service_traits.h
Go to the documentation of this file.00001 /* 00002 * Copyright (C) 2009, Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #ifndef ROSCPP_SERVICE_TRAITS_H 00029 #define ROSCPP_SERVICE_TRAITS_H 00030 00031 #include <boost/type_traits/remove_reference.hpp> 00032 #include <boost/type_traits/remove_const.hpp> 00033 00034 namespace ros 00035 { 00036 namespace service_traits 00037 { 00038 00042 template<typename M> 00043 struct MD5Sum 00044 { 00045 static const char* value() 00046 { 00047 return M::__s_getServerMD5Sum().c_str(); 00048 } 00049 00050 static const char* value(const M& m) 00051 { 00052 return m.__getServerMD5Sum().c_str(); 00053 } 00054 }; 00055 00059 template<typename M> 00060 struct DataType 00061 { 00062 static const char* value() 00063 { 00064 return M::__s_getServiceDataType().c_str(); 00065 } 00066 00067 static const char* value(const M& m) 00068 { 00069 return m.__getServiceDataType().c_str(); 00070 } 00071 }; 00072 00076 template<typename M> 00077 inline const char* md5sum() 00078 { 00079 return MD5Sum<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(); 00080 } 00081 00085 template<typename M> 00086 inline const char* datatype() 00087 { 00088 return DataType<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(); 00089 } 00090 00094 template<typename M> 00095 inline const char* md5sum(const M& m) 00096 { 00097 return MD5Sum<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m); 00098 } 00099 00103 template<typename M> 00104 inline const char* datatype(const M& m) 00105 { 00106 return DataType<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m); 00107 } 00108 00109 } // namespace message_traits 00110 } // namespace ros 00111 00112 #endif // ROSCPP_SERVICE_TRAITS_H