topic_tools: topic_tools: shape_shifter.cpp Source File

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00034 
00035 #include <topic_tools/shape_shifter.h>
00036 
00037 using namespace topic_tools;
00038 
00039 bool ShapeShifter::uses_old_API_ = false;
00040 
00041 ShapeShifter::ShapeShifter()
00042   :  typed(false),
00043      msgBuf(NULL),
00044      msgBufUsed(0),
00045      msgBufAlloc(0)
00046 { 
00047 }
00048 
00049 
00050 ShapeShifter::~ShapeShifter()
00051 {
00052   if (msgBuf)
00053     delete[] msgBuf;
00054   
00055   msgBuf = NULL;
00056   msgBufAlloc = 0;
00057 }
00058 
00059 
00060 std::string const& ShapeShifter::getDataType()          const { return datatype; }
00061 
00062 
00063 std::string const& ShapeShifter::getMD5Sum()            const { return md5;   }
00064 
00065 
00066 std::string const& ShapeShifter::getMessageDefinition() const { return msg_def;  }
00067 
00068 
00069 void ShapeShifter::morph(const std::string& _md5sum, const std::string& _datatype, const std::string& _msg_def,
00070                          const std::string& _latching)
00071 {
00072   md5 = _md5sum;
00073   datatype = _datatype;
00074   msg_def = _msg_def;
00075   latching = _latching;
00076   typed = md5 != "*";
00077 }
00078 
00079 
00080 ros::Publisher ShapeShifter::advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size_, bool latch, const ros::SubscriberStatusCallback &connect_cb) const
00081 {
00082   ros::AdvertiseOptions opts(topic, queue_size_, getMD5Sum(), getDataType(), getMessageDefinition(), connect_cb);
00083   opts.latch = latch;
00084 
00085   return nh.advertise(opts);
00086 }
00087 
00088 
00089 uint32_t ShapeShifter::size() const
00090 {
00091   return msgBufUsed;
00092 }
00093