ros_message.hpp

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#ifndef ROS_INTROSPECTION_ROSMESSAGE_H
#define ROS_INTROSPECTION_ROSMESSAGE_H

#include <unordered_map>
#include "rosx_introspection/tree.hpp"
#include "rosx_introspection/ros_field.hpp"

namespace RosMsgParser
{

class ROSMessage
{
public:
  using Ptr = std::shared_ptr<ROSMessage>;

  ROSMessage(const std::string& msg_def );

  const ROSField& field(size_t i) const { return _fields[i]; }

  const std::vector<ROSField>& fields() const { return _fields; }

  std::vector<ROSField>& fields() { return _fields; }

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

  void setType(const ROSType& new_type ) { _type = new_type; }

private:

  ROSType _type;
  std::vector<ROSField> _fields;
};

typedef details::TreeNode<const ROSField*> FieldTreeNode;
typedef details::Tree<const ROSField*> FieldTree;

struct MessageSchema
{
  using Ptr = std::shared_ptr<MessageSchema>;

  std::string topic_name;
  FieldTree   field_tree;
  ROSMessage::Ptr root_msg;
  RosMessageLibrary msg_library;
};

//------------------------------------------------

inline std::ostream& operator<<(std::ostream &os, const ROSMessage& msg )
{
  os << msg.type();
  return os;
}

inline std::ostream& operator<<(std::ostream &os, const ROSMessage* msg )
{
  os << msg->type();
  return os;
}

std::vector<ROSMessage::Ptr> ParseMessageDefinitions(const std::string& multi_def,
                                                     const ROSType &type);

MessageSchema::Ptr BuildMessageSchema(const std::string& topic_name,
                                 const std::vector<ROSMessage::Ptr>& parsed_msgs);

}

#endif