#include <ros_introspection.hpp>

Classes
struct	RulesCache

Public Types
typedef std::function< void(const ROSType &, absl::Span< uint8_t > &)>	VisitingCallback

Public Member Functions
void	applyNameTransform (const std::string &msg_identifier, const FlatMessage &container, RenamedValues *renamed_value)
	applyNameTransform is used to create a vector of type RenamedValues from the vector FlatMessage::value. Additionally, it apply the renaming rules previously registred using registerRenamingRules. More...

void	applyVisitorToBuffer (const std::string &msg_identifier, const ROSType &monitored_type, absl::Span< uint8_t > &buffer, VisitingCallback callback) const
	applyVisitorToBuffer is used to pass a callback that is invoked every time a chunk of memory storing an instance of ROSType = monitored_type is reached. Note that the VisitingCallback can modify the original message, but can NOT change its size. This means that strings and vectors can not be change their length. More...

bool	deserializeIntoFlatContainer (const std::string &msg_identifier, absl::Span< uint8_t > buffer, FlatMessage *flat_container_output, const uint32_t max_array_size) const
	deserializeIntoFlatContainer takes a raw buffer of memory and extract information from it. This data is stored in two key/value vectors, FlatMessage::value and FlatMessage::name. It must be noted that the key type is StringTreeLeaf. this type is not particularly user-friendly, but allows a much faster post-processing. More...

template<typename T >
T	extractField (const std::string &msg_identifier, const absl::Span< uint8_t > &buffer)

const ROSMessage *	getMessageByType (const ROSType &type, const ROSMessageInfo &info) const
	getMessageByType provides a pointer to a ROSMessage stored in ROSMessageInfo. More...

const ROSMessageInfo *	getMessageInfo (const std::string &msg_identifier) const
	getMessageInfo provides some metadata amout a registered ROSMessage. More...

	Parser ()

void	registerMessageDefinition (const std::string &message_identifier, const ROSType &main_type, const std::string &definition)
	A single message definition will (most probably) generate myltiple ROSMessage(s). In fact the "child" ROSTypes are parsed as well in a recursive and hierarchical way. To make an example, given as input the geometry_msgs/Pose the result will be a ROSTypeList containing Pose, Point and Quaternion. More...

void	registerRenamingRules (const ROSType &type, const std::vector< SubstitutionRule > &rules)
	registerRenamingRules is used to register the renaming rules. You MUST use registerMessageDefinition first. More...

void	setMaxArrayPolicy (bool discard_entire_array)

void	setWarningsStream (std::ostream *output)
	Change where the warning messages are displayed. More...

Private Member Functions
void	createTrees (ROSMessageInfo &info, const std::string &type_name) const

void	updateRuleCache ()

Private Attributes
std::vector< int >	_alias_array_pos

bool	_discard_large_array

std::vector< std::string >	_formatted_string

std::ostream *	_global_warnings

std::unordered_map< std::string, ROSMessageInfo >	_registered_messages

std::unordered_map< ROSType, std::unordered_set< SubstitutionRule > >	_registered_rules

bool	_rule_cache_dirty

std::unordered_map< std::string, std::vector< RulesCache > >	_rule_caches

std::vector< int8_t >	_substituted

Detailed Description

Definition at line 67 of file ros_introspection.hpp.

Member Typedef Documentation

typedef std::function<void(const ROSType&, absl::Span<uint8_t>&)> RosIntrospection::Parser::VisitingCallback

Definition at line 172 of file ros_introspection.hpp.

Constructor & Destructor Documentation

RosIntrospection::Parser::Parser ( )

inline

Definition at line 70 of file ros_introspection.hpp.

Member Function Documentation

void RosIntrospection::Parser::applyNameTransform	(	const std::string &	msg_identifier,
		const FlatMessage &	container,
		RenamedValues *	renamed_value
	)

applyNameTransform is used to create a vector of type RenamedValues from the vector FlatMessage::value. Additionally, it apply the renaming rules previously registred using registerRenamingRules.

For example if you apply this to geometry_msgs/Pose the vector renamed_value.value will contain the following pairs (where ... is the number of that field) :

Pose/Point/x = ...
Pose/Point/y = ...
Pose/Point/z = ...
Pose/Quaternion/x = ...
Pose/Quaternion/y = ...
Pose/Quaternion/z = ...
Pose.Quaternion/w = ...

Parameters

msg_identifier	String ID to identify the registered message (use registerMessageDefinition first).
container	Source. This instance must be created using deserializeIntoFlatContainer.
renamed_value	Destination.

Definition at line 564 of file ros_introspection.cpp.

void RosIntrospection::Parser::applyVisitorToBuffer	(	const std::string &	msg_identifier,
		const ROSType &	monitored_type,
		absl::Span< uint8_t > &	buffer,
		Parser::VisitingCallback	callback
	)		const

applyVisitorToBuffer is used to pass a callback that is invoked every time a chunk of memory storing an instance of ROSType = monitored_type is reached. Note that the VisitingCallback can modify the original message, but can NOT change its size. This means that strings and vectors can not be change their length.

Parameters

msg_identifier	String ID to identify the registered message (use registerMessageDefinition first).
monitored_type	ROSType that triggers the invokation to the callback
buffer	Original buffer, passed as mutable since it might be modified.
callback	The callback.

