![](/media/cache/profiles/94aef38441efa3380a3bed3faf1f9d5d.50x50_q85.jpg)
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
Diff: sensor_msgs/Image.h
- Revision:
- 4:2cbca0ac2569
- Parent:
- 3:dff241b66f84
--- a/sensor_msgs/Image.h Sat Nov 12 23:53:04 2011 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,111 +0,0 @@ -#ifndef _ROS_sensor_msgs_Image_h -#define _ROS_sensor_msgs_Image_h - -#include <stdint.h> -#include <string.h> -#include <stdlib.h> -#include "ros/msg.h" -#include "std_msgs/Header.h" - -namespace sensor_msgs -{ - - class Image : public ros::Msg - { - public: - std_msgs::Header header; - uint32_t height; - uint32_t width; - char * encoding; - uint8_t is_bigendian; - uint32_t step; - uint8_t data_length; - uint8_t st_data; - uint8_t * data; - - virtual int serialize(unsigned char *outbuffer) const - { - int offset = 0; - offset += this->header.serialize(outbuffer + offset); - *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF; - offset += sizeof(this->height); - *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF; - offset += sizeof(this->width); - uint32_t * length_encoding = (uint32_t *)(outbuffer + offset); - *length_encoding = strlen( (const char*) this->encoding); - offset += 4; - memcpy(outbuffer + offset, this->encoding, *length_encoding); - offset += *length_encoding; - *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF; - offset += sizeof(this->is_bigendian); - *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF; - *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF; - *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF; - *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF; - offset += sizeof(this->step); - *(outbuffer + offset++) = data_length; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - *(outbuffer + offset++) = 0; - for( uint8_t i = 0; i < data_length; i++){ - *(outbuffer + offset + 0) = (this->data[i] >> (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); - this->height |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); - this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); - this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); - this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); - offset += sizeof(this->height); - this->width |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); - this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); - this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); - this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); - offset += sizeof(this->width); - uint32_t length_encoding = *(uint32_t *)(inbuffer + offset); - offset += 4; - for(unsigned int k= offset; k< offset+length_encoding; ++k){ - inbuffer[k-1]=inbuffer[k]; - } - inbuffer[offset+length_encoding-1]=0; - this->encoding = (char *)(inbuffer + offset-1); - offset += length_encoding; - this->is_bigendian |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); - offset += sizeof(this->is_bigendian); - this->step |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0); - this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); - this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); - this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); - offset += sizeof(this->step); - uint8_t data_lengthT = *(inbuffer + offset++); - if(data_lengthT > data_length) - this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t)); - offset += 3; - data_length = data_lengthT; - for( uint8_t i = 0; i < data_length; i++){ - this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0); - offset += sizeof(this->st_data); - memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t)); - } - return offset; - } - - virtual const char * getType(){ return "sensor_msgs/Image"; }; - virtual const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; }; - - }; - -} -#endif \ No newline at end of file