This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
sensor_msgs/Image.h@0:06fc856e99ca, 2011-08-19 (annotated)
- Committer:
- nucho
- Date:
- Fri Aug 19 09:06:16 2011 +0000
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:06fc856e99ca | 1 | #ifndef ros_Image_h |
nucho | 0:06fc856e99ca | 2 | #define ros_Image_h |
nucho | 0:06fc856e99ca | 3 | |
nucho | 0:06fc856e99ca | 4 | #include <stdint.h> |
nucho | 0:06fc856e99ca | 5 | #include <string.h> |
nucho | 0:06fc856e99ca | 6 | #include <stdlib.h> |
nucho | 0:06fc856e99ca | 7 | #include "../ros/msg.h" |
nucho | 0:06fc856e99ca | 8 | #include "std_msgs/Header.h" |
nucho | 0:06fc856e99ca | 9 | |
nucho | 0:06fc856e99ca | 10 | namespace sensor_msgs |
nucho | 0:06fc856e99ca | 11 | { |
nucho | 0:06fc856e99ca | 12 | |
nucho | 0:06fc856e99ca | 13 | class Image : public ros::Msg |
nucho | 0:06fc856e99ca | 14 | { |
nucho | 0:06fc856e99ca | 15 | public: |
nucho | 0:06fc856e99ca | 16 | std_msgs::Header header; |
nucho | 0:06fc856e99ca | 17 | unsigned long height; |
nucho | 0:06fc856e99ca | 18 | unsigned long width; |
nucho | 0:06fc856e99ca | 19 | char * encoding; |
nucho | 0:06fc856e99ca | 20 | unsigned char is_bigendian; |
nucho | 0:06fc856e99ca | 21 | unsigned long step; |
nucho | 0:06fc856e99ca | 22 | unsigned char data_length; |
nucho | 0:06fc856e99ca | 23 | unsigned char st_data; |
nucho | 0:06fc856e99ca | 24 | unsigned char * data; |
nucho | 0:06fc856e99ca | 25 | |
nucho | 0:06fc856e99ca | 26 | virtual int serialize(unsigned char *outbuffer) |
nucho | 0:06fc856e99ca | 27 | { |
nucho | 0:06fc856e99ca | 28 | int offset = 0; |
nucho | 0:06fc856e99ca | 29 | offset += this->header.serialize(outbuffer + offset); |
nucho | 0:06fc856e99ca | 30 | union { |
nucho | 0:06fc856e99ca | 31 | unsigned long real; |
nucho | 0:06fc856e99ca | 32 | unsigned long base; |
nucho | 0:06fc856e99ca | 33 | } u_height; |
nucho | 0:06fc856e99ca | 34 | u_height.real = this->height; |
nucho | 0:06fc856e99ca | 35 | *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF; |
nucho | 0:06fc856e99ca | 36 | *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF; |
nucho | 0:06fc856e99ca | 37 | *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF; |
nucho | 0:06fc856e99ca | 38 | *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF; |
nucho | 0:06fc856e99ca | 39 | offset += sizeof(this->height); |
nucho | 0:06fc856e99ca | 40 | union { |
nucho | 0:06fc856e99ca | 41 | unsigned long real; |
nucho | 0:06fc856e99ca | 42 | unsigned long base; |
nucho | 0:06fc856e99ca | 43 | } u_width; |
nucho | 0:06fc856e99ca | 44 | u_width.real = this->width; |
nucho | 0:06fc856e99ca | 45 | *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF; |
nucho | 0:06fc856e99ca | 46 | *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF; |
nucho | 0:06fc856e99ca | 47 | *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF; |
nucho | 0:06fc856e99ca | 48 | *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF; |
nucho | 0:06fc856e99ca | 49 | offset += sizeof(this->width); |
nucho | 0:06fc856e99ca | 50 | long * length_encoding = (long *)(outbuffer + offset); |
nucho | 0:06fc856e99ca | 51 | *length_encoding = strlen( (const char*) this->encoding); |
nucho | 0:06fc856e99ca | 52 | offset += 4; |
nucho | 0:06fc856e99ca | 53 | memcpy(outbuffer + offset, this->encoding, *length_encoding); |
nucho | 0:06fc856e99ca | 54 | offset += *length_encoding; |
