Class: Sensor_msgs::CompressedImage

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/sensor_msgs/CompressedImage.rb

Constant Summary collapse

@@struct_L3 = 
::ROS::Struct.new("L3")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['Header','string','uint8[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ CompressedImage

Constructor. You can set the default values using keyword operators.

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :header (Header) —

    initialize value

  • :format (string) —

    initialize value

  • :data (uint8[]) —

    initialize value



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# File 'lib/sensor_msgs/CompressedImage.rb', line 69

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:header]
    @header = args[:header]
  else
    @header = Std_msgs::Header.new
  end
  if args[:format]
    @format = args[:format]
  else
    @format = ''
  end
  if args[:data]
    @data = args[:data]
  else
    @data = ''
  end
end

Instance Attribute Details

#data ⇒ Object

Returns the value of attribute data.



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# File 'lib/sensor_msgs/CompressedImage.rb', line 56

def data
  @data
end

#format ⇒ Object

Returns the value of attribute format.



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# File 'lib/sensor_msgs/CompressedImage.rb', line 56

def format
  @format
end

#header ⇒ Object

Returns the value of attribute header.



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# File 'lib/sensor_msgs/CompressedImage.rb', line 56

def header
  @header
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/sensor_msgs/CompressedImage.rb', line 9

def self.md5sum
  "8f7a12909da2c9d3332d540a0977563f"
end

.type ⇒ Object 



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# File 'lib/sensor_msgs/CompressedImage.rb', line 13

def self.type
  "sensor_msgs/CompressedImage"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/sensor_msgs/CompressedImage.rb', line 90

def _get_types
  @slot_types
end

#deserialize(str) ⇒ Object

unpack serialized message in str into this message instance

@param [String] str: byte array of serialized message



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# File 'lib/sensor_msgs/CompressedImage.rb', line 116

def deserialize(str)

  begin
    if @header == nil
      @header = Std_msgs::Header.new
    end
    end_point = 0
    start = end_point
    end_point += ROS::Struct::calc_size('L3')
    (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @header.frame_id = str[start..(end_point-1)]
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @format = str[start..(end_point-1)]
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += length
    @data = str[start..(end_point-1)]
    return self
  rescue => exception
    raise "message DeserializationError: #{exception}" #most likely buffer underfill
  end
end

#has_header? ⇒ Boolean

Returns:

  • (Boolean) 


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# File 'lib/sensor_msgs/CompressedImage.rb', line 17

def has_header?
  true
end

#message_definition ⇒ Object 



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# File 'lib/sensor_msgs/CompressedImage.rb', line 21

def message_definition
  "# This message contains a compressed image

Header header        # Header timestamp should be acquisition time of image
                   # Header frame_id should be optical frame of camera
                   # origin of frame should be optical center of cameara
                   # +x should point to the right in the image
                   # +y should point down in the image
                   # +z should point into to plane of the image

string format        # Specifies the format of the data
                   #   Acceptable values:
                   #     jpeg, png
uint8[] data         # Compressed image buffer

================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data 
# in a particular coordinate frame.
# 
# sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/sensor_msgs/CompressedImage.rb', line 96

def serialize(buff)
  begin
    buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
    _x = @header.frame_id
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    _x = @format
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
    _x = @data
    length = _x.length
    buff.write([length, _x].pack("La#{length}"))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end