Diff: sensor_msgs/Image.h

Revision:

0:fd24f7ca9688

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Image.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,123 @@
+#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;
+      const char* encoding;
+      uint8_t is_bigendian;
+      uint32_t step;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+
+    Image():
+      header(),
+      height(0),
+      width(0),
+      encoding(""),
+      is_bigendian(0),
+      step(0),
+      data_length(0), data(NULL)
+    {
+    }
+
+    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 = strlen(this->encoding);
+      memcpy(outbuffer + offset, &length_encoding, sizeof(uint32_t));
+      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)));
+      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)));
+      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;
+      memcpy(&length_encoding, (inbuffer + offset), sizeof(uint32_t));
+      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)));
+      offset += sizeof(this->is_bigendian);
+      this->step =  ((uint32_t) (*(inbuffer + offset)));
+      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)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Image"; };
+    const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
+
+  };
+
+}
+#endif
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