modify for Hydro version
Fork of rosserial_mbed_lib by
sensor_msgs/CompressedImage.h
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:77afd7560544
- Child:
- 3:1cf99502f396
File content as of revision 0:77afd7560544:
#ifndef ros_CompressedImage_h #define ros_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; unsigned char data_length; unsigned char st_data; unsigned char * data; virtual int serialize(unsigned char *outbuffer) { int offset = 0; offset += this->header.serialize(outbuffer + offset); long * length_format = (long *)(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( unsigned char i = 0; i < data_length; i++){ union { unsigned char real; unsigned char base; } u_datai; u_datai.real = this->data[i]; *(outbuffer + offset + 0) = (u_datai.base >> (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; unsigned char data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); offset += 3; data_length = data_lengthT; for( unsigned char i = 0; i < data_length; i++){ union { unsigned char real; unsigned char base; } u_st_data; u_st_data.base = 0; u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); } return offset; } virtual const char * getType(){ return "sensor_msgs/CompressedImage"; }; }; } #endif