jjzak / rosserial_mbed_lib

modify for Hydro version

Dependencies:   MODSERIAL

Fork of rosserial_mbed_lib by nucho

sensor_msgs/Image.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_Image_h
jjzak 6:3c54bc7badd4 2 #define _ROS_sensor_msgs_Image_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 Image : public ros::Msg
jjzak 6:3c54bc7badd4 14 {
jjzak 6:3c54bc7badd4 15 public:
jjzak 6:3c54bc7badd4 16 std_msgs::Header header;
jjzak 6:3c54bc7badd4 17 uint32_t height;
jjzak 6:3c54bc7badd4 18 uint32_t width;
jjzak 6:3c54bc7badd4 19 char * encoding;
jjzak 6:3c54bc7badd4 20 uint8_t is_bigendian;
jjzak 6:3c54bc7badd4 21 uint32_t step;
jjzak 6:3c54bc7badd4 22 uint8_t data_length;
jjzak 6:3c54bc7badd4 23 uint8_t st_data;
jjzak 6:3c54bc7badd4 24 uint8_t * data;
jjzak 6:3c54bc7badd4 25
jjzak 6:3c54bc7badd4 26 virtual int serialize(unsigned char *outbuffer) const
jjzak 6:3c54bc7badd4 27 {
jjzak 6:3c54bc7badd4 28 int offset = 0;
jjzak 6:3c54bc7badd4 29 offset += this->header.serialize(outbuffer + offset);
jjzak 6:3c54bc7badd4 30 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 31 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
jjzak 6:3c54bc7badd4 32 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
jjzak 6:3c54bc7badd4 33 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
jjzak 6:3c54bc7badd4 34 offset += sizeof(this->height);
jjzak 6:3c54bc7badd4 35 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 36 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
jjzak 6:3c54bc7badd4 37 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
jjzak 6:3c54bc7badd4 38 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
jjzak 6:3c54bc7badd4 39 offset += sizeof(this->width);
jjzak 6:3c54bc7badd4 40 uint32_t length_encoding = strlen( (const char*) this->encoding);
jjzak 6:3c54bc7badd4 41 memcpy(outbuffer + offset, &length_encoding, sizeof(uint32_t));
jjzak 6:3c54bc7badd4 42 offset += 4;
jjzak 6:3c54bc7badd4 43 memcpy(outbuffer + offset, this->encoding, length_encoding);
jjzak 6:3c54bc7badd4 44 offset += length_encoding;
jjzak 6:3c54bc7badd4 45 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 46 offset += sizeof(this->is_bigendian);
jjzak 6:3c54bc7badd4 47 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 48 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
jjzak 6:3c54bc7badd4 49 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
jjzak 6:3c54bc7badd4 50 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
jjzak 6:3c54bc7badd4 51 offset += sizeof(this->step);
jjzak 6:3c54bc7badd4 52 *(outbuffer + offset++) = data_length;
jjzak 6:3c54bc7badd4 53 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 54 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 55 *(outbuffer + offset++) = 0;
jjzak 6:3c54bc7badd4 56 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 57 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
jjzak 6:3c54bc7badd4 58 offset += sizeof(this->data[i]);
jjzak 6:3c54bc7badd4 59 }
jjzak 6:3c54bc7badd4 60 return offset;
jjzak 6:3c54bc7badd4 61 }
jjzak 6:3c54bc7badd4 62
jjzak 6:3c54bc7badd4 63 virtual int deserialize(unsigned char *inbuffer)
jjzak 6:3c54bc7badd4 64 {
jjzak 6:3c54bc7badd4 65 int offset = 0;
jjzak 6:3c54bc7badd4 66 offset += this->header.deserialize(inbuffer + offset);
jjzak 6:3c54bc7badd4 67 this->height = ((uint32_t) (*(inbuffer + offset)));
jjzak 6:3c54bc7badd4 68 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
jjzak 6:3c54bc7badd4 69 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
jjzak 6:3c54bc7badd4 70 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
jjzak 6:3c54bc7badd4 71 offset += sizeof(this->height);
jjzak 6:3c54bc7badd4 72 this->width = ((uint32_t) (*(inbuffer + offset)));
jjzak 6:3c54bc7badd4 73 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
jjzak 6:3c54bc7badd4 74 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
jjzak 6:3c54bc7badd4 75 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
jjzak 6:3c54bc7badd4 76 offset += sizeof(this->width);
jjzak 6:3c54bc7badd4 77 uint32_t length_encoding;
jjzak 6:3c54bc7badd4 78 memcpy(&length_encoding, (inbuffer + offset), sizeof(uint32_t));
jjzak 6:3c54bc7badd4 79 offset += 4;
jjzak 6:3c54bc7badd4 80 for(unsigned int k= offset; k< offset+length_encoding; ++k){
jjzak 6:3c54bc7badd4 81 inbuffer[k-1]=inbuffer[k];
jjzak 6:3c54bc7badd4 82 }
jjzak 6:3c54bc7badd4 83 inbuffer[offset+length_encoding-1]=0;
jjzak 6:3c54bc7badd4 84 this->encoding = (char *)(inbuffer + offset-1);
jjzak 6:3c54bc7badd4 85 offset += length_encoding;
jjzak 6:3c54bc7badd4 86 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
jjzak 6:3c54bc7badd4 87 offset += sizeof(this->is_bigendian);
jjzak 6:3c54bc7badd4 88 this->step = ((uint32_t) (*(inbuffer + offset)));
jjzak 6:3c54bc7badd4 89 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
jjzak 6:3c54bc7badd4 90 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
jjzak 6:3c54bc7badd4 91 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
jjzak 6:3c54bc7badd4 92 offset += sizeof(this->step);
jjzak 6:3c54bc7badd4 93 uint8_t data_lengthT = *(inbuffer + offset++);
jjzak 6:3c54bc7badd4 94 if(data_lengthT > data_length)
jjzak 6:3c54bc7badd4 95 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
jjzak 6:3c54bc7badd4 96 offset += 3;
jjzak 6:3c54bc7badd4 97 data_length = data_lengthT;
jjzak 6:3c54bc7badd4 98 for( uint8_t i = 0; i < data_length; i++){
jjzak 6:3c54bc7badd4 99 this->st_data = ((uint8_t) (*(inbuffer + offset)));
jjzak 6:3c54bc7badd4 100 offset += sizeof(this->st_data);
jjzak 6:3c54bc7badd4 101 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
jjzak 6:3c54bc7badd4 102 }
jjzak 6:3c54bc7badd4 103 return offset;
jjzak 6:3c54bc7badd4 104 }
jjzak 6:3c54bc7badd4 105
jjzak 6:3c54bc7badd4 106 const char * getType(){ return "sensor_msgs/Image"; };
jjzak 6:3c54bc7badd4 107 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
jjzak 6:3c54bc7badd4 108
jjzak 6:3c54bc7badd4 109 };
jjzak 6:3c54bc7badd4 110
jjzak 6:3c54bc7badd4 111 }
jjzak 6:3c54bc7badd4 112 #endif