Go to the documentation of this file.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 unsigned char data_length;
00019 unsigned char st_data;
00020 unsigned char * data;
00021
00022 virtual int serialize(unsigned char *outbuffer)
00023 {
00024 int offset = 0;
00025 offset += this->header.serialize(outbuffer + offset);
00026 long * length_format = (long *)(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( unsigned char i = 0; i < data_length; i++){
00036 union {
00037 unsigned char real;
00038 unsigned char base;
00039 } u_datai;
00040 u_datai.real = this->data[i];
00041 *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
00042 offset += sizeof(this->data[i]);
00043 }
00044 return offset;
00045 }
00046
00047 virtual int deserialize(unsigned char *inbuffer)
00048 {
00049 int offset = 0;
00050 offset += this->header.deserialize(inbuffer + offset);
00051 uint32_t length_format = *(uint32_t *)(inbuffer + offset);
00052 offset += 4;
00053 for(unsigned int k= offset; k< offset+length_format; ++k){
00054 inbuffer[k-1]=inbuffer[k];
00055 }
00056 inbuffer[offset+length_format-1]=0;
00057 this->format = (char *)(inbuffer + offset-1);
00058 offset += length_format;
00059 unsigned char data_lengthT = *(inbuffer + offset++);
00060 if(data_lengthT > data_length)
00061 this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));
00062 offset += 3;
00063 data_length = data_lengthT;
00064 for( unsigned char i = 0; i < data_length; i++){
00065 union {
00066 unsigned char real;
00067 unsigned char base;
00068 } u_st_data;
00069 u_st_data.base = 0;
00070 u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
00071 this->st_data = u_st_data.real;
00072 offset += sizeof(this->st_data);
00073 memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));
00074 }
00075 return offset;
00076 }
00077
00078 const char * getType(){ return "sensor_msgs/CompressedImage"; };
00079
00080 };
00081
00082 }
00083 #endif
