ros_time_type.cpp

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/******************************************************************************
*                 This file is part of the OROCOS toolchain ROS project       *
*                                                                             *
*        (C) 2010 Steven Bellens, steven.bellens@mech.kuleuven.be             *
*                    Department of Mechanical Engineering,                    *
*                   Katholieke Universiteit Leuven, Belgium.                  *
*                                                                             *
*       You may redistribute this software and/or modify it under either the  *
*       terms of the GNU Lesser General Public License version 2.1 (LGPLv2.1  *
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#include "ros_primitives_typekit_plugin.hpp"

namespace ros_integration{
    using namespace RTT;
    using namespace RTT::types;

    // This class works around the ROS time representation.
    class RosTimeTypeInfo : public types::PrimitiveTypeInfo<ros::Time,false>
    {
    public:
        RosTimeTypeInfo() : types::PrimitiveTypeInfo<ros::Time,false>("time") {}

        virtual std::ostream& write( std::ostream& os, base::DataSourceBase::shared_ptr in ) const {
            internal::DataSource<ros::Time>::shared_ptr d = boost::dynamic_pointer_cast< internal::DataSource<ros::Time> >( in );
            if ( d ) {
                double tm = d->rvalue().sec + double(d->rvalue().nsec)/1000000000.0;
                os << tm;
            } else {
                std::string output = std::string("(")+ in->getTypeName() +")";
                os << output;
            }
            return os;
        }
    };

    // This class works around the ROS time representation.
    class RosDurationTypeInfo : public types::PrimitiveTypeInfo<ros::Duration,false>
    {
    public:
        RosDurationTypeInfo() : types::PrimitiveTypeInfo<ros::Duration,false>("duration") {}

        virtual std::ostream& write( std::ostream& os, base::DataSourceBase::shared_ptr in ) const {
            internal::DataSource<ros::Duration>::shared_ptr d = boost::dynamic_pointer_cast< internal::DataSource<ros::Duration> >( in );
            if ( d ) {
                double tm = d->rvalue().sec + double(d->rvalue().nsec)/1000000000.0;
                os << tm;
            } else {
                std::string output = std::string("(")+ in->getTypeName() +")";
                os << output;
            }
            return os;
        }
    };

  void loadTimeTypes(){
             RTT::types::Types()->addType( new RosTimeTypeInfo );
             RTT::types::Types()->addType( new RosDurationTypeInfo );
  }
}