nucho | 0:06fc856e99ca | 55 | union { |
nucho | 0:06fc856e99ca | 56 | unsigned char real; |
nucho | 0:06fc856e99ca | 57 | unsigned char base; |
nucho | 0:06fc856e99ca | 58 | } u_is_bigendian; |
nucho | 0:06fc856e99ca | 59 | u_is_bigendian.real = this->is_bigendian; |
nucho | 0:06fc856e99ca | 60 | *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF; |
nucho | 0:06fc856e99ca | 61 | offset += sizeof(this->is_bigendian); |
nucho | 0:06fc856e99ca | 62 | union { |
nucho | 0:06fc856e99ca | 63 | unsigned long real; |
nucho | 0:06fc856e99ca | 64 | unsigned long base; |
nucho | 0:06fc856e99ca | 65 | } u_step; |
nucho | 0:06fc856e99ca | 66 | u_step.real = this->step; |
nucho | 0:06fc856e99ca | 67 | *(outbuffer + offset + 0) = (u_step.base >> (8 * 0)) & 0xFF; |
nucho | 0:06fc856e99ca | 68 | *(outbuffer + offset + 1) = (u_step.base >> (8 * 1)) & 0xFF; |
nucho | 0:06fc856e99ca | 69 | *(outbuffer + offset + 2) = (u_step.base >> (8 * 2)) & 0xFF; |
nucho | 0:06fc856e99ca | 70 | *(outbuffer + offset + 3) = (u_step.base >> (8 * 3)) & 0xFF; |
nucho | 0:06fc856e99ca | 71 | offset += sizeof(this->step); |
nucho | 0:06fc856e99ca | 72 | *(outbuffer + offset++) = data_length; |
nucho | 0:06fc856e99ca | 73 | *(outbuffer + offset++) = 0; |
nucho | 0:06fc856e99ca | 74 | *(outbuffer + offset++) = 0; |
nucho | 0:06fc856e99ca | 75 | *(outbuffer + offset++) = 0; |
nucho | 0:06fc856e99ca | 76 | for( unsigned char i = 0; i < data_length; i++){ |
nucho | 0:06fc856e99ca | 77 | union { |
nucho | 0:06fc856e99ca | 78 | unsigned char real; |
nucho | 0:06fc856e99ca | 79 | unsigned char base; |
nucho | 0:06fc856e99ca | 80 | } u_datai; |
nucho | 0:06fc856e99ca | 81 | u_datai.real = this->data[i]; |
nucho | 0:06fc856e99ca | 82 | *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF; |
nucho | 0:06fc856e99ca | 83 | offset += sizeof(this->data[i]); |
nucho | 0:06fc856e99ca | 84 | } |
nucho | 0:06fc856e99ca | 85 | return offset; |
nucho | 0:06fc856e99ca | 86 | } |
nucho | 0:06fc856e99ca | 87 | |
nucho | 0:06fc856e99ca | 88 | virtual int deserialize(unsigned char *inbuffer) |
nucho | 0:06fc856e99ca | 89 | { |
nucho | 0:06fc856e99ca | 90 | int offset = 0; |
nucho | 0:06fc856e99ca | 91 | offset += this->header.deserialize(inbuffer + offset); |
nucho | 0:06fc856e99ca | 92 | union { |
nucho | 0:06fc856e99ca | 93 | unsigned long real; |
nucho | 0:06fc856e99ca | 94 | unsigned long base; |
nucho | 0:06fc856e99ca | 95 | } u_height; |
nucho | 0:06fc856e99ca | 96 | u_height.base = 0; |
nucho | 0:06fc856e99ca | 97 | u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:06fc856e99ca | 98 | u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 0:06fc856e99ca | 99 | u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 0:06fc856e99ca | 100 | u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 0:06fc856e99ca | 101 | this->height = u_height.real; |
nucho | 0:06fc856e99ca | 102 | offset += sizeof(this->height); |
nucho | 0:06fc856e99ca | 103 | union { |
nucho | 0:06fc856e99ca | 104 | unsigned long real; |
nucho | 0:06fc856e99ca | 105 | unsigned long base; |
nucho | 0:06fc856e99ca | 106 | } u_width; |
nucho | 0:06fc856e99ca | 107 | u_width.base = 0; |
nucho | 0:06fc856e99ca | 108 | u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:06fc856e99ca | 109 | u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 0:06fc856e99ca | 110 | u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 0:06fc856e99ca | 111 | u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 0:06fc856e99ca | 112 | this->width = u_width.real; |
