Go to the documentation of this file.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 uint32_t height;
00018 uint32_t width;
00019 const char* encoding;
00020 uint8_t is_bigendian;
00021 uint32_t step;
00022 uint8_t data_length;
00023 uint8_t st_data;
00024 uint8_t * data;
00025
00026 virtual int serialize(unsigned char *outbuffer) const
00027 {
00028 int offset = 0;
00029 offset += this->header.serialize(outbuffer + offset);
00030 *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
00031 *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
00032 *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
00033 *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
00034 offset += sizeof(this->height);
00035 *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
00036 *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
00037 *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
00038 *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
00039 offset += sizeof(this->width);
00040 uint32_t length_encoding = strlen(this->encoding);
00041 memcpy(outbuffer + offset, &length_encoding, sizeof(uint32_t));
00042 offset += 4;
00043 memcpy(outbuffer + offset, this->encoding, length_encoding);
00044 offset += length_encoding;
00045 *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
00046 offset += sizeof(this->is_bigendian);
00047 *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
00048 *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
00049 *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
00050 *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
00051 offset += sizeof(this->step);
00052 *(outbuffer + offset++) = data_length;
00053 *(outbuffer + offset++) = 0;
00054 *(outbuffer + offset++) = 0;
00055 *(outbuffer + offset++) = 0;
00056 for( uint8_t i = 0; i < data_length; i++){
00057 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00058 offset += sizeof(this->data[i]);
00059 }
00060 return offset;
00061 }
00062
00063 virtual int deserialize(unsigned char *inbuffer)
00064 {
00065 int offset = 0;
00066 offset += this->header.deserialize(inbuffer + offset);
00067 this->height = ((uint32_t) (*(inbuffer + offset)));
00068 this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00069 this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00070 this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00071 offset += sizeof(this->height);
00072 this->width = ((uint32_t) (*(inbuffer + offset)));
00073 this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00074 this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00075 this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00076 offset += sizeof(this->width);
00077 uint32_t length_encoding;
00078 memcpy(&length_encoding, (inbuffer + offset), sizeof(uint32_t));
00079 offset += 4;
00080 for(unsigned int k= offset; k< offset+length_encoding; ++k){
00081 inbuffer[k-1]=inbuffer[k];
00082 }
00083 inbuffer[offset+length_encoding-1]=0;
00084 this->encoding = (char *)(inbuffer + offset-1);
00085 offset += length_encoding;
00086 this->is_bigendian = ((uint8_t) (*(inbuffer + offset)));
00087 offset += sizeof(this->is_bigendian);
00088 this->step = ((uint32_t) (*(inbuffer + offset)));
00089 this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
00090 this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
00091 this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
00092 offset += sizeof(this->step);
00093 uint8_t data_lengthT = *(inbuffer + offset++);
00094 if(data_lengthT > data_length)
00095 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00096 offset += 3;
00097 data_length = data_lengthT;
00098 for( uint8_t i = 0; i < data_length; i++){
00099 this->st_data = ((uint8_t) (*(inbuffer + offset)));
00100 offset += sizeof(this->st_data);
00101 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00102 }
00103 return offset;
00104 }
00105
00106 const char * getType(){ return "sensor_msgs/Image"; };
00107 const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
00108
00109 };
00110
00111 }
00112 #endif