![](/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
sensor_msgs/Image.h
- Committer:
- nucho
- Date:
- 2011-11-12
- Revision:
- 3:dff241b66f84
- Parent:
- 0:06fc856e99ca
File content as of revision 3:dff241b66f84:
#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