Class: Std_msgs::ByteMultiArray

Inherits:
ROS::Message
  • Object
show all
Defined in:
lib/std_msgs/ByteMultiArray.rb

Constant Summary collapse

@@struct_L2 = 
::ROS::Struct.new("L2")
@@struct_L = 
::ROS::Struct.new("L")
@@slot_types = 
['std_msgs/MultiArrayLayout','byte[]']

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(args = {}) ⇒ ByteMultiArray

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

Parameters:

  • args (Hash) (defaults to: {}) —

    keyword for initializing values

Options Hash (args):

  • :layout (std_msgs/MultiArrayLayout) —

    initialize value

  • :data (byte[]) —

    initialize value



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# File 'lib/std_msgs/ByteMultiArray.rb', line 77

def initialize(args={})
  # message fields cannot be None, assign default values for those that are
  if args[:layout]
    @layout = args[:layout]
  else
    @layout = Std_msgs::MultiArrayLayout.new
  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/std_msgs/ByteMultiArray.rb', line 65

def data
  @data
end

#layout ⇒ Object

Returns the value of attribute layout.



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# File 'lib/std_msgs/ByteMultiArray.rb', line 65

def layout
  @layout
end

Class Method Details

.md5sum ⇒ Object 



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# File 'lib/std_msgs/ByteMultiArray.rb', line 10

def self.md5sum
  "70ea476cbcfd65ac2f68f3cda1e891fe"
end

.type ⇒ Object 



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# File 'lib/std_msgs/ByteMultiArray.rb', line 14

def self.type
  "std_msgs/ByteMultiArray"
end

Instance Method Details

#_get_types ⇒ String

internal API method

Returns:

  • (String) —

    Message type string.



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# File 'lib/std_msgs/ByteMultiArray.rb', line 93

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/std_msgs/ByteMultiArray.rb', line 123

def deserialize(str)

  begin
    if @layout == nil
      @layout = Std_msgs::MultiArrayLayout.new
    end
    end_point = 0
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    @layout.dim = []
    length.times do
      val1 = Std_msgs::MultiArrayDimension.new
      start = end_point
      end_point += 4
      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
      start = end_point
      end_point += length
      val1.label = str[start..(end_point-1)]
      _x = val1
      start = end_point
      end_point += ROS::Struct::calc_size('L2')
      (_x.size, _x.stride,) = @@struct_L2.unpack(str[start..(end_point-1)])
      @layout.dim.push(val1)
    end
    start = end_point
    end_point += ROS::Struct::calc_size('L')
    (@layout.data_offset,) = @@struct_L.unpack(str[start..(end_point-1)])
    start = end_point
    end_point += 4
    (length,) = @@struct_L.unpack(str[start..(end_point-1)])
    pattern = "c#{length}"
    start = end_point
    end_point += ROS::Struct::calc_size("#{pattern}")
    @data = str[start..(end_point-1)].unpack(pattern)
    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/std_msgs/ByteMultiArray.rb', line 18

def has_header?
  false
end

#message_definition ⇒ Object 



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# File 'lib/std_msgs/ByteMultiArray.rb', line 22

def message_definition
  "# Please look at the MultiArrayLayout message definition for
# documentation on all multiarrays.

MultiArrayLayout  layout        # specification of data layout
byte[]            data          # array of data


================================================================================
MSG: std_msgs/MultiArrayLayout
# The multiarray declares a generic multi-dimensional array of a
# particular data type.  Dimensions are ordered from outer most
# to inner most.

MultiArrayDimension[] dim # Array of dimension properties
uint32 data_offset        # padding bytes at front of data

# Accessors should ALWAYS be written in terms of dimension stride
# and specified outer-most dimension first.
# 
# multiarray(i,j,k) = data[data_offset + dim_stride[1]*i + dim_stride[2]*j + k]
#
# A standard, 3-channel 640x480 image with interleaved color channels
# would be specified as:
#
# dim[0].label  = \"height\"
# dim[0].size   = 480
# dim[0].stride = 3*640*480 = 921600  (note dim[0] stride is just size of image)
# dim[1].label  = \"width\"
# dim[1].size   = 640
# dim[1].stride = 3*640 = 1920
# dim[2].label  = \"channel\"
# dim[2].size   = 3
# dim[2].stride = 3
#
# multiarray(i,j,k) refers to the ith row, jth column, and kth channel.
================================================================================
MSG: std_msgs/MultiArrayDimension
string label   # label of given dimension
uint32 size    # size of given dimension (in type units)
uint32 stride  # stride of given dimension
"
end

#serialize(buff) ⇒ Object

serialize message into buffer

Parameters:

  • buff (IO) —

    buffer



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# File 'lib/std_msgs/ByteMultiArray.rb', line 99

def serialize(buff)
  begin
    length = @layout.dim.length
    buff.write(@@struct_L.pack(length))
    for val1 in @layout.dim
      _x = val1.label
      length = _x.length
      buff.write([length, _x].pack("La#{length}"))
      _x = val1
      buff.write(@@struct_L2.pack(_x.size, _x.stride))
    end
    buff.write(@@struct_L.pack(@layout.data_offset))
    length = @data.length
    buff.write(@@struct_L.pack(length))
    pattern = "c#{length}"
    buff.write(*@data.pack(pattern))
  rescue => exception
    raise "some erro in serialize: #{exception}"

  end
end