shape_shifter.cpp
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2009, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of Willow Garage, Inc. nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 ********************************************************************/
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 


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Mon Oct 6 2014 11:47:06