ros_field.hpp

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*   Copyright (c) 2016-2022 Davide Faconti
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#pragma once

#include <vector>
#include <map>
#include <memory>
#include <unordered_map>
#include <iostream>
#include "rosx_introspection/ros_type.hpp"

namespace RosMsgParser{

class ROSMessage;

using RosMessageLibrary = std::unordered_map<ROSType, std::shared_ptr<ROSMessage>>;

class Parser;

class ROSField {

public:

  ROSField(const ROSType& type, const std::string& name );

  ROSField(const std::string& definition );

  const std::string& name() const { return _fieldname; }

  const ROSType& type() const { return _type; }

  void changeType(const ROSType& type) { _type = type; }

  bool isConstant() const
  {
    return _is_constant;
  }

  const std::string& value() const   { return _value; }

  bool isArray() const { return _is_array; }

  int  arraySize() const { return _array_size; }

  friend class ROSMessage;

  std::shared_ptr<ROSMessage> getMessagePtr(const RosMessageLibrary& library) const;

protected:
  std::string _fieldname;
  ROSType     _type;
  std::string _value;
  bool _is_array;
  bool _is_constant = false;
  int _array_size;

  mutable const RosMessageLibrary* _cache_library = nullptr;
  mutable std::shared_ptr<ROSMessage> _cache_message;
};

void TrimStringLeft(std::string& s);

void TrimStringRight(std::string& s);

void TrimString(std::string& s);

}