ozgur erbulan / ros_lib_indigo

It has only one change from original one. I added robotfeedback message on it.

Dependencies:   BufferedSerial

Dependents:   RobotFeedback mobileRobotITU

Fork of ros_lib_indigo by Gary Servin

sensor_msgs/CompressedImage.h@4:80d9bee5079a, 2017-03-04 (annotated)

Committer:
randalthor
Date:
Sat Mar 04 14:07:56 2017 +0000
Revision:
4:80d9bee5079a
Parent:
0:fd24f7ca9688 
fatih

Who changed what in which revision?

UserRevisionLine numberNew contents of line
garyservin 0:fd24f7ca9688 1 #ifndef _ROS_sensor_msgs_CompressedImage_h
garyservin 0:fd24f7ca9688 2 #define _ROS_sensor_msgs_CompressedImage_h
garyservin 0:fd24f7ca9688 3
garyservin 0:fd24f7ca9688 4 #include <stdint.h>
garyservin 0:fd24f7ca9688 5 #include <string.h>
garyservin 0:fd24f7ca9688 6 #include <stdlib.h>
garyservin 0:fd24f7ca9688 7 #include "ros/msg.h"
garyservin 0:fd24f7ca9688 8 #include "std_msgs/Header.h"
garyservin 0:fd24f7ca9688 9
garyservin 0:fd24f7ca9688 10 namespace sensor_msgs
garyservin 0:fd24f7ca9688 11 {
garyservin 0:fd24f7ca9688 12
garyservin 0:fd24f7ca9688 13 class CompressedImage : public ros::Msg
garyservin 0:fd24f7ca9688 14 {
garyservin 0:fd24f7ca9688 15 public:
garyservin 0:fd24f7ca9688 16 std_msgs::Header header;
garyservin 0:fd24f7ca9688 17 const char* format;
garyservin 0:fd24f7ca9688 18 uint8_t data_length;
garyservin 0:fd24f7ca9688 19 uint8_t st_data;
garyservin 0:fd24f7ca9688 20 uint8_t * data;
garyservin 0:fd24f7ca9688 21
garyservin 0:fd24f7ca9688 22 CompressedImage():
garyservin 0:fd24f7ca9688 23 header(),
garyservin 0:fd24f7ca9688 24 format(""),
garyservin 0:fd24f7ca9688 25 data_length(0), data(NULL)
garyservin 0:fd24f7ca9688 26 {
garyservin 0:fd24f7ca9688 27 }
garyservin 0:fd24f7ca9688 28
garyservin 0:fd24f7ca9688 29 virtual int serialize(unsigned char *outbuffer) const
garyservin 0:fd24f7ca9688 30 {
garyservin 0:fd24f7ca9688 31 int offset = 0;
garyservin 0:fd24f7ca9688 32 offset += this->header.serialize(outbuffer + offset);
garyservin 0:fd24f7ca9688 33 uint32_t length_format = strlen(this->format);
garyservin 0:fd24f7ca9688 34 memcpy(outbuffer + offset, &length_format, sizeof(uint32_t));
garyservin 0:fd24f7ca9688 35 offset += 4;
garyservin 0:fd24f7ca9688 36 memcpy(outbuffer + offset, this->format, length_format);
garyservin 0:fd24f7ca9688 37 offset += length_format;
garyservin 0:fd24f7ca9688 38 *(outbuffer + offset++) = data_length;
garyservin 0:fd24f7ca9688 39 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 40 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 41 *(outbuffer + offset++) = 0;
garyservin 0:fd24f7ca9688 42 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 43 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
garyservin 0:fd24f7ca9688 44 offset += sizeof(this->data[i]);
garyservin 0:fd24f7ca9688 45 }
garyservin 0:fd24f7ca9688 46 return offset;
garyservin 0:fd24f7ca9688 47 }
garyservin 0:fd24f7ca9688 48
garyservin 0:fd24f7ca9688 49 virtual int deserialize(unsigned char *inbuffer)
garyservin 0:fd24f7ca9688 50 {
garyservin 0:fd24f7ca9688 51 int offset = 0;
garyservin 0:fd24f7ca9688 52 offset += this->header.deserialize(inbuffer + offset);
garyservin 0:fd24f7ca9688 53 uint32_t length_format;
garyservin 0:fd24f7ca9688 54 memcpy(&length_format, (inbuffer + offset), sizeof(uint32_t));
garyservin 0:fd24f7ca9688 55 offset += 4;
garyservin 0:fd24f7ca9688 56 for(unsigned int k= offset; k< offset+length_format; ++k){
garyservin 0:fd24f7ca9688 57 inbuffer[k-1]=inbuffer[k];
garyservin 0:fd24f7ca9688 58 }
garyservin 0:fd24f7ca9688 59 inbuffer[offset+length_format-1]=0;
garyservin 0:fd24f7ca9688 60 this->format = (char *)(inbuffer + offset-1);
garyservin 0:fd24f7ca9688 61 offset += length_format;
garyservin 0:fd24f7ca9688 62 uint8_t data_lengthT = *(inbuffer + offset++);
garyservin 0:fd24f7ca9688 63 if(data_lengthT > data_length)
garyservin 0:fd24f7ca9688 64 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
garyservin 0:fd24f7ca9688 65 offset += 3;
garyservin 0:fd24f7ca9688 66 data_length = data_lengthT;
garyservin 0:fd24f7ca9688 67 for( uint8_t i = 0; i < data_length; i++){
garyservin 0:fd24f7ca9688 68 this->st_data = ((uint8_t) (*(inbuffer + offset)));
garyservin 0:fd24f7ca9688 69 offset += sizeof(this->st_data);
garyservin 0:fd24f7ca9688 70 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
garyservin 0:fd24f7ca9688 71 }
garyservin 0:fd24f7ca9688 72 return offset;
garyservin 0:fd24f7ca9688 73 }
garyservin 0:fd24f7ca9688 74
garyservin 0:fd24f7ca9688 75 const char * getType(){ return "sensor_msgs/CompressedImage"; };
garyservin 0:fd24f7ca9688 76 const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
garyservin 0:fd24f7ca9688 77
garyservin 0:fd24f7ca9688 78 };
garyservin 0:fd24f7ca9688 79
garyservin 0:fd24f7ca9688 80 }
garyservin 0:fd24f7ca9688 81 #endif