Message.h

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/******************************************************************************
 * Copyright (C) 2014 by Ralf Kaestner                                        *
 * ralf.kaestner@gmail.com                                                    *
 *                                                                            *
 * This program is free software; you can redistribute it and/or modify       *
 * it under the terms of the Lesser GNU General Public License as published by*
 * the Free Software Foundation; either version 3 of the License, or          *
 * (at your option) any later version.                                        *
 *                                                                            *
 * This program is distributed in the hope that it will be useful,            *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of             *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the               *
 * Lesser GNU General Public License for more details.                        *
 *                                                                            *
 * You should have received a copy of the Lesser GNU General Public License   *
 * along with this program. If not, see <http://www.gnu.org/licenses/>.       *
 ******************************************************************************/

#ifndef VARIANT_TOPIC_TOOLS_MESSAGE_H
#define VARIANT_TOPIC_TOOLS_MESSAGE_H

#include <vector>

#include <ros/ros.h>

#include <variant_msgs/Variant.h>

#include <variant_topic_tools/Forwards.h>
#include <variant_topic_tools/MessageHeader.h>
#include <variant_topic_tools/MessageType.h>

namespace variant_topic_tools {
  class Message {
  public:
    Message();
    
    template <typename T> Message(const T& message, const MessageHeader&
      header = MessageHeader());
    
    Message(const Message& src);
    
    ~Message();

    void setHeader(const MessageHeader& header);
    
    const MessageHeader& getHeader() const;
    
    void setType(const MessageType& type);
    
    const MessageType& getType() const;

    void setData(const std::vector<uint8_t>& data);
    
    std::vector<uint8_t>& getData();
    
    const std::vector<uint8_t>& getData() const;
    
    void setSize(size_t size);

    size_t getSize() const;

    template <typename T> void morph();

    void serialize(const MessageVariant& variant);
      
    void deserialize(MessageVariant& variant) const;
    
    boost::shared_ptr<variant_msgs::Variant> toVariantMessage() const;
      
    template <typename T> boost::shared_ptr<T> toMessage() const;

    template <typename Stream> void read(Stream& stream);

    template <typename Stream> void write(Stream& stream) const;

  protected:
    MessageHeader header;
    
    MessageType type;
    
    std::vector<uint8_t> data;
  };
};

#include <variant_topic_tools/Message.tpp>

#include <variant_topic_tools/MessageTraits.h>
#include <variant_topic_tools/Serialization.h>

#endif