message_instance.h

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#ifndef ROSBAG_MESSAGE_INSTANCE_H
#define ROSBAG_MESSAGE_INSTANCE_H
 
#include <ros/message_traits.h>
#include <ros/serialization.h>
//#include <ros/ros.h>
#include <ros/time.h>
 
#include "rosbag/structures.h"
#include "rosbag/macros.h"
 
namespace rosbag {
 
class Bag;
 
 
class ROSBAG_STORAGE_DECL MessageInstance
{
    friend class View;
  
public:
    ros::Time   const& getTime()              const;
    std::string const& getTopic()             const;
    std::string const& getDataType()          const;
    std::string const& getMD5Sum()            const;
    std::string const& getMessageDefinition() const;
 
    boost::shared_ptr<ros::M_string> getConnectionHeader() const;
 
    std::string getCallerId() const;
    bool        isLatching()  const;
 
 
    template<class T>
    bool isType() const;
 
 
    template<class T>
    boost::shared_ptr<T> instantiate() const;
  
    template<typename Stream>
    void write(Stream& stream) const;
 
    uint32_t size() const;
 
private:
    MessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index, Bag const& bag);
 
    ConnectionInfo const* connection_info_;
    IndexEntry const      index_entry_;
    Bag const*            bag_;
};
 
 
} // namespace rosbag
 
namespace ros {
namespace message_traits {
 
template<>
struct MD5Sum<rosbag::MessageInstance>
{
    static const char* value(const rosbag::MessageInstance& m) { return m.getMD5Sum().c_str(); }
};
 
template<>
struct DataType<rosbag::MessageInstance>
{
    static const char* value(const rosbag::MessageInstance& m) { return m.getDataType().c_str(); }
};
 
template<>
struct Definition<rosbag::MessageInstance>
{
    static const char* value(const rosbag::MessageInstance& m) { return m.getMessageDefinition().c_str(); }
};
 
} // namespace message_traits
 
namespace serialization
{
 
template<>
struct Serializer<rosbag::MessageInstance>
{
    template<typename Stream>
    inline static void write(Stream& stream, const rosbag::MessageInstance& m) {
        m.write(stream);
    }
 
    inline static uint32_t serializedLength(const rosbag::MessageInstance& m) {
        return m.size();
    }
};
 
} // namespace serialization
 
} // namespace ros
 
#include "rosbag/bag.h"
 
namespace rosbag {
 
template<class T>
bool MessageInstance::isType() const {
    char const* md5sum = ros::message_traits::MD5Sum<T>::value();
    return md5sum == std::string("*") || md5sum == getMD5Sum();
}
 
template<class T>
boost::shared_ptr<T> MessageInstance::instantiate() const {
    if (!isType<T>())
        return boost::shared_ptr<T>();
 
    return bag_->instantiateBuffer<T>(index_entry_);
}
 
template<typename Stream>
void MessageInstance::write(Stream& stream) const {
    bag_->readMessageDataIntoStream(index_entry_, stream);
}
 
} // namespace rosbag
 
#endif