shape_shifter.h

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#pragma once
 
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: Czech Technical University in Prague
 
#include <string>
#include <type_traits>
 
#include <ros/message_traits.h>
#include <std_msgs/Header.h>
#include <topic_tools/shape_shifter.h>
 
#include <cras_cpp_common/optional.hpp>
 
namespace cras
{
 
uint8_t* getBuffer(::topic_tools::ShapeShifter& msg);
 
const uint8_t* getBuffer(const ::topic_tools::ShapeShifter& msg);
 
size_t getBufferLength(const ::topic_tools::ShapeShifter& msg);
 
bool hasHeader(const ::topic_tools::ShapeShifter& msg);
 
::cras::optional<::std_msgs::Header> getHeader(const ::topic_tools::ShapeShifter& msg);
 
bool setHeader(::topic_tools::ShapeShifter& msg, ::std_msgs::Header& header);
 
void resizeBuffer(::topic_tools::ShapeShifter& msg, size_t newLength);
 
void copyShapeShifter(const ::topic_tools::ShapeShifter& in, ::topic_tools::ShapeShifter& out);
 
template<typename T, typename EnableT = ::std::enable_if_t<::ros::message_traits::IsMessage<::std::decay_t<T>>::value>>
void msgToShapeShifter(const T& msg, ::topic_tools::ShapeShifter& shifter);
 
#if ROS_VERSION_MINIMUM(1, 15, 0)
using ::topic_tools::ShapeShifter;
#else
 
class ShapeShifter : public ::topic_tools::ShapeShifter
{
public:
  ShapeShifter();
  ~ShapeShifter() override;
  explicit ShapeShifter(const ::topic_tools::ShapeShifter& other);
  explicit ShapeShifter(::topic_tools::ShapeShifter && other) noexcept;
  ShapeShifter& operator=(const ::topic_tools::ShapeShifter& other);
  ShapeShifter& operator=(::topic_tools::ShapeShifter && other) noexcept;
  ShapeShifter(const ShapeShifter& other);
  ShapeShifter(ShapeShifter&& other) noexcept;
  ShapeShifter& operator=(const ShapeShifter& other);
  ShapeShifter& operator=(ShapeShifter&& other) noexcept;
};
#endif
 
}
 
#if !ROS_VERSION_MINIMUM(1, 15, 0)
namespace ros {
namespace message_traits {
 
template <> struct IsMessage<cras::ShapeShifter> : TrueType { };
template <> struct IsMessage<const cras::ShapeShifter> : TrueType { };
 
template<>
struct MD5Sum<cras::ShapeShifter>
{
  static const char* value(const cras::ShapeShifter& m) { return m.getMD5Sum().c_str(); }
  static const char* value() { return "*"; }
};
 
template<>
struct DataType<cras::ShapeShifter>
{
  static const char* value(const cras::ShapeShifter& m) { return m.getDataType().c_str(); }
  static const char* value() { return "*"; }
};
 
template<>
struct Definition<cras::ShapeShifter>
{
  static const char* value(const cras::ShapeShifter& m) { return m.getMessageDefinition().c_str(); }
};
 
}
 
namespace serialization
{
 
template<>
struct Serializer<cras::ShapeShifter>
{
  template<typename Stream>
  inline static void write(Stream& stream, const cras::ShapeShifter& m) {
    m.write(stream);
  }
 
  template<typename Stream>
  inline static void read(Stream& stream, cras::ShapeShifter& m)
  {
    m.read(stream);
  }
 
  inline static uint32_t serializedLength(const cras::ShapeShifter& m) {
    return m.size();
  }
};
 
 
template<>
struct PreDeserialize<cras::ShapeShifter>
{
  static void notify(const PreDeserializeParams<cras::ShapeShifter>& params)
  {
    std::string md5      = (*params.connection_header)["md5sum"];
    std::string datatype = (*params.connection_header)["type"];
    std::string msg_def  = (*params.connection_header)["message_definition"];
    std::string latching  = (*params.connection_header)["latching"];
 
    params.message->morph(md5, datatype, msg_def, latching);
  }
};
 
}
}
#endif
 
#include "impl/shape_shifter.hpp"