nucho / rosserial_mbed_lib

This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial.

Dependencies:  

Dependents:   rosserial_mbed robot_S2

sensor_msgs/Image.h@0:77afd7560544, 2011-08-19 (annotated)

Committer:
nucho
Date:
Fri Aug 19 09:06:30 2011 +0000
Revision:
0:77afd7560544
Child:
3:1cf99502f396

        

        
Who changed what in which revision?

        

            
                
UserRevisionLine numberNew contents of line

            
            


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#ifndef ros_Image_h





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#define ros_Image_h





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#include <stdint.h>





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#include <string.h>





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#include <stdlib.h>





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#include "../ros/msg.h"





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#include "std_msgs/Header.h"





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namespace sensor_msgs





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{





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  class Image : public ros::Msg





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  {





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    public:





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      std_msgs::Header header;





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      unsigned long height;





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      unsigned long width;





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      char * encoding;





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      unsigned char is_bigendian;





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      unsigned long step;





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      unsigned char data_length;





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      unsigned char st_data;





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      unsigned char * data;





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    virtual int serialize(unsigned char *outbuffer)





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    {





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      int offset = 0;





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      offset += this->header.serialize(outbuffer + offset);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_height;





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      u_height.real = this->height;





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      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->height);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_width;





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      u_width.real = this->width;





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      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->width);





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      long * length_encoding = (long *)(outbuffer + offset);





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      *length_encoding = strlen( (const char*) this->encoding);





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      offset += 4;





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      memcpy(outbuffer + offset, this->encoding, *length_encoding);





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      offset += *length_encoding;





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_is_bigendian;





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      u_is_bigendian.real = this->is_bigendian;





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      *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;





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      offset += sizeof(this->is_bigendian);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_step;





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      u_step.real = this->step;





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      *(outbuffer + offset + 0) = (u_step.base >> (8 * 0)) & 0xFF;





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      *(outbuffer + offset + 1) = (u_step.base >> (8 * 1)) & 0xFF;





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      *(outbuffer + offset + 2) = (u_step.base >> (8 * 2)) & 0xFF;





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      *(outbuffer + offset + 3) = (u_step.base >> (8 * 3)) & 0xFF;





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      offset += sizeof(this->step);





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      *(outbuffer + offset++) = data_length;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      *(outbuffer + offset++) = 0;





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      for( unsigned char i = 0; i < data_length; i++){





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_datai;





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      u_datai.real = this->data[i];





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      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;





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      offset += sizeof(this->data[i]);





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      }





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      return offset;





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    }





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    virtual int deserialize(unsigned char *inbuffer)





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    {





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      int offset = 0;





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      offset += this->header.deserialize(inbuffer + offset);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_height;





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      u_height.base = 0;





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->height = u_height.real;





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      offset += sizeof(this->height);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_width;





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      u_width.base = 0;





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->width = u_width.real;





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      offset += sizeof(this->width);





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      uint32_t length_encoding = *(uint32_t *)(inbuffer + offset);





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      offset += 4;





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      for(unsigned int k= offset; k< offset+length_encoding; ++k){





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          inbuffer[k-1]=inbuffer[k];





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           }





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      inbuffer[offset+length_encoding-1]=0;





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      this->encoding = (char *)(inbuffer + offset-1);





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      offset += length_encoding;





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_is_bigendian;





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      u_is_bigendian.base = 0;





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      u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      this->is_bigendian = u_is_bigendian.real;





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      offset += sizeof(this->is_bigendian);





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      union {





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        unsigned long real;





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        unsigned long base;





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      } u_step;





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      u_step.base = 0;





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      u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 1))) << (8 * 1);





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      u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 2))) << (8 * 2);





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      u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 3))) << (8 * 3);





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      this->step = u_step.real;





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      offset += sizeof(this->step);





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      unsigned char data_lengthT = *(inbuffer + offset++);





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      if(data_lengthT > data_length)





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        this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));





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      offset += 3;





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      data_length = data_lengthT;





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      for( unsigned char i = 0; i < data_length; i++){





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      union {





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        unsigned char real;





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        unsigned char base;





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      } u_st_data;





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      u_st_data.base = 0;





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      u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);





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      this->st_data = u_st_data.real;





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      offset += sizeof(this->st_data);





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        memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));





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      }





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     return offset;





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    }





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   virtual const char * getType(){ return "sensor_msgs/Image"; };





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  };





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}





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#endif