ros_type.hpp

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#ifndef ROS_INTROSPECTION_ROSTYPE_H
#define ROS_INTROSPECTION_ROSTYPE_H

#include <vector>
#include <map>
#include <iostream>
#include <functional>
#include "ros_type_introspection/utils/variant.hpp"

namespace RosIntrospection{


class ROSType {
public:

  ROSType(){}

  ROSType(absl::string_view name);

  ROSType(const ROSType& other) {  *this = other; }

  ROSType(ROSType&& other) {  *this = other; }

  ROSType& operator= (const ROSType& other);

  ROSType& operator= (ROSType&& other);

  const std::string& baseName() const;

  const absl::string_view& msgName()  const;

  const absl::string_view& pkgName()  const;

  void setPkgName(absl::string_view new_pkg);

  bool isBuiltin() const;

  int typeSize() const;

  BuiltinType typeID() const;

  bool operator==(const ROSType& other) const  {
    return _hash == other._hash;
  }

  bool operator!=(const ROSType& other) const  {
    return (_hash != other._hash);
  }

  bool operator<(const ROSType& other) const {
    return this->baseName() < other.baseName();
  }

  size_t hash() const { return _hash; }

protected:

  BuiltinType _id;
  std::string _base_name;
  absl::string_view _msg_name;
  absl::string_view _pkg_name;
  size_t _hash;

};

//----------- definitions -------------

inline const std::string &ROSType::baseName() const
{
  return _base_name;
}

inline const absl::string_view& ROSType::msgName() const
{
  return _msg_name;
}

inline const absl::string_view &ROSType::pkgName() const
{
  return _pkg_name;
}

inline bool ROSType::isBuiltin() const
{
  return _id != RosIntrospection::OTHER;
}

inline int ROSType::typeSize() const
{
  return builtinSize( _id );
}

inline BuiltinType ROSType::typeID() const
{
  return _id;
}

//--------- helper functions --------------

inline std::ostream& operator<<(std::ostream &os, const ROSType& t )
{
  os << t.baseName();
  return os;
}

inline BuiltinType toBuiltinType(const absl::string_view& s) {
  static std::map<absl::string_view, BuiltinType> string_to_builtin_map {
    { "bool", BOOL },
    { "byte", BYTE },
    { "char", CHAR },
    { "uint8", UINT8 },
    { "uint16", UINT16 },
    { "uint32", UINT32 },
    { "uint64", UINT64 },
    { "int8", INT8 },
    { "int16", INT16 },
    { "int32", INT32 },
    { "int64", INT64 },
    { "float32", FLOAT32 },
    { "float64", FLOAT64 },
    { "time", TIME },
    { "duration", DURATION },
    { "string", STRING },
  };
  const auto it = string_to_builtin_map.find(s);
  return (it != string_to_builtin_map.cend()) ? it->second : OTHER;
}

}

namespace std {
  template <> struct hash<RosIntrospection::ROSType>
  {

    typedef RosIntrospection::ROSType argument_type;
    typedef std::size_t               result_type;

    result_type operator()(RosIntrospection::ROSType const& type) const
    {
      return type.hash();
    }
  };
}


#endif // ROSTYPE_H