Jesus Fausto / ros_lib_kinetic

Working towards recieving twists

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

theora_image_transport/Packet.h@0:9e9b7db60fd5, 2016-12-31 (annotated)

Committer:
garyservin
Date:
Sat Dec 31 00:48:34 2016 +0000
Revision:
0:9e9b7db60fd5
Initial commit, generated based on a clean kinetic-desktop-full

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_theora_image_transport_Packet_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_theora_image_transport_Packet_h
garyservin 0:9e9b7db60fd5 3
garyservin 0:9e9b7db60fd5 4 #include <stdint.h>
garyservin 0:9e9b7db60fd5 5 #include <string.h>
garyservin 0:9e9b7db60fd5 6 #include <stdlib.h>
garyservin 0:9e9b7db60fd5 7 #include "ros/msg.h"
garyservin 0:9e9b7db60fd5 8 #include "std_msgs/Header.h"
garyservin 0:9e9b7db60fd5 9
garyservin 0:9e9b7db60fd5 10 namespace theora_image_transport
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class Packet : public ros::Msg
garyservin 0:9e9b7db60fd5 14 {
garyservin 0:9e9b7db60fd5 15 public:
garyservin 0:9e9b7db60fd5 16 typedef std_msgs::Header _header_type;
garyservin 0:9e9b7db60fd5 17 _header_type header;
garyservin 0:9e9b7db60fd5 18 uint32_t data_length;
garyservin 0:9e9b7db60fd5 19 typedef uint8_t _data_type;
garyservin 0:9e9b7db60fd5 20 _data_type st_data;
garyservin 0:9e9b7db60fd5 21 _data_type * data;
garyservin 0:9e9b7db60fd5 22 typedef int32_t _b_o_s_type;
garyservin 0:9e9b7db60fd5 23 _b_o_s_type b_o_s;
garyservin 0:9e9b7db60fd5 24 typedef int32_t _e_o_s_type;
garyservin 0:9e9b7db60fd5 25 _e_o_s_type e_o_s;
garyservin 0:9e9b7db60fd5 26 typedef int64_t _granulepos_type;
garyservin 0:9e9b7db60fd5 27 _granulepos_type granulepos;
garyservin 0:9e9b7db60fd5 28 typedef int64_t _packetno_type;
garyservin 0:9e9b7db60fd5 29 _packetno_type packetno;
garyservin 0:9e9b7db60fd5 30
garyservin 0:9e9b7db60fd5 31 Packet():
garyservin 0:9e9b7db60fd5 32 header(),
garyservin 0:9e9b7db60fd5 33 data_length(0), data(NULL),
garyservin 0:9e9b7db60fd5 34 b_o_s(0),
garyservin 0:9e9b7db60fd5 35 e_o_s(0),
garyservin 0:9e9b7db60fd5 36 granulepos(0),
garyservin 0:9e9b7db60fd5 37 packetno(0)
garyservin 0:9e9b7db60fd5 38 {
garyservin 0:9e9b7db60fd5 39 }
garyservin 0:9e9b7db60fd5 40
garyservin 0:9e9b7db60fd5 41 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 42 {
garyservin 0:9e9b7db60fd5 43 int offset = 0;
garyservin 0:9e9b7db60fd5 44 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 45 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 46 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 49 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 50 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 51 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 52 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 53 }
garyservin 0:9e9b7db60fd5 54 union {
garyservin 0:9e9b7db60fd5 55 int32_t real;
garyservin 0:9e9b7db60fd5 56 uint32_t base;
garyservin 0:9e9b7db60fd5 57 } u_b_o_s;
garyservin 0:9e9b7db60fd5 58 u_b_o_s.real = this->b_o_s;
garyservin 0:9e9b7db60fd5 59 *(outbuffer + offset + 0) = (u_b_o_s.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 60 *(outbuffer + offset + 1) = (u_b_o_s.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 61 *(outbuffer + offset + 2) = (u_b_o_s.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 62 *(outbuffer + offset + 3) = (u_b_o_s.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 63 offset += sizeof(this->b_o_s);
garyservin 0:9e9b7db60fd5 64 union {
garyservin 0:9e9b7db60fd5 65 int32_t real;
garyservin 0:9e9b7db60fd5 66 uint32_t base;
garyservin 0:9e9b7db60fd5 67 } u_e_o_s;
garyservin 0:9e9b7db60fd5 68 u_e_o_s.real = this->e_o_s;
garyservin 0:9e9b7db60fd5 69 *(outbuffer + offset + 0) = (u_e_o_s.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 70 *(outbuffer + offset + 1) = (u_e_o_s.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 71 *(outbuffer + offset + 2) = (u_e_o_s.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 72 *(outbuffer + offset + 3) = (u_e_o_s.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 73 offset += sizeof(this->e_o_s);
garyservin 0:9e9b7db60fd5 74 union {
garyservin 0:9e9b7db60fd5 75 int64_t real;
garyservin 0:9e9b7db60fd5 76 uint64_t base;
garyservin 0:9e9b7db60fd5 77 } u_granulepos;
garyservin 0:9e9b7db60fd5 78 u_granulepos.real = this->granulepos;
garyservin 0:9e9b7db60fd5 79 *(outbuffer + offset + 0) = (u_granulepos.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 80 *(outbuffer + offset + 1) = (u_granulepos.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 81 *(outbuffer + offset + 2) = (u_granulepos.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 82 *(outbuffer + offset + 3) = (u_granulepos.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 83 *(outbuffer + offset + 4) = (u_granulepos.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 84 *(outbuffer + offset + 5) = (u_granulepos.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 85 *(outbuffer + offset + 6) = (u_granulepos.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 86 *(outbuffer + offset + 7) = (u_granulepos.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 87 offset += sizeof(this->granulepos);
garyservin 0:9e9b7db60fd5 88 union {
garyservin 0:9e9b7db60fd5 89 int64_t real;
garyservin 0:9e9b7db60fd5 90 uint64_t base;
