Jesus Fausto / ros_lib_kinetic3

Increased buffer size

Dependencies:   BufferedSerial

Fork of ros_lib_kinetic by Gary Servin

sensor_msgs/CompressedImage.h@2:2e7b61982dd2, 2018-11-02 (annotated)

Committer:
jvfausto
Date:
Fri Nov 02 21:52:23 2018 +0000
Revision:
2:2e7b61982dd2
Parent:
0:9e9b7db60fd5 
Working towards recieving twists

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:9e9b7db60fd5 1 #ifndef _ROS_sensor_msgs_CompressedImage_h
garyservin 0:9e9b7db60fd5 2 #define _ROS_sensor_msgs_CompressedImage_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 sensor_msgs
garyservin 0:9e9b7db60fd5 11 {
garyservin 0:9e9b7db60fd5 12
garyservin 0:9e9b7db60fd5 13 class CompressedImage : 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 typedef const char* _format_type;
garyservin 0:9e9b7db60fd5 19 _format_type format;
garyservin 0:9e9b7db60fd5 20 uint32_t data_length;
garyservin 0:9e9b7db60fd5 21 typedef uint8_t _data_type;
garyservin 0:9e9b7db60fd5 22 _data_type st_data;
garyservin 0:9e9b7db60fd5 23 _data_type * data;
garyservin 0:9e9b7db60fd5 24
garyservin 0:9e9b7db60fd5 25 CompressedImage():
garyservin 0:9e9b7db60fd5 26 header(),
garyservin 0:9e9b7db60fd5 27 format(""),
garyservin 0:9e9b7db60fd5 28 data_length(0), data(NULL)
garyservin 0:9e9b7db60fd5 29 {
garyservin 0:9e9b7db60fd5 30 }
garyservin 0:9e9b7db60fd5 31
garyservin 0:9e9b7db60fd5 32 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:9e9b7db60fd5 33 {
garyservin 0:9e9b7db60fd5 34 int offset = 0;
garyservin 0:9e9b7db60fd5 35 offset += this->header.serialize(outbuffer + offset);
garyservin 0:9e9b7db60fd5 36 uint32_t length_format = strlen(this->format);
garyservin 0:9e9b7db60fd5 37 varToArr(outbuffer + offset, length_format);
garyservin 0:9e9b7db60fd5 38 offset += 4;
garyservin 0:9e9b7db60fd5 39 memcpy(outbuffer + offset, this->format, length_format);
garyservin 0:9e9b7db60fd5 40 offset += length_format;
garyservin 0:9e9b7db60fd5 41 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 42 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
garyservin 0:9e9b7db60fd5 43 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
garyservin 0:9e9b7db60fd5 44 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
garyservin 0:9e9b7db60fd5 45 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 46 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 47 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:9e9b7db60fd5 48 offset += sizeof(this->data[i]);
garyservin 0:9e9b7db60fd5 49 }
garyservin 0:9e9b7db60fd5 50 return offset;
garyservin 0:9e9b7db60fd5 51 }
garyservin 0:9e9b7db60fd5 52
garyservin 0:9e9b7db60fd5 53 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:9e9b7db60fd5 54 {
garyservin 0:9e9b7db60fd5 55 int offset = 0;
garyservin 0:9e9b7db60fd5 56 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:9e9b7db60fd5 57 uint32_t length_format;
garyservin 0:9e9b7db60fd5 58 arrToVar(length_format, (inbuffer + offset));
garyservin 0:9e9b7db60fd5 59 offset += 4;
garyservin 0:9e9b7db60fd5 60 for(unsigned int k= offset; k< offset+length_format; ++k){
garyservin 0:9e9b7db60fd5 61 inbuffer[k-1]=inbuffer[k];
garyservin 0:9e9b7db60fd5 62 }
garyservin 0:9e9b7db60fd5 63 inbuffer[offset+length_format-1]=0;
garyservin 0:9e9b7db60fd5 64 this->format = (char *)(inbuffer + offset-1);
garyservin 0:9e9b7db60fd5 65 offset += length_format;
garyservin 0:9e9b7db60fd5 66 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 67 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
garyservin 0:9e9b7db60fd5 68 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
garyservin 0:9e9b7db60fd5 69 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
garyservin 0:9e9b7db60fd5 70 offset += sizeof(this->data_length);
garyservin 0:9e9b7db60fd5 71 if(data_lengthT > data_length)
garyservin 0:9e9b7db60fd5 72 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 73 data_length = data_lengthT;
garyservin 0:9e9b7db60fd5 74 for( uint32_t i = 0; i < data_length; i++){
garyservin 0:9e9b7db60fd5 75 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:9e9b7db60fd5 76 offset += sizeof(this->st_data);
garyservin 0:9e9b7db60fd5 77 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:9e9b7db60fd5 78 }
garyservin 0:9e9b7db60fd5 79 return offset;
garyservin 0:9e9b7db60fd5 80 }
garyservin 0:9e9b7db60fd5 81
garyservin 0:9e9b7db60fd5 82 const char * getType(){ return "sensor_msgs/CompressedImage"; };
garyservin 0:9e9b7db60fd5 83 const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
garyservin 0:9e9b7db60fd5 84
garyservin 0:9e9b7db60fd5 85 };
garyservin 0:9e9b7db60fd5 86
garyservin 0:9e9b7db60fd5 87 }
garyservin 0:9e9b7db60fd5 88 #endif