Diff: sensor_msgs/CompressedImage.h

Revision:

0:06fc856e99ca

Child:

3:dff241b66f84

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CompressedImage.h	Fri Aug 19 09:06:16 2011 +0000
@@ -0,0 +1,83 @@
+#ifndef ros_CompressedImage_h
+#define ros_CompressedImage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "../ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class CompressedImage : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      char * format;
+      unsigned char data_length;
+      unsigned char st_data;
+      unsigned char * data;
+
+    virtual int serialize(unsigned char *outbuffer)
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      long * length_format = (long *)(outbuffer + offset);
+      *length_format = strlen( (const char*) this->format);
+      offset += 4;
+      memcpy(outbuffer + offset, this->format, *length_format);
+      offset += *length_format;
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( unsigned char i = 0; i < data_length; i++){
+      union {
+        unsigned char real;
+        unsigned char base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_format = *(uint32_t *)(inbuffer + offset);
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_format; ++k){
+          inbuffer[k-1]=inbuffer[k];
+           }
+      inbuffer[offset+length_format-1]=0;
+      this->format = (char *)(inbuffer + offset-1);
+      offset += length_format;
+      unsigned char data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (unsigned char*)realloc(this->data, data_lengthT * sizeof(unsigned char));
+      offset += 3;
+      data_length = data_lengthT;
+      for( unsigned char i = 0; i < data_length; i++){
+      union {
+        unsigned char real;
+        unsigned char base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((typeof(u_st_data.base)) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(unsigned char));
+      }
+     return offset;
+    }
+
+   virtual const char * getType(){ return "sensor_msgs/CompressedImage"; };
+
+  };
+
+}
+#endif
\ No newline at end of file