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
- Committer:
- nucho
- Date:
- 2011-08-19
- Revision:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
File content as of revision 0:06fc856e99ca:
#ifndef ros_Image_h #define ros_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; unsigned long height; unsigned long width; char * encoding; unsigned char is_bigendian; unsigned long step; unsigned char data_length; unsigned char st_data; unsigned char * data; virtual int serialize(unsigned char *outbuffer) { int offset = 0; offset += this->header.serialize(outbuffer + offset); union { unsigned long real; unsigned long base; } u_height; u_height.real = this->height; *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF; offset += sizeof(this->height); union { unsigned long real; unsigned long base; } u_width; u_width.real = this->width; *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF; offset += sizeof(this->width); long * length_encoding = (long *)(outbuffer + offset); *length_encoding = strlen( (const char*) this->encoding); offset += 4; memcpy(outbuffer + offset, this->encoding, *length_encoding); offset += *length_encoding; union { unsigned char real; unsigned char base; } u_is_bigendian; u_is_bigendian.real = this->is_bigendian; *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF; offset += sizeof(this->is_bigendian); union { unsigned long real; unsigned long base; } u_step; u_step.real = this->step; *(outbuffer + offset + 0) = (u_step.base >> (8 * 0)) & 0xFF; *(outbuffer + offset + 1) = (u_step.base >> (8 * 1)) & 0xFF; *(outbuffer + offset + 2) = (u_step.base >> (8 * 2)) & 0xFF; *(outbuffer + offset + 3) = (u_step.base >> (8 * 3)) & 0xFF; offset += sizeof(this->step); *(outbuffer + offset++) = data_length; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; *(outbuffer + offset++) = 0; for( unsigned char i = 0; i < data_length; i++){ union { unsigned char real; unsigned char base; } u_datai; u_datai.real = this->data[i]; *(outbuffer + offset + 0) = (u_datai.base >> (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); union { unsigned long real; unsigned long base; } u_height; u_height.base = 0; u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0); u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1); u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2); u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3); this->height = u_height.real; offset += sizeof(this->height); union { unsigned long real; unsigned long base; } u_width; u_width.base = 0; u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0); u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1); u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2); u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3); this->width = u_width.real; 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; union { unsigned char real; unsigned char base; } u_is_bigendian; u_is_bigendian.base = 0; u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0); this->is_bigendian = u_is_bigendian.real; offset += sizeof(this->is_bigendian); union { unsigned long real; unsigned long base; } u_step; u_step.base = 0; u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 0))) << (8 * 0); u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 1))) << (8 * 1); u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 2))) << (8 * 2); u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 3))) << (8 * 3); this->step = u_step.real; offset += sizeof(this->step); unsigned char data_lengthT = *(inbuffer + offset++); if(data_lengthT > data_length) this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char)); offset += 3; data_length = data_lengthT; for( unsigned char i = 0; i < data_length; i++){ union { unsigned char real; unsigned char base; } u_st_data; u_st_data.base = 0; u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0); this->st_data = u_st_data.real; offset += sizeof(this->st_data); memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char)); } return offset; } virtual const char * getType(){ return "sensor_msgs/Image"; }; }; } #endif