builtin_types.hpp

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#ifndef ROS_BUILTIN_TYPES_HPP
#define ROS_BUILTIN_TYPES_HPP

#include <stdint.h>
#include <string>
#include <ros/ros.h>
#include <unordered_map>

namespace RosIntrospection{


enum BuiltinType {
  BOOL , BYTE, CHAR,
  UINT8, UINT16, UINT32, UINT64,
  INT8, INT16, INT32, INT64,
  FLOAT32, FLOAT64,
  TIME, DURATION,
  STRING, OTHER
};

//---------------------------------------------------------

inline int builtinSize(const BuiltinType c) {
  switch (c) {
  case BOOL:
  case BYTE:
  case INT8:
  case CHAR:
  case UINT8:    return 1;
  case UINT16:
  case INT16:    return 2;
  case UINT32:
  case INT32:
  case FLOAT32:  return 4;
  case UINT64:
  case INT64:
  case FLOAT64:
  case TIME:
  case DURATION: return 8;
  case STRING:
  case OTHER: return -1;
  }
  throw std::runtime_error( "unsupported builtin type value");
}

inline const char* toStr(const BuiltinType& c)
{
  switch (c) {
  case BOOL:     return "BOOL";
  case BYTE:     return "BYTE";
  case INT8:     return "INT8";
  case CHAR:     return "CHAR";
  case UINT8:    return "UINT8";
  case UINT16:   return "UINT16";
  case UINT32:   return "UINT32";
  case UINT64:   return "UINT64";
  case INT16:    return "INT16";
  case INT32:    return "INT32";
  case INT64:    return "INT64";
  case FLOAT32:  return "FLOAT32";
  case FLOAT64:  return "FLOAT64";
  case TIME:     return "TIME";
  case DURATION: return "DURATION";
  case STRING:   return "STRING";
  case OTHER:    return "OTHER";
  }
  throw std::runtime_error( "unsupported builtin type value");
}

inline std::ostream& operator<<(std::ostream& os, const BuiltinType& c)
{
  os << toStr(c);
  return os;
}

template <typename T> BuiltinType getType()
{
    return OTHER;
}

template <> inline BuiltinType getType<bool>()  {  return BOOL; }

template <> inline BuiltinType getType<char>()           {  return CHAR; }

template <> inline BuiltinType getType<int8_t>()  {  return INT8; }
template <> inline BuiltinType getType<int16_t>() {  return INT16; }
template <> inline BuiltinType getType<int32_t>() {  return INT32; }
template <> inline BuiltinType getType<int64_t>() {  return INT64; }

template <> inline BuiltinType getType<uint8_t>()  {  return UINT8; }
template <> inline BuiltinType getType<uint16_t>() {  return UINT16; }
template <> inline BuiltinType getType<uint32_t>() {  return UINT32; }
template <> inline BuiltinType getType<uint64_t>() {  return UINT64; }

template <> inline BuiltinType getType<float>()  {  return FLOAT32; }
template <> inline BuiltinType getType<double>() {  return FLOAT64; }

template <> inline BuiltinType getType<std::string>() {  return STRING; }

template <> inline BuiltinType getType<ros::Time>()     {  return TIME; }
template <> inline BuiltinType getType<ros::Duration>() {  return DURATION; }

}

#endif // ROS_BUILTIN_TYPES_HPP