Program Listing for File value_message.hpp

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// Copyright (c) 2021 Stefan Fabian. All rights reserved.
// Licensed under the MIT license. See LICENSE file in the project root for full license information.

#ifndef ROS_BABEL_FISH_VALUE_MESSAGE_HPP
#define ROS_BABEL_FISH_VALUE_MESSAGE_HPP

#include "message_type_traits.hpp"
#include "ros_babel_fish/exceptions/babel_fish_exception.hpp"
#include "ros_babel_fish/macros.hpp"
#include "ros_babel_fish/messages/message.hpp"

#include <rclcpp/time.hpp>

namespace ros_babel_fish
{

template<typename T>
class ValueMessage final : public Message
{
  static constexpr MessageType _type = message_type_traits::message_type<T>::value;
  static_assert( _type != MessageTypes::None, "Invalid type parameter for ValueMessage!" );

public:
  RCLCPP_SMART_PTR_DEFINITIONS( ValueMessage<T> )

  explicit ValueMessage( MessageMemberIntrospection member, std::shared_ptr<void> data )
      : Message( _type, std::move( data ) ), member_( std::move( member ) )
  {
  }

  T getValue() const { return *reinterpret_cast<const T *>( this->data_ptr() + member_->offset_ ); }

  void setValue( T value )
  {
    *reinterpret_cast<T *>( this->data_ptr() + member_->offset_ ) = value;
  }

  ValueMessage<T> &operator=( const ValueMessage<T> &other )
  {
    if ( this == &other )
      return *this;
    setValue( other.getValue() );
    return *this;
  }

protected:
  template<typename OT>
  void assignValue( const Message &other )
  {
    Message::operator=( other.value<OT>() );
  }

  void _assign( const Message &other ) override
  {
    if ( !message_type_traits::isValueType( other.type() ) )
      throw BabelFishException( "Tried to assign non-value message to value message!" );
    RBF2_TEMPLATE_CALL_VALUE_TYPES( assignValue, other.type(), other );
  }

  bool _isMessageEqual( const Message &o ) const override
  {
    const auto &other = o.as<ValueMessage<T>>();
    return getValue() == other.getValue();
  }

  MessageMemberIntrospection member_;
};

template<>
inline void ValueMessage<std::string>::setValue( std::string value )
{
  if ( member_->string_upper_bound_ != 0 && value.length() > member_->string_upper_bound_ )
    throw std::length_error( "Exceeded string upper bound!" );
  *reinterpret_cast<std::string *>( data_ptr() + member_->offset_ ) = std::move( value );
}

template<>
inline void ValueMessage<std::wstring>::setValue( std::wstring value )
{
  if ( member_->string_upper_bound_ != 0 && value.length() > member_->string_upper_bound_ )
    throw std::length_error( "Exceeded string upper bound!" );
  *reinterpret_cast<std::wstring *>( data_ptr() + member_->offset_ ) = std::move( value );
}
} // namespace ros_babel_fish

#endif // ROS_BABEL_FISH_VALUE_MESSAGE_HPP