MessageDefinition.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_DEFINITION_H
#define VARIANT_TOPIC_TOOLS_MESSAGE_DEFINITION_H

#include <iostream>

#include <boost/enable_shared_from_this.hpp>

#include <ros/ros.h>

#include <variant_topic_tools/DataType.h>
#include <variant_topic_tools/Forwards.h>
#include <variant_topic_tools/MessageField.h>
#include <variant_topic_tools/MessageFieldCollection.h>
#include <variant_topic_tools/MessageType.h>

namespace variant_topic_tools {
  class MessageDefinition :
    public MessageFieldCollection<DataType>,
    public boost::enable_shared_from_this<MessageDefinition> {
  public:
    MessageDefinition();
    
    MessageDefinition(const MessageType& messageType);
    
    MessageDefinition(const MessageDataType& messageDataType);
    
    MessageDefinition(const MessageDefinition& src);
    
    ~MessageDefinition();
    
    void setMessageType(const MessageType& messageType);
    
    template <typename T> void setMessageType();
    
    void setMessageDataType(const MessageDataType& messageDataType);
    
    MessageDataType getMessageDataType() const;
    
    bool isValid() const;
    
    template <typename T> static MessageDefinition create();
    
    void load(const std::string& messageDataType);
    
    void clear();
    
    void write(std::ostream& stream) const;
    
  protected:
    DataType messageDataType;
    
    void fill(const MessageDataType& currentDataType,
      MessageFieldCollection<DataType>& currentCollection);    
  };
  
  std::ostream& operator<<(std::ostream& stream, const MessageDefinition&
    messageDefinition);
};

#include <variant_topic_tools/MessageDefinition.tpp>

#endif