garyservin 0:9e9b7db60fd5 91 } u_packetno;
garyservin 0:9e9b7db60fd5 92 u_packetno.real = this->packetno;
garyservin 0:9e9b7db60fd5 93 *(outbuffer + offset + 0) = (u_packetno.base >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 94 *(outbuffer + offset + 1) = (u_packetno.base >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 95 *(outbuffer + offset + 2) = (u_packetno.base >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 96 *(outbuffer + offset + 3) = (u_packetno.base >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 97 *(outbuffer + offset + 4) = (u_packetno.base >> (8 * 4)) & 0xFF;
garyservin 0:9e9b7db60fd5 98 *(outbuffer + offset + 5) = (u_packetno.base >> (8 * 5)) & 0xFF;
garyservin 0:9e9b7db60fd5 99 *(outbuffer + offset + 6) = (u_packetno.base >> (8 * 6)) & 0xFF;
garyservin 0:9e9b7db60fd5 100 *(outbuffer + offset + 7) = (u_packetno.base >> (8 * 7)) & 0xFF;
garyservin 0:9e9b7db60fd5 101 offset += sizeof(this->packetno);
garyservin 0:9e9b7db60fd5 102 return offset;
garyservin 0:9e9b7db60fd5 103 }
garyservin 0:9e9b7db60fd5 104
garyservin 0:9e9b7db60fd5 105 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 106 {
garyservin 0:9e9b7db60fd5 107 int offset = 0;
garyservin 0:9e9b7db60fd5 108 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 109 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 110 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 111 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 112 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 113 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 114 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 115 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 116 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 117 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 118 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 119 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 120 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 121 }
garyservin 0:9e9b7db60fd5 122 union {
garyservin 0:9e9b7db60fd5 123 int32_t real;
garyservin 0:9e9b7db60fd5 124 uint32_t base;
garyservin 0:9e9b7db60fd5 125 } u_b_o_s;
garyservin 0:9e9b7db60fd5 126 u_b_o_s.base = 0;
garyservin 0:9e9b7db60fd5 127 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 128 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 129 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 130 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 131 this->b_o_s = u_b_o_s.real;
garyservin 0:9e9b7db60fd5 132 offset += sizeof(this->b_o_s);
garyservin 0:9e9b7db60fd5 133 union {
garyservin 0:9e9b7db60fd5 134 int32_t real;
garyservin 0:9e9b7db60fd5 135 uint32_t base;
garyservin 0:9e9b7db60fd5 136 } u_e_o_s;
garyservin 0:9e9b7db60fd5 137 u_e_o_s.base = 0;
garyservin 0:9e9b7db60fd5 138 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 139 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 140 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 141 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 142 this->e_o_s = u_e_o_s.real;
garyservin 0:9e9b7db60fd5 143 offset += sizeof(this->e_o_s);
garyservin 0:9e9b7db60fd5 144 union {
garyservin 0:9e9b7db60fd5 145 int64_t real;
garyservin 0:9e9b7db60fd5 146 uint64_t base;
garyservin 0:9e9b7db60fd5 147 } u_granulepos;
garyservin 0:9e9b7db60fd5 148 u_granulepos.base = 0;
garyservin 0:9e9b7db60fd5 149 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 150 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 151 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 152 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 153 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 154 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 155 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 156 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 157 this->granulepos = u_granulepos.real;
garyservin 0:9e9b7db60fd5 158 offset += sizeof(this->granulepos);
garyservin 0:9e9b7db60fd5 159 union {
garyservin 0:9e9b7db60fd5 160 int64_t real;
garyservin 0:9e9b7db60fd5 161 uint64_t base;
garyservin 0:9e9b7db60fd5 162 } u_packetno;
garyservin 0:9e9b7db60fd5 163 u_packetno.base = 0;
garyservin 0:9e9b7db60fd5 164 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
garyservin 0:9e9b7db60fd5 165 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 166 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 167 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 168 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
garyservin 0:9e9b7db60fd5 169 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
garyservin 0:9e9b7db60fd5 170 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
garyservin 0:9e9b7db60fd5 171 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
garyservin 0:9e9b7db60fd5 172 this->packetno = u_packetno.real;
garyservin 0:9e9b7db60fd5 173 offset += sizeof(this->packetno);
garyservin 0:9e9b7db60fd5 174 return offset;
garyservin 0:9e9b7db60fd5 175 }
garyservin 0:9e9b7db60fd5 176
garyservin 0:9e9b7db60fd5 177 const char * getType(){ return "theora_image_transport/Packet"; };
garyservin 0:9e9b7db60fd5 178 const char * getMD5(){ return "33ac4e14a7cff32e7e0d65f18bb410f3"; };
garyservin 0:9e9b7db60fd5 179
garyservin 0:9e9b7db60fd5 180 };
garyservin 0:9e9b7db60fd5 181
garyservin 0:9e9b7db60fd5 182 }
garyservin 0:9e9b7db60fd5 183 #endif