Simon Krogedal / ros_lib_melodic

ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Dependencies:   BufferedSerial

sensor_msgs/Image.h@2:fa426560b283, 2021-05-27 (annotated)

Committer:
krogedal
Date:
Thu May 27 19:25:46 2021 +0000
Revision:
2:fa426560b283
Parent:
0:04ac6be8229a 
no change

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gary Servin 0:04ac6be8229a 1 #ifndef _ROS_sensor_msgs_Image_h
Gary Servin 0:04ac6be8229a 2 #define _ROS_sensor_msgs_Image_h
Gary Servin 0:04ac6be8229a 3
Gary Servin 0:04ac6be8229a 4 #include <stdint.h>
Gary Servin 0:04ac6be8229a 5 #include <string.h>
Gary Servin 0:04ac6be8229a 6 #include <stdlib.h>
Gary Servin 0:04ac6be8229a 7 #include "ros/msg.h"
Gary Servin 0:04ac6be8229a 8 #include "std_msgs/Header.h"
Gary Servin 0:04ac6be8229a 9
Gary Servin 0:04ac6be8229a 10 namespace sensor_msgs
Gary Servin 0:04ac6be8229a 11 {
Gary Servin 0:04ac6be8229a 12
Gary Servin 0:04ac6be8229a 13 class Image : public ros::Msg
Gary Servin 0:04ac6be8229a 14 {
Gary Servin 0:04ac6be8229a 15 public:
Gary Servin 0:04ac6be8229a 16 typedef std_msgs::Header _header_type;
Gary Servin 0:04ac6be8229a 17 _header_type header;
Gary Servin 0:04ac6be8229a 18 typedef uint32_t _height_type;
Gary Servin 0:04ac6be8229a 19 _height_type height;
Gary Servin 0:04ac6be8229a 20 typedef uint32_t _width_type;
Gary Servin 0:04ac6be8229a 21 _width_type width;
Gary Servin 0:04ac6be8229a 22 typedef const char* _encoding_type;
Gary Servin 0:04ac6be8229a 23 _encoding_type encoding;
Gary Servin 0:04ac6be8229a 24 typedef uint8_t _is_bigendian_type;
Gary Servin 0:04ac6be8229a 25 _is_bigendian_type is_bigendian;
Gary Servin 0:04ac6be8229a 26 typedef uint32_t _step_type;
Gary Servin 0:04ac6be8229a 27 _step_type step;
Gary Servin 0:04ac6be8229a 28 uint32_t data_length;
Gary Servin 0:04ac6be8229a 29 typedef uint8_t _data_type;
Gary Servin 0:04ac6be8229a 30 _data_type st_data;
Gary Servin 0:04ac6be8229a 31 _data_type * data;
Gary Servin 0:04ac6be8229a 32
Gary Servin 0:04ac6be8229a 33 Image():
Gary Servin 0:04ac6be8229a 34 header(),
Gary Servin 0:04ac6be8229a 35 height(0),
Gary Servin 0:04ac6be8229a 36 width(0),
Gary Servin 0:04ac6be8229a 37 encoding(""),
Gary Servin 0:04ac6be8229a 38 is_bigendian(0),
Gary Servin 0:04ac6be8229a 39 step(0),
Gary Servin 0:04ac6be8229a 40 data_length(0), data(NULL)
Gary Servin 0:04ac6be8229a 41 {
Gary Servin 0:04ac6be8229a 42 }
Gary Servin 0:04ac6be8229a 43
Gary Servin 0:04ac6be8229a 44 virtual int serialize(unsigned char *outbuffer) const
Gary Servin 0:04ac6be8229a 45 {
Gary Servin 0:04ac6be8229a 46 int offset = 0;
Gary Servin 0:04ac6be8229a 47 offset += this->header.serialize(outbuffer + offset);
Gary Servin 0:04ac6be8229a 48 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 49 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 50 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 51 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 52 offset += sizeof(this->height);
Gary Servin 0:04ac6be8229a 53 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 54 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 55 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 56 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 57 offset += sizeof(this->width);
Gary Servin 0:04ac6be8229a 58 uint32_t length_encoding = strlen(this->encoding);
Gary Servin 0:04ac6be8229a 59 varToArr(outbuffer + offset, length_encoding);
Gary Servin 0:04ac6be8229a 60 offset += 4;
Gary Servin 0:04ac6be8229a 61 memcpy(outbuffer + offset, this->encoding, length_encoding);
Gary Servin 0:04ac6be8229a 62 offset += length_encoding;
Gary Servin 0:04ac6be8229a 63 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 64 offset += sizeof(this->is_bigendian);
Gary Servin 0:04ac6be8229a 65 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 66 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 67 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 68 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 69 offset += sizeof(this->step);
