Go to the documentation of this file.00001 #ifndef _ROS_theora_image_transport_Packet_h
00002 #define _ROS_theora_image_transport_Packet_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 theora_image_transport
00011 {
00012
00013 class Packet : public ros::Msg
00014 {
00015 public:
00016 std_msgs::Header header;
00017 uint8_t data_length;
00018 uint8_t st_data;
00019 uint8_t * data;
00020 int32_t b_o_s;
00021 int32_t e_o_s;
00022 int64_t granulepos;
00023 int64_t packetno;
00024
00025 virtual int serialize(unsigned char *outbuffer) const
00026 {
00027 int offset = 0;
00028 offset += this->header.serialize(outbuffer + offset);
00029 *(outbuffer + offset++) = data_length;
00030 *(outbuffer + offset++) = 0;
00031 *(outbuffer + offset++) = 0;
00032 *(outbuffer + offset++) = 0;
00033 for( uint8_t i = 0; i < data_length; i++){
00034 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00035 offset += sizeof(this->data[i]);
00036 }
00037 union {
00038 int32_t real;
00039 uint32_t base;
00040 } u_b_o_s;
00041 u_b_o_s.real = this->b_o_s;
00042 *(outbuffer + offset + 0) = (u_b_o_s.base >> (8 * 0)) & 0xFF;
00043 *(outbuffer + offset + 1) = (u_b_o_s.base >> (8 * 1)) & 0xFF;
00044 *(outbuffer + offset + 2) = (u_b_o_s.base >> (8 * 2)) & 0xFF;
00045 *(outbuffer + offset + 3) = (u_b_o_s.base >> (8 * 3)) & 0xFF;
00046 offset += sizeof(this->b_o_s);
00047 union {
00048 int32_t real;
00049 uint32_t base;
00050 } u_e_o_s;
00051 u_e_o_s.real = this->e_o_s;
00052 *(outbuffer + offset + 0) = (u_e_o_s.base >> (8 * 0)) & 0xFF;
00053 *(outbuffer + offset + 1) = (u_e_o_s.base >> (8 * 1)) & 0xFF;
00054 *(outbuffer + offset + 2) = (u_e_o_s.base >> (8 * 2)) & 0xFF;
00055 *(outbuffer + offset + 3) = (u_e_o_s.base >> (8 * 3)) & 0xFF;
00056 offset += sizeof(this->e_o_s);
00057 union {
00058 int64_t real;
00059 uint64_t base;
00060 } u_granulepos;
00061 u_granulepos.real = this->granulepos;
00062 *(outbuffer + offset + 0) = (u_granulepos.base >> (8 * 0)) & 0xFF;
00063 *(outbuffer + offset + 1) = (u_granulepos.base >> (8 * 1)) & 0xFF;
00064 *(outbuffer + offset + 2) = (u_granulepos.base >> (8 * 2)) & 0xFF;
00065 *(outbuffer + offset + 3) = (u_granulepos.base >> (8 * 3)) & 0xFF;
00066 *(outbuffer + offset + 4) = (u_granulepos.base >> (8 * 4)) & 0xFF;
00067 *(outbuffer + offset + 5) = (u_granulepos.base >> (8 * 5)) & 0xFF;
00068 *(outbuffer + offset + 6) = (u_granulepos.base >> (8 * 6)) & 0xFF;
00069 *(outbuffer + offset + 7) = (u_granulepos.base >> (8 * 7)) & 0xFF;
00070 offset += sizeof(this->granulepos);
00071 union {
00072 int64_t real;
00073 uint64_t base;
00074 } u_packetno;
00075 u_packetno.real = this->packetno;
00076 *(outbuffer + offset + 0) = (u_packetno.base >> (8 * 0)) & 0xFF;
00077 *(outbuffer + offset + 1) = (u_packetno.base >> (8 * 1)) & 0xFF;
00078 *(outbuffer + offset + 2) = (u_packetno.base >> (8 * 2)) & 0xFF;
00079 *(outbuffer + offset + 3) = (u_packetno.base >> (8 * 3)) & 0xFF;
00080 *(outbuffer + offset + 4) = (u_packetno.base >> (8 * 4)) & 0xFF;
00081 *(outbuffer + offset + 5) = (u_packetno.base >> (8 * 5)) & 0xFF;
00082 *(outbuffer + offset + 6) = (u_packetno.base >> (8 * 6)) & 0xFF;
00083 *(outbuffer + offset + 7) = (u_packetno.base >> (8 * 7)) & 0xFF;
00084 offset += sizeof(this->packetno);
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 uint8_t data_lengthT = *(inbuffer + offset++);
00093 if(data_lengthT > data_length)
00094 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00095 offset += 3;
00096 data_length = data_lengthT;
00097 for( uint8_t i = 0; i < data_length; i++){
00098 this->st_data = ((uint8_t) (*(inbuffer + offset)));
00099 offset += sizeof(this->st_data);
00100 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00101 }
00102 union {
00103 int32_t real;
00104 uint32_t base;
00105 } u_b_o_s;
00106 u_b_o_s.base = 0;
00107 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00108 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00109 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00110 u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00111 this->b_o_s = u_b_o_s.real;
00112 offset += sizeof(this->b_o_s);
00113 union {
00114 int32_t real;
00115 uint32_t base;
00116 } u_e_o_s;
00117 u_e_o_s.base = 0;
00118 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
00119 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00120 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00121 u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00122 this->e_o_s = u_e_o_s.real;
00123 offset += sizeof(this->e_o_s);
00124 union {
00125 int64_t real;
00126 uint64_t base;
00127 } u_granulepos;
00128 u_granulepos.base = 0;
00129 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00130 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00131 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00132 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00133 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00134 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00135 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00136 u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00137 this->granulepos = u_granulepos.real;
00138 offset += sizeof(this->granulepos);
00139 union {
00140 int64_t real;
00141 uint64_t base;
00142 } u_packetno;
00143 u_packetno.base = 0;
00144 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
00145 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
00146 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
00147 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
00148 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
00149 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
00150 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
00151 u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
00152 this->packetno = u_packetno.real;
00153 offset += sizeof(this->packetno);
00154 return offset;
00155 }
00156
00157 const char * getType(){ return "theora_image_transport/Packet"; };
00158 const char * getMD5(){ return "33ac4e14a7cff32e7e0d65f18bb410f3"; };
00159
00160 };
00161
00162 }
00163 #endif