0), data(NULL)
    {
    }

    virtual int serialize(unsigned char *outbuffer) const
    {
      int offset = 0;
      offset += this->header.serialize(outbuffer + offset);
      uint32_t length_format = strlen(this->format);
      varToArr(outbuffer + offset, length_format);
      offset += 4;
      memcpy(outbuffer + offset, this->format, length_format);
      offset += length_format;
      *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
      *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
      *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
      *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
      offset += sizeof(this->data_length);
      for( uint32_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;
      arrToVar(length_format, (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;
      uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset))); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
      data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
      offset += sizeof(this->data_length);
      if(data_lengthT > data_length)
        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
      data_length = data_lengthT;
      for( uint32_t i = 0; i < data_length; i++){
      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
      offset += sizeof(this->st_data);
        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
      }
     return offset;
    }

    const char * getType(){ return "sensor_msgs/CompressedImage"; };
    const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };

  };

}
#endif