Image.h
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00001 #ifndef ros_sensor_msgs_Image_h
00002 #define ros_sensor_msgs_Image_h
00003 
00004 #include <stdint.h>
00005 #include <string.h>
00006 #include <stdlib.h>
00007 #include "../ros/msg.h"
00008 #include "std_msgs/Header.h"
00009 
00010 namespace sensor_msgs
00011 {
00012 
00013   class Image : public ros::Msg
00014   {
00015     public:
00016       std_msgs::Header header;
00017       unsigned long height;
00018       unsigned long width;
00019       char * encoding;
00020       unsigned char is_bigendian;
00021       unsigned long step;
00022       unsigned char data_length;
00023       unsigned char st_data;
00024       unsigned char * data;
00025 
00026     virtual int serialize(unsigned char *outbuffer)
00027     {
00028       int offset = 0;
00029       offset += this->header.serialize(outbuffer + offset);
00030       union {
00031         unsigned long real;
00032         unsigned long base;
00033       } u_height;
00034       u_height.real = this->height;
00035       *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
00036       *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
00037       *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
00038       *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
00039       offset += sizeof(this->height);
00040       union {
00041         unsigned long real;
00042         unsigned long base;
00043       } u_width;
00044       u_width.real = this->width;
00045       *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
00046       *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
00047       *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
00048       *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
00049       offset += sizeof(this->width);
00050       long * length_encoding = (long *)(outbuffer + offset);
00051       *length_encoding = strlen( (const char*) this->encoding);
00052       offset += 4;
00053       memcpy(outbuffer + offset, this->encoding, *length_encoding);
00054       offset += *length_encoding;
00055       union {
00056         unsigned char real;
00057         unsigned char base;
00058       } u_is_bigendian;
00059       u_is_bigendian.real = this->is_bigendian;
00060       *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
00061       offset += sizeof(this->is_bigendian);
00062       union {
00063         unsigned long real;
00064         unsigned long base;
00065       } u_step;
00066       u_step.real = this->step;
00067       *(outbuffer + offset + 0) = (u_step.base >> (8 * 0)) & 0xFF;
00068       *(outbuffer + offset + 1) = (u_step.base >> (8 * 1)) & 0xFF;
00069       *(outbuffer + offset + 2) = (u_step.base >> (8 * 2)) & 0xFF;
00070       *(outbuffer + offset + 3) = (u_step.base >> (8 * 3)) & 0xFF;
00071       offset += sizeof(this->step);
00072       *(outbuffer + offset++) = data_length;
00073       *(outbuffer + offset++) = 0;
00074       *(outbuffer + offset++) = 0;
00075       *(outbuffer + offset++) = 0;
00076       for( unsigned char i = 0; i < data_length; i++){
00077       union {
00078         unsigned char real;
00079         unsigned char base;
00080       } u_datai;
00081       u_datai.real = this->data[i];
00082       *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00083       offset += sizeof(this->data[i]);
00084       }
00085       return offset;
00086     }
00087 
00088     virtual int deserialize(unsigned char *inbuffer)
00089     {
00090       int offset = 0;
00091       offset += this->header.deserialize(inbuffer + offset);
00092       union {
00093         unsigned long real;
00094         unsigned long base;
00095       } u_height;
00096       u_height.base = 0;
00097       u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00098       u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 1))) << (8 * 1);
00099       u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 2))) << (8 * 2);
00100       u_height.base |= ((typeof(u_height.base)) (*(inbuffer + offset + 3))) << (8 * 3);
00101       this->height = u_height.real;
00102       offset += sizeof(this->height);
00103       union {
00104         unsigned long real;
00105         unsigned long base;
00106       } u_width;
00107       u_width.base = 0;
00108       u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00109       u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 1))) << (8 * 1);
00110       u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 2))) << (8 * 2);
00111       u_width.base |= ((typeof(u_width.base)) (*(inbuffer + offset + 3))) << (8 * 3);
00112       this->width = u_width.real;
00113       offset += sizeof(this->width);
00114       uint32_t length_encoding = *(uint32_t *)(inbuffer + offset);
00115       offset += 4;
00116       for(unsigned int k= offset; k< offset+length_encoding; ++k){
00117           inbuffer[k-1]=inbuffer[k];
00118            }
00119       inbuffer[offset+length_encoding-1]=0;
00120       this->encoding = (char *)(inbuffer + offset-1);
00121       offset += length_encoding;
00122       union {
00123         unsigned char real;
00124         unsigned char base;
00125       } u_is_bigendian;
00126       u_is_bigendian.base = 0;
00127       u_is_bigendian.base |= ((typeof(u_is_bigendian.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00128       this->is_bigendian = u_is_bigendian.real;
00129       offset += sizeof(this->is_bigendian);
00130       union {
00131         unsigned long real;
00132         unsigned long base;
00133       } u_step;
00134       u_step.base = 0;
00135       u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00136       u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 1))) << (8 * 1);
00137       u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 2))) << (8 * 2);
00138       u_step.base |= ((typeof(u_step.base)) (*(inbuffer + offset + 3))) << (8 * 3);
00139       this->step = u_step.real;
00140       offset += sizeof(this->step);
00141       unsigned char data_lengthT = *(inbuffer + offset++);
00142       if(data_lengthT > data_length)
00143         this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));
00144       offset += 3;
00145       data_length = data_lengthT;
00146       for( unsigned char i = 0; i < data_length; i++){
00147       union {
00148         unsigned char real;
00149         unsigned char base;
00150       } u_st_data;
00151       u_st_data.base = 0;
00152       u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00153       this->st_data = u_st_data.real;
00154       offset += sizeof(this->st_data);
00155         memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));
00156       }
00157      return offset;
00158     }
00159 
00160     const char * getType(){ return "sensor_msgs/Image"; };
00161 
00162   };
00163 
00164 }
00165 #endif
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Author(s): André Gonçalves Araújo
autogenerated on Fri Feb 1 2013 13:21:12