message_instance.cpp
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00001 // Copyright (c) 2009, Willow Garage, Inc.
00002 // All rights reserved.
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 // 
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of Willow Garage, Inc. nor the names of its
00013 //       contributors may be used to endorse or promote products derived from
00014 //       this software without specific prior written permission.
00015 // 
00016 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00017 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00018 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00019 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00020 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00021 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00022 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00023 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00024 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00025 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00026 // POSSIBILITY OF SUCH DAMAGE.
00027 
00028 #include "rosbag/message_instance.h"
00029 
00030 #include "ros/message_event.h"
00031 
00032 using std::string;
00033 using ros::Time;
00034 using boost::shared_ptr;
00035 
00036 namespace rosbag {
00037 
00038 MessageInstance::MessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index_entry, Bag const& bag) :
00039         connection_info_(connection_info), index_entry_(index_entry), bag_(&bag)
00040 {
00041 }
00042 
00043 Time const&   MessageInstance::getTime()              const { return index_entry_.time;          }
00044 string const& MessageInstance::getTopic()             const { return connection_info_->topic;    }
00045 string const& MessageInstance::getDataType()          const { return connection_info_->datatype; }
00046 string const& MessageInstance::getMD5Sum()            const { return connection_info_->md5sum;   }
00047 string const& MessageInstance::getMessageDefinition() const { return connection_info_->msg_def;  }
00048 
00049 shared_ptr<ros::M_string> MessageInstance::getConnectionHeader() const { return connection_info_->header; }
00050 
00051 string MessageInstance::getCallerId() const {
00052     ros::M_string::const_iterator header_iter = connection_info_->header->find("callerid");
00053     return header_iter != connection_info_->header->end() ? header_iter->second : string("");
00054 }
00055 
00056 bool MessageInstance::isLatching() const {
00057     ros::M_string::const_iterator header_iter = connection_info_->header->find("latching");
00058     return header_iter != connection_info_->header->end() && header_iter->second == "1";
00059 }
00060 
00061 uint32_t MessageInstance::size() const {
00062     return bag_->readMessageDataSize(index_entry_);
00063 }
00064 
00065 } // namespace rosbag


rosbag_storage
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autogenerated on Fri Aug 28 2015 12:33:40