message_instance.cpp

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// Copyright (c) 2009, Willow Garage, Inc.
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//       this software without specific prior written permission.
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#include "rosbag/message_instance.h"
 
#include "ros/message_event.h"
 
using std::string;
using ros::Time;
using boost::shared_ptr;
 
namespace rosbag {
 
MessageInstance::MessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index_entry, Bag const& bag) :
        connection_info_(connection_info), index_entry_(index_entry), bag_(&bag)
{
}
 
Time const&   MessageInstance::getTime()              const { return index_entry_.time;          }
string const& MessageInstance::getTopic()             const { return connection_info_->topic;    }
string const& MessageInstance::getDataType()          const { return connection_info_->datatype; }
string const& MessageInstance::getMD5Sum()            const { return connection_info_->md5sum;   }
string const& MessageInstance::getMessageDefinition() const { return connection_info_->msg_def;  }
 
shared_ptr<ros::M_string> MessageInstance::getConnectionHeader() const { return connection_info_->header; }
 
string MessageInstance::getCallerId() const {
    ros::M_string::const_iterator header_iter = connection_info_->header->find("callerid");
    return header_iter != connection_info_->header->end() ? header_iter->second : string("");
}
 
bool MessageInstance::isLatching() const {
    ros::M_string::const_iterator header_iter = connection_info_->header->find("latching");
    return header_iter != connection_info_->header->end() && header_iter->second == "1";
}
 
uint32_t MessageInstance::size() const {
    return bag_->readMessageDataSize(index_entry_);
}
 
} // namespace rosbag