00001 #ifndef _ROS_sensor_msgs_CompressedImage_h
00002 #define _ROS_sensor_msgs_CompressedImage_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 CompressedImage : public ros::Msg
00014 {
00015 public:
00016 std_msgs::Header header;
00017 char * format;
00018 uint8_t data_length;
00019 uint8_t st_data;
00020 uint8_t * data;
00021
00022 virtual int serialize(unsigned char *outbuffer) const
00023 {
00024 int offset = 0;
00025 offset += this->header.serialize(outbuffer + offset);
00026 uint32_t * length_format = (uint32_t *)(outbuffer + offset);
00027 *length_format = strlen( (const char*) this->format);
00028 offset += 4;
00029 memcpy(outbuffer + offset, this->format, *length_format);
00030 offset += *length_format;
00031 *(outbuffer + offset++) = data_length;
00032 *(outbuffer + offset++) = 0;
00033 *(outbuffer + offset++) = 0;
00034 *(outbuffer + offset++) = 0;
00035 for( uint8_t i = 0; i < data_length; i++){
00036 *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
00037 offset += sizeof(this->data[i]);
00038 }
00039 return offset;
00040 }
00041
00042 virtual int deserialize(unsigned char *inbuffer)
00043 {
00044 int offset = 0;
00045 offset += this->header.deserialize(inbuffer + offset);
00046 uint32_t length_format = *(uint32_t *)(inbuffer + offset);
00047 offset += 4;
00048 for(unsigned int k= offset; k< offset+length_format; ++k){
00049 inbuffer[k-1]=inbuffer[k];
00050 }
00051 inbuffer[offset+length_format-1]=0;
00052 this->format = (char *)(inbuffer + offset-1);
00053 offset += length_format;
00054 uint8_t data_lengthT = *(inbuffer + offset++);
00055 if(data_lengthT > data_length)
00056 this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
00057 offset += 3;
00058 data_length = data_lengthT;
00059 for( uint8_t i = 0; i < data_length; i++){
00060 this->st_data |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
00061 offset += sizeof(this->st_data);
00062 memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
00063 }
00064 return offset;
00065 }
00066
00067 const char * getType(){ return "sensor_msgs/CompressedImage"; };
00068 const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
00069
00070 };
00071
00072 }
00073 #endif