Definition at line 257 of file ros_introspection.cpp.

void RosIntrospection::Parser::createTrees	(	ROSMessageInfo &	info,
		const std::string &	type_name
	)		const

private

Definition at line 47 of file ros_introspection.cpp.

bool RosIntrospection::Parser::deserializeIntoFlatContainer	(	const std::string &	msg_identifier,
		absl::Span< uint8_t >	buffer,
		FlatMessage *	flat_container_output,
		const uint32_t	max_array_size
	)		const

deserializeIntoFlatContainer takes a raw buffer of memory and extract information from it. This data is stored in two key/value vectors, FlatMessage::value and FlatMessage::name. It must be noted that the key type is StringTreeLeaf. this type is not particularly user-friendly, but allows a much faster post-processing.

IMPORTANT: this approach is not meant to be used with use arrays such as maps, point clouds and images. It would require a ridicoulous amount of memory and, franckly, make little sense. For this reason the argument max_array_size is used.

This funtion is almost always followed by applyNameTransform, which provide a more human-readable key-value representation.

Parameters

msg_identifier	String ID to identify the registered message (use registerMessageDefinition first).
buffer	raw memory to be parsed.
flat_container_output	output to store the result. It is recommended to reuse the same object multiple times to avoid memory allocations and speed up the parsing.
max_array_size	Usually we want to avoid special cases like maps and images, which contain very large arrays. max_array_size is used to skip these arrays that are too large.

return true if the entire message was parsed or false if parts of the message were skipped because an array has (size > max_array_size)

Definition at line 331 of file ros_introspection.cpp.

template<typename T >

T RosIntrospection::Parser::extractField	(	const std::string &	msg_identifier,
		const absl::Span< uint8_t > &	buffer
	)

inline

Definition at line 231 of file ros_introspection.hpp.

const ROSMessage * RosIntrospection::Parser::getMessageByType	(	const ROSType &	type,
		const ROSMessageInfo &	info
	)		const

getMessageByType provides a pointer to a ROSMessage stored in ROSMessageInfo.

Parameters

type	ROSType to be found
info	Instance or ROSMessageInfo that shall contain the ROSType to be found.

Returns: Pointer to the instance or nullptr if not registered.

Definition at line 245 of file ros_introspection.cpp.

const ROSMessageInfo * RosIntrospection::Parser::getMessageInfo ( const std::string & msg_identifier ) const

getMessageInfo provides some metadata amout a registered ROSMessage.

Parameters

msg_identifier String ID to identify the registered message (use registerMessageDefinition first).

Returns: Pointer to the instance or nullptr if not registered.

Definition at line 235 of file ros_introspection.cpp.

void RosIntrospection::Parser::registerMessageDefinition	(	const std::string &	message_identifier,
		const ROSType &	main_type,
		const std::string &	definition
	)

A single message definition will (most probably) generate myltiple ROSMessage(s). In fact the "child" ROSTypes are parsed as well in a recursive and hierarchical way. To make an example, given as input the geometry_msgs/Pose the result will be a ROSTypeList containing Pose, Point and Quaternion.

Parameters

msg_identifier	name to give to the main type to be extracted.
msg_definition	text obtained by either: topic_tools::ShapeShifter::getMessageDefinition() rosbag::MessageInstance::getMessageDefinition() ros::message_traits::Definition< your_type >value()

Definition at line 190 of file ros_introspection.cpp.

void RosIntrospection::Parser::registerRenamingRules	(	const ROSType &	type,
		const std::vector< SubstitutionRule > &	rules
	)

registerRenamingRules is used to register the renaming rules. You MUST use registerMessageDefinition first.

Parameters

type	The type which must be renamed
rules	A list of rules to apply to the type.

Definition at line 136 of file ros_introspection.cpp.

void RosIntrospection::Parser::setMaxArrayPolicy ( bool discard_entire_array )

inline

Definition at line 72 of file ros_introspection.hpp.

void RosIntrospection::Parser::setWarningsStream ( std::ostream * output )

inline

Change where the warning messages are displayed.

Definition at line 195 of file ros_introspection.hpp.

void RosIntrospection::Parser::updateRuleCache ( )

private

Definition at line 149 of file ros_introspection.cpp.

Member Data Documentation

std::vector<int> RosIntrospection::Parser::_alias_array_pos

private

Definition at line 222 of file ros_introspection.hpp.

bool RosIntrospection::Parser::_discard_large_array

private

Definition at line 225 of file ros_introspection.hpp.

std::vector<std::string> RosIntrospection::Parser::_formatted_string

private

Definition at line 223 of file ros_introspection.hpp.

std::ostream* RosIntrospection::Parser::_global_warnings

private

Definition at line 220 of file ros_introspection.hpp.

std::unordered_map<std::string, ROSMessageInfo> RosIntrospection::Parser::_registered_messages

private

Definition at line 210 of file ros_introspection.hpp.

std::unordered_map<ROSType, std::unordered_set<SubstitutionRule> > RosIntrospection::Parser::_registered_rules

private

Definition at line 211 of file ros_introspection.hpp.

bool RosIntrospection::Parser::_rule_cache_dirty

private

Definition at line 216 of file ros_introspection.hpp.

std::unordered_map<std::string, std::vector<RulesCache> > RosIntrospection::Parser::_rule_caches

private

Definition at line 212 of file ros_introspection.hpp.

std::vector<int8_t> RosIntrospection::Parser::_substituted

private

Definition at line 224 of file ros_introspection.hpp.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation