modify for Hydro version
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Diff: sensor_msgs/CompressedImage.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/sensor_msgs/CompressedImage.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,73 +0,0 @@ -#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 \ No newline at end of file