jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/CompressedImage.h@6:3c54bc7badd4, 2013-10-26 (annotated)

Committer:
jjzak
Date:
Sat Oct 26 15:39:01 2013 +0000
Revision:
6:3c54bc7badd4
modify for Hydro version;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jjzak 6:3c54bc7badd4 1 #ifndef _ROS_sensor_msgs_CompressedImage_h
jjzak 6:3c54bc7badd4 2 #define _ROS_sensor_msgs_CompressedImage_h
jjzak 6:3c54bc7badd4 3
jjzak 6:3c54bc7badd4 4 #include <stdint.h>
jjzak 6:3c54bc7badd4 5 #include <string.h>
jjzak 6:3c54bc7badd4 6 #include <stdlib.h>
jjzak 6:3c54bc7badd4 7 #include "ros/msg.h"
jjzak 6:3c54bc7badd4 8 #include "std_msgs/Header.h"
jjzak 6:3c54bc7badd4 9
jjzak 6:3c54bc7badd4 10 namespace sensor_msgs
jjzak 6:3c54bc7badd4 11 {
jjzak 6:3c54bc7badd4 12
jjzak 6:3c54bc7badd4 13 class CompressedImage : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16 std_msgs::Header header;
jjzak 6:3c54bc7badd4 17 char * format;
jjzak 6:3c54bc7badd4 18 uint8_t data_length;
jjzak 6:3c54bc7badd4 19 uint8_t st_data;
jjzak 6:3c54bc7badd4 20 uint8_t * data;
jjzak 6:3c54bc7badd4 21
jjzak 6:3c54bc7badd4 22 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 23 {
jjzak 6:3c54bc7badd4 24 int offset = 0;
jjzak 6:3c54bc7badd4 25 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 26 uint32_t length_format = strlen( (const char*) this->format);
jjzak 6:3c54bc7badd4 27 memcpy(outbuffer + offset, &length_format, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 28 offset += 4;
jjzak 6:3c54bc7badd4 29 memcpy(outbuffer + offset, this->format, length_format);
jjzak 6:3c54bc7badd4 30 offset += length_format;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset++) = data_length;
jjzak 6:3c54bc7badd4 32 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 33 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 34 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 35 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 37 offset += sizeof(this->data[i]);
jjzak 6:3c54bc7badd4 38 }
jjzak 6:3c54bc7badd4 39 return offset;
jjzak 6:3c54bc7badd4 40 }
jjzak 6:3c54bc7badd4 41
jjzak 6:3c54bc7badd4 42 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 43 {
jjzak 6:3c54bc7badd4 44 int offset = 0;
jjzak 6:3c54bc7badd4 45 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 46 uint32_t length_format;
jjzak 6:3c54bc7badd4 47 memcpy(&length_format, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 48 offset += 4;
jjzak 6:3c54bc7badd4 49 for(unsigned int k= offset; k< offset+length_format; ++k){
jjzak 6:3c54bc7badd4 50 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 51 }
jjzak 6:3c54bc7badd4 52 inbuffer[offset+length_format-1]=0;
jjzak 6:3c54bc7badd4 53 this->format = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 54 offset += length_format;
jjzak 6:3c54bc7badd4 55 uint8_t data_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 56 if(data_lengthT > data_length)
jjzak 6:3c54bc7badd4 57 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
jjzak 6:3c54bc7badd4 58 offset += 3;
jjzak 6:3c54bc7badd4 59 data_length = data_lengthT;
jjzak 6:3c54bc7badd4 60 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 61 this->st_data = ((uint8_t) (*(inbuffer + offset)));
jjzak 6:3c54bc7badd4 62 offset += sizeof(this->st_data);
jjzak 6:3c54bc7badd4 63 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
jjzak 6:3c54bc7badd4 64 }
jjzak 6:3c54bc7badd4 65 return offset;
jjzak 6:3c54bc7badd4 66 }
jjzak 6:3c54bc7badd4 67
jjzak 6:3c54bc7badd4 68 const char * getType(){ return "sensor_msgs/CompressedImage"; };
jjzak 6:3c54bc7badd4 69 const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
jjzak 6:3c54bc7badd4 70
jjzak 6:3c54bc7badd4 71 };
jjzak 6:3c54bc7badd4 72
jjzak 6:3c54bc7badd4 73 }
jjzak 6:3c54bc7badd4 74 #endif