Diff: sensor_msgs/CompressedImage.h

Revision:

6:3c54bc7badd4

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CompressedImage.h	Sat Oct 26 15:39:01 2013 +0000
@@ -0,0 +1,74 @@
+#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 = strlen( (const char*) this->format);
+      memcpy(outbuffer + offset, &length_format, sizeof(uint32_t));
+      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;
+      memcpy(&length_format, (inbuffer + offset), sizeof(uint32_t));
+      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)));
+      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