string_utils/ros.hpp

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#pragma once
 
#include <sstream>
#include <string>
#include <type_traits>
 
#include <ros/duration.h>
#include <ros/rate.h>
#include <ros/time.h>
#include <ros/message_traits.h>
 
#include <cras_cpp_common/time_utils.hpp>
 
namespace cras
{
 
template<typename T, typename ::std::enable_if_t<
    ::std::is_same<T, ::ros::Time>::value ||
    ::std::is_same<T, ::ros::WallTime>::value ||
    ::std::is_same<T, ::ros::SteadyTime>::value ||
    ::std::is_same<T, ::ros::Duration>::value ||
    ::std::is_same<T, ::ros::WallDuration>::value
  >* = nullptr>
inline ::std::string to_string(const T& value)
{
  ::std::stringstream ss;
  ss << value;
  return ss.str();
}
 
template<typename T, typename ::std::enable_if_t<
    ::std::is_same<T, ::ros::Rate>::value ||
    ::std::is_same<T, ::ros::WallRate>::value
  >* = nullptr>
inline ::std::string to_string(const T& value)
{
  ::std::stringstream ss;
  ss << ::cras::frequency(value, true);
  return ss.str();
}
 
template<typename M, ::std::enable_if_t<::ros::message_traits::IsMessage<M>::value>* = nullptr>
inline std::string to_string(const M& msg)
{
  ::std::stringstream ss;
  ss << msg;
  ::std::string s = ss.str();
  if (!s.empty() && s[s.length() - 1] == '\n')
    s.erase(s.length()-1);
  ::cras::replace(s, "\n", ", ");
  return s;
}
 
}