parameter_adapter.h

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#ifndef ROSCPP_PARAMETER_ADAPTER_H
#define ROSCPP_PARAMETER_ADAPTER_H

#include "ros/forwards.h"
#include "ros/message_event.h"
#include <ros/static_assert.h>

#include <boost/type_traits/add_const.hpp>
#include <boost/type_traits/remove_const.hpp>
#include <boost/type_traits/remove_reference.hpp>

namespace ros
{

template<typename M>
struct ParameterAdapter
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef M Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return *event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const boost::shared_ptr<M const>& >
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef const boost::shared_ptr<Message const> Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const boost::shared_ptr<M>& >
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef boost::shared_ptr<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event& event)
  {
    return ros::MessageEvent<Message>(event).getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const M&>
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef const M& Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return *event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<boost::shared_ptr<M const> >
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef boost::shared_ptr<Message const> Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return event.getMessage();
  }
};

template<typename M>
struct ParameterAdapter<boost::shared_ptr<M> >
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef boost::shared_ptr<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event& event)
  {
    return ros::MessageEvent<Message>(event).getMessage();
  }
};

template<typename M>
struct ParameterAdapter<const ros::MessageEvent<M const>& >
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef const ros::MessageEvent<Message const>& Parameter;
  static const bool is_const = true;

  static Parameter getParameter(const Event& event)
  {
    return event;
  }
};

template<typename M>
struct ParameterAdapter<const ros::MessageEvent<M>& >
{
  typedef typename boost::remove_reference<typename boost::remove_const<M>::type>::type Message;
  typedef ros::MessageEvent<Message const> Event;
  typedef ros::MessageEvent<Message> Parameter;
  static const bool is_const = false;

  static Parameter getParameter(const Event& event)
  {
    return ros::MessageEvent<Message>(event);
  }
};

}

#endif // ROSCPP_PARAMETER_ADAPTER_H