Program Listing for File query_results_impl.hpp

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// Copyright 2008 Willow Garage, Inc.
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
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//    * Neither the name of the Willow Garage, Inc. nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <rcpputils/asserts.hpp>
#include <rclcpp/serialization.hpp>

namespace warehouse_ros
{
template <class M>
ResultIterator<M>::ResultIterator(ResultIteratorHelper::Ptr results, bool metadata_only)
  : results_(results), metadata_only_(metadata_only)
{
  if (!results_->hasData())
    results_.reset();
}

template <class M>
void ResultIterator<M>::increment()
{
  if (!results_->next())
  {
    results_.reset();
  }
}

template <class M>
typename MessageWithMetadata<M>::ConstPtr ResultIterator<M>::dereference() const
{
  rcpputils::assert_true(bool(results_), "Invalid result iterator pointer.");

  typename MessageWithMetadata<M>::Ptr msg(new MessageWithMetadata<M>(results_->metadata()));
  if (!metadata_only_)
  {
    std::string str = results_->message();
    const auto content_size = str.size() + 1;  // accounting for null terminator
    rclcpp::SerializedMessage serialized_message(content_size);
    // manually copy some content
    auto& rcl_handle = serialized_message.get_rcl_serialized_message();
    memcpy(rcl_handle.buffer, str.c_str(), str.size());
    rcl_handle.buffer[str.size()] = '\0';
    rcl_handle.buffer_length = content_size;
    auto serializer = rclcpp::Serialization<M>();
    serializer.deserialize_message(&serialized_message, msg.get());
  }
  return msg;
}

template <class M>
bool ResultIterator<M>::equal(const ResultIterator<M>& other) const
{
  // Incomplete, the only case we care about is whether iter is at the end
  return (!results_ && !other.results_);
}

}  // namespace warehouse_ros