nucho | 0:06fc856e99ca | 113 | offset += sizeof(this->width); |
nucho | 0:06fc856e99ca | 114 | uint32_t length_encoding = *(uint32_t *)(inbuffer + offset); |
nucho | 0:06fc856e99ca | 115 | offset += 4; |
nucho | 0:06fc856e99ca | 116 | for(unsigned int k= offset; k< offset+length_encoding; ++k){ |
nucho | 0:06fc856e99ca | 117 | inbuffer[k-1]=inbuffer[k]; |
nucho | 0:06fc856e99ca | 118 | } |
nucho | 0:06fc856e99ca | 119 | inbuffer[offset+length_encoding-1]=0; |
nucho | 0:06fc856e99ca | 120 | this->encoding = (char *)(inbuffer + offset-1); |
nucho | 0:06fc856e99ca | 121 | offset += length_encoding; |
nucho | 0:06fc856e99ca | 122 | union { |
nucho | 0:06fc856e99ca | 123 | unsigned char real; |
nucho | 0:06fc856e99ca | 124 | unsigned char base; |
nucho | 0:06fc856e99ca | 125 | } u_is_bigendian; |
nucho | 0:06fc856e99ca | 126 | u_is_bigendian.base = 0; |
nucho | 0:06fc856e99ca | 127 | u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:06fc856e99ca | 128 | this->is_bigendian = u_is_bigendian.real; |
nucho | 0:06fc856e99ca | 129 | offset += sizeof(this->is_bigendian); |
nucho | 0:06fc856e99ca | 130 | union { |
nucho | 0:06fc856e99ca | 131 | unsigned long real; |
nucho | 0:06fc856e99ca | 132 | unsigned long base; |
nucho | 0:06fc856e99ca | 133 | } u_step; |
nucho | 0:06fc856e99ca | 134 | u_step.base = 0; |
nucho | 0:06fc856e99ca | 135 | u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:06fc856e99ca | 136 | u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); |
nucho | 0:06fc856e99ca | 137 | u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); |
nucho | 0:06fc856e99ca | 138 | u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); |
nucho | 0:06fc856e99ca | 139 | this->step = u_step.real; |
nucho | 0:06fc856e99ca | 140 | offset += sizeof(this->step); |
nucho | 0:06fc856e99ca | 141 | unsigned char data_lengthT = *(inbuffer + offset++); |
nucho | 0:06fc856e99ca | 142 | if(data_lengthT > data_length) |
nucho | 0:06fc856e99ca | 143 | this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); |
nucho | 0:06fc856e99ca | 144 | offset += 3; |
nucho | 0:06fc856e99ca | 145 | data_length = data_lengthT; |
nucho | 0:06fc856e99ca | 146 | for( unsigned char i = 0; i < data_length; i++){ |
nucho | 0:06fc856e99ca | 147 | union { |
nucho | 0:06fc856e99ca | 148 | unsigned char real; |
nucho | 0:06fc856e99ca | 149 | unsigned char base; |
nucho | 0:06fc856e99ca | 150 | } u_st_data; |
nucho | 0:06fc856e99ca | 151 | u_st_data.base = 0; |
nucho | 0:06fc856e99ca | 152 | u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); |
nucho | 0:06fc856e99ca | 153 | this->st_data = u_st_data.real; |
nucho | 0:06fc856e99ca | 154 | offset += sizeof(this->st_data); |
nucho | 0:06fc856e99ca | 155 | memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); |
nucho | 0:06fc856e99ca | 156 | } |
nucho | 0:06fc856e99ca | 157 | return offset; |
nucho | 0:06fc856e99ca | 158 | } |
nucho | 0:06fc856e99ca | 159 | |
nucho | 0:06fc856e99ca | 160 | virtual const char * getType(){ return "sensor_msgs/Image"; }; |
nucho | 0:06fc856e99ca | 161 | |
nucho | 0:06fc856e99ca | 162 | }; |
nucho | 0:06fc856e99ca | 163 | |
nucho | 0:06fc856e99ca | 164 | } |
nucho | 0:06fc856e99ca | 165 | #endif |