PublisheR.h
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00001 #include <ros/ros.h>
00002 #include <ros/package.h>
00003 #include <std_msgs/String.h>
00004 #include <topic_tools/shape_shifter.h>
00005 
00006 #include "rosR.h"
00007 
00008 #ifndef PUBLISHER_H
00009 #define PUBLISHER_H
00010 
00011 struct OStreamR : public StreamR
00012 {
00013         OStreamR(uint8_t* data, uint32_t count) : StreamR(data, count)
00014         {}
00015 
00016         template<typename T>
00017         inline void next(const T& t) {
00018                 ros::serialization::serialize(*this, t);
00019         }
00020 
00021         template<typename T>
00022         inline OStreamR& operator<<(const T& t) {
00023                 ros::serialization::serialize(*this, t);
00024                 return *this;
00025         }
00026 };
00027 
00028 
00029 class PublisheR {
00030 public:
00031         PublisheR(NodeR* handle, const char* cTopic, const char* cMsgType, const char* cMsgDefinition, const char* cMsgMD5){
00032 
00033                 m_rosPublisher = new ros::Publisher();
00034 
00035                 topic_tools::ShapeShifter *ss = new topic_tools::ShapeShifter();
00036                 ss->morph(cMsgMD5, cMsgType, cMsgDefinition, "");
00037                 *m_rosPublisher = ss->advertise(*handle->getHandle(), cTopic, 1);
00038 
00039                 m_strMsgType            = cMsgType;
00040                 m_strMsgDefinition      = cMsgDefinition;
00041                 m_strMsgMD5                     = cMsgMD5;
00042 
00043                 m_iBufferSize = 10000000;
00044 
00045                 m_ui8Buffer = new boost::shared_array<uint8_t> (new uint8_t[m_iBufferSize]);
00046                 m_osStream  = new OStreamR(m_ui8Buffer->get(), m_iBufferSize);
00047         };
00048         ~PublisheR() {
00049                 delete m_rosPublisher;
00050                 delete m_osStream;
00051         };
00052 
00053         const char* getMessageType() {
00054                 return m_strMsgType.c_str();    };
00055         const char* getMessageDefinition() {
00056                 return m_strMsgDefinition.c_str(); };
00057         const char* getMessageMD5() {
00058                 return m_strMsgMD5.c_str(); };
00059         const char* getTopic() {
00060                 return m_rosPublisher->getTopic().c_str(); };
00061 
00062         void publish(){
00063                 topic_tools::ShapeShifter ss;
00064                 ss.morph(m_strMsgMD5, m_strMsgType, m_strMsgDefinition, "");
00065 
00066                 if(m_osStream->getLength() != m_iBufferSize){
00067                         m_osStream->advance(-(m_iBufferSize-m_osStream->getLength()));
00068                 }
00069 
00070                 ros::serialization::OStream ssStream(m_osStream->getData(), m_osStream->getLength());
00071                 ss.read(ssStream);
00072 
00073                 m_rosPublisher->publish(ss);
00074         }
00075 
00076         OStreamR* getMessageStream(){
00077                 if(m_osStream->getLength() != m_iBufferSize){
00078                         m_osStream->advance(-(m_iBufferSize-m_osStream->getLength()));
00079                 }
00080 
00081                 return m_osStream;
00082         }
00083 
00084 private:
00085         ros::Publisher* m_rosPublisher;
00086         std::string m_strMsgType;
00087         std::string m_strMsgDefinition;
00088         std::string m_strMsgMD5;
00089 
00090         boost::shared_array<uint8_t> *m_ui8Buffer;
00091         int m_iBufferSize;
00092         OStreamR *m_osStream;
00093 };
00094 
00095 
00096 PublisheR* rrosPublisher(       NodeR* handle,
00097                                 const char* topic,
00098                                 const char* type,
00099                                 const char* msg_def,
00100                                 const char* msg_md5);
00101 
00102 const char* rrosPublisherGetTopic(PublisheR* publisher);
00103 const char* rrosPublisherGetMessageType(PublisheR* publisher);
00104 const char* rrosPublisherGetMessageMD5(PublisheR* publisher);
00105 const char* rrosPublisherGetMessageDefinition(PublisheR* publisher);
00106 
00107 void rrosPublish(PublisheR* publisher);
00108 
00109 OStreamR* rrosPublisherGetMessageStream(PublisheR *publisher);
00110 
00111 void rros_stream_write_bool     (OStreamR *s, bool              val);
00112 void rros_stream_write_int8     (OStreamR *s, signed char       val);
00113 void rros_stream_write_uint8    (OStreamR *s, unsigned char     val);
00114 void rros_stream_write_int16    (OStreamR *s, signed short      val);
00115 void rros_stream_write_uint16   (OStreamR *s, unsigned short    val);
00116 void rros_stream_write_int32    (OStreamR *s, signed int        val);
00117 void rros_stream_write_uint32   (OStreamR *s, unsigned int      val);
00118 void rros_stream_write_int64    (OStreamR *s, signed long       val);
00119 void rros_stream_write_uint64   (OStreamR *s, unsigned long     val);
00120 void rros_stream_write_float32  (OStreamR *s, float             val);
00121 void rros_stream_write_float64  (OStreamR *s, double            val);
00122 void rros_stream_write_string   (OStreamR *s, char*             val);
00123 
00124 void rros_stream_write_int8_array       (OStreamR *s, std::vector<signed char>*         vec);
00125 void rros_stream_write_uint8_array      (OStreamR *s, std::vector<unsigned char>*       vec);
00126 void rros_stream_write_int16_array      (OStreamR *s, std::vector<signed short>*        vec);
00127 void rros_stream_write_uint16_array     (OStreamR *s, std::vector<unsigned short>*      vec);
00128 void rros_stream_write_int32_array      (OStreamR *s, std::vector<signed int>*          vec);
00129 void rros_stream_write_uint32_array     (OStreamR *s, std::vector<unsigned int>*        vec);
00130 void rros_stream_write_int64_array      (OStreamR *s, std::vector<signed long>*         vec);
00131 void rros_stream_write_uint64_array     (OStreamR *s, std::vector<unsigned long>*       vec);
00132 void rros_stream_write_float32_array    (OStreamR *s, std::vector<float>*               vec);
00133 void rros_stream_write_float64_array    (OStreamR *s, std::vector<double>*              vec);
00134 void rros_stream_write_string_array     (OStreamR *s, std::vector<std::string>*         vec);
00135 
00136 #endif


rosR
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autogenerated on Sat Jun 8 2019 18:25:26