Gary Servin 0:04ac6be8229a 70 *(outbuffer + offset + 0) = (this->data_length >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 71 *(outbuffer + offset + 1) = (this->data_length >> (8 * 1)) & 0xFF;
Gary Servin 0:04ac6be8229a 72 *(outbuffer + offset + 2) = (this->data_length >> (8 * 2)) & 0xFF;
Gary Servin 0:04ac6be8229a 73 *(outbuffer + offset + 3) = (this->data_length >> (8 * 3)) & 0xFF;
Gary Servin 0:04ac6be8229a 74 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 75 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 76 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
Gary Servin 0:04ac6be8229a 77 offset += sizeof(this->data[i]);
Gary Servin 0:04ac6be8229a 78 }
Gary Servin 0:04ac6be8229a 79 return offset;
Gary Servin 0:04ac6be8229a 80 }
Gary Servin 0:04ac6be8229a 81
Gary Servin 0:04ac6be8229a 82 virtual int deserialize(unsigned char *inbuffer)
Gary Servin 0:04ac6be8229a 83 {
Gary Servin 0:04ac6be8229a 84 int offset = 0;
Gary Servin 0:04ac6be8229a 85 offset += this->header.deserialize(inbuffer + offset);
Gary Servin 0:04ac6be8229a 86 this->height = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 87 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 88 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 89 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 90 offset += sizeof(this->height);
Gary Servin 0:04ac6be8229a 91 this->width = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 92 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 93 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 94 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 95 offset += sizeof(this->width);
Gary Servin 0:04ac6be8229a 96 uint32_t length_encoding;
Gary Servin 0:04ac6be8229a 97 arrToVar(length_encoding, (inbuffer + offset));
Gary Servin 0:04ac6be8229a 98 offset += 4;
Gary Servin 0:04ac6be8229a 99 for(unsigned int k= offset; k< offset+length_encoding; ++k){
Gary Servin 0:04ac6be8229a 100 inbuffer[k-1]=inbuffer[k];
Gary Servin 0:04ac6be8229a 101 }
Gary Servin 0:04ac6be8229a 102 inbuffer[offset+length_encoding-1]=0;
Gary Servin 0:04ac6be8229a 103 this->encoding = (char *)(inbuffer + offset-1);
Gary Servin 0:04ac6be8229a 104 offset += length_encoding;
Gary Servin 0:04ac6be8229a 105 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 106 offset += sizeof(this->is_bigendian);
Gary Servin 0:04ac6be8229a 107 this->step = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 108 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 109 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 110 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 111 offset += sizeof(this->step);
Gary Servin 0:04ac6be8229a 112 uint32_t data_lengthT = ((uint32_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 113 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
Gary Servin 0:04ac6be8229a 114 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
Gary Servin 0:04ac6be8229a 115 data_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
Gary Servin 0:04ac6be8229a 116 offset += sizeof(this->data_length);
Gary Servin 0:04ac6be8229a 117 if(data_lengthT > data_length)
Gary Servin 0:04ac6be8229a 118 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
Gary Servin 0:04ac6be8229a 119 data_length = data_lengthT;
Gary Servin 0:04ac6be8229a 120 for( uint32_t i = 0; i < data_length; i++){
Gary Servin 0:04ac6be8229a 121 this->st_data = ((uint8_t) (*(inbuffer + offset)));
Gary Servin 0:04ac6be8229a 122 offset += sizeof(this->st_data);
Gary Servin 0:04ac6be8229a 123 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
Gary Servin 0:04ac6be8229a 124 }
Gary Servin 0:04ac6be8229a 125 return offset;
Gary Servin 0:04ac6be8229a 126 }
Gary Servin 0:04ac6be8229a 127
Gary Servin 0:04ac6be8229a 128 const char * getType(){ return "sensor_msgs/Image"; };
Gary Servin 0:04ac6be8229a 129 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
Gary Servin 0:04ac6be8229a 130
Gary Servin 0:04ac6be8229a 131 };
Gary Servin 0:04ac6be8229a 132
Gary Servin 0:04ac6be8229a 133 }
Gary Servin 0:04ac6be8229a 134 #endif