public static int getCdrSerializedSize(sensor_msgs.msg.Image data, int current_alignment)
{
int initial_alignment = current_alignment;
current_alignment += std_msgs.msg.HeaderPubSubType.getCdrSerializedSize(data.header, current_alignment);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4) + data.encoding.Length + 1;
current_alignment += 1 + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += 4 + Halodi.CDR.CDRCommon.alignment(current_alignment, 4);
current_alignment += (data.data.Count * 1) + Halodi.CDR.CDRCommon.alignment(current_alignment, 1);
return(current_alignment - initial_alignment);
}
public static void write(sensor_msgs.msg.Image data, Halodi.CDR.CDRSerializer cdr)
{
std_msgs.msg.HeaderPubSubType.write(data.header, cdr);
cdr.write_type_4(data.height);
cdr.write_type_4(data.width);
cdr.write_type_d(data.encoding);
cdr.write_type_9(data.is_bigendian);
cdr.write_type_4(data.step);
if (data.data == null)
{
cdr.write_type_2(0);
}
else
{
int data_length = data.data.Count;
cdr.write_type_2(data_length);
for (int i0 = 0; i0 < data_length; i0++)
{
cdr.write_type_9(data.data[i0]);
}
}
}
public void ImagePubSub()
{
bool callbackTriggered = false;
var subscription = sub_node.CreateSubscription <sensor_msgs.msg.Image>(
"test_topic", (received_msg) =>
{
callbackTriggered = true;
Assert.That(received_msg.Data.Length, Is.EqualTo(10));
});
var publisher = pub_node.CreatePublisher <sensor_msgs.msg.Image>("test_topic");
var msg = new sensor_msgs.msg.Image();
msg.Data = new byte[10];
msg.Data[0] = 1;
publisher.Publish(msg);
Rclcs.SpinOnce(sub_node, sub_context, 0.5);
Assert.That(callbackTriggered, Is.True);
publisher.Dispose();
subscription.Dispose();
}
public override void deserialize(MemoryStream stream, sensor_msgs.msg.Image data)
{
using (BinaryReader reader = new BinaryReader(stream))
{
Halodi.CDR.CDRDeserializer cdr = new Halodi.CDR.CDRDeserializer(reader);
read(data, cdr);
}
}
public override void serialize(sensor_msgs.msg.Image data, MemoryStream stream)
{
using (BinaryWriter writer = new BinaryWriter(stream))
{
Halodi.CDR.CDRSerializer cdr = new Halodi.CDR.CDRSerializer(writer);
write(data, cdr);
}
}
public void SetImage()
{
var msg = new sensor_msgs.msg.Image();
var msgCopy = new sensor_msgs.msg.Image();
Assert.That(msg.Data.Length, Is.EqualTo(0));
msg.Data = new byte[10];
msg.WriteNativeMessage();
Assert.That(msg.Data.Length, Is.EqualTo(10));
msg.Data = new byte[2];
msg.ReadNativeMessage();
Assert.That(msg.Data.Length, Is.EqualTo(10));
msg.Data = new byte[8];
// NOTE(sam): Writing twice seems not work
// msg.WriteNativeMessage();
msg.ReadNativeMessage();
Assert.That(msg.Data.Length, Is.EqualTo(10));
msgCopy.ReadNativeMessage(msg.Handle);
Assert.That(msgCopy.Data.Length, Is.EqualTo(10));
}
public static void read(sensor_msgs.msg.Image data, Halodi.CDR.CDRDeserializer cdr)
{
data.header = std_msgs.msg.HeaderPubSubType.Create();
std_msgs.msg.HeaderPubSubType.read(data.header, cdr);
data.height = cdr.read_type_4();
data.width = cdr.read_type_4();
data.encoding = cdr.read_type_d();
data.is_bigendian = cdr.read_type_9();
data.step = cdr.read_type_4();
int data_length = cdr.read_type_2();
data.data = new System.Collections.Generic.List <byte>(data_length);
for (int i = 0; i < data_length; i++)
{
data.data.Add(cdr.read_type_9());
}
}
public static int getCdrSerializedSize(sensor_msgs.msg.Image data)
{
return(getCdrSerializedSize(data, 0));
}
public static void Copy(sensor_msgs.msg.Image src, sensor_msgs.msg.Image target)
{
target.Set(src);
}
