SubscribeR.cpp

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#include "SubscribeR.h"

SubscribeR* rrosSubscriber(ros::NodeHandle* handle,
                                                        const char* topic,
                                                        const char* type,
                                                        const char* msg_def,
                                                        const char* msg_md5) {
        SubscribeR *sub = new SubscribeR(handle, topic, type, msg_def, msg_md5);
        return sub;
}


bool rrosSubscriberHasNewMsg(SubscribeR* subscriber){
        return subscriber->hasNewMessage(); }
bool rrosSubscriberHasAnyMsg(SubscribeR* subscriber){
        return subscriber->hasAnyMessage(); }

const char* rrosSubscriberGetPublisher(SubscribeR* subscriber){
        return subscriber->getPublisher(); }
const char* rrosSubscriberGetMessageType(SubscribeR* subscriber){
        return subscriber->getMessageType(); }
const char* rrosSubscriberGetMessageMD5(SubscribeR* subscriber){
        return subscriber->getMessageMD5(); }
const char* rrosSubscriberGetMessageDefinition(SubscribeR* subscriber){
        return subscriber->getMessageDefinition(); }


/***************************************************************/
ros::serialization::IStream* rrosSubscriberGetMessageStream(SubscribeR* subscriber){
        return subscriber->getMessageStream();
}
bool rros_stream_read_bool(ros::serialization::IStream *s){
        bool val;
        s->next(val);
        return val; }
signed char rros_stream_read_int8(ros::serialization::IStream *s){
        signed char val;
        s->next(val);
        return val; }
unsigned char rros_stream_read_uint8(ros::serialization::IStream *s){
        unsigned char val;
        s->next(val);
        return val; }
signed short rros_stream_read_int16(ros::serialization::IStream *s){
        signed short val;
        s->next(val);
        return val; }
unsigned short rros_stream_read_uint16(ros::serialization::IStream *s){
        unsigned short val;
        s->next(val);
        return val; }
signed int rros_stream_read_int32(ros::serialization::IStream *s){
        signed int val;
        s->next(val);
        return val; }
unsigned int rros_stream_read_uint32(ros::serialization::IStream *s){
        unsigned int val;
        s->next(val);
        return val; }
signed long long rros_stream_read_int64(ros::serialization::IStream *s){
        signed long long val;
        s->next(val);
        return val; }
unsigned long long rros_stream_read_uint64(ros::serialization::IStream *s){
        unsigned long long val;
        s->next(val);
        return val; }
float rros_stream_read_float32(ros::serialization::IStream *s){
        float val;
        s->next(val);
        return val; }
double rros_stream_read_float64(ros::serialization::IStream *s){
        double val;
        s->next(val);
        return val; }
char* rros_stream_read_string(ros::serialization::IStream *s){
        std::string val;
        s->next(val);
        return const_cast<char*>(val.c_str()); }

/*--------------------------------------------------------------------*/
std::vector<signed char>* rros_stream_read_int8_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<signed char> *val = new std::vector<signed char>(size);
        s->next(*val);
        return val; }
std::vector<unsigned char>* rros_stream_read_uint8_array(ros::serialization::IStream *s, unsigned int size) {
        std::vector<unsigned char> *val = new std::vector<unsigned char>(size);
        s->next(*val);
        return val; }
std::vector<signed short>* rros_stream_read_int16_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<signed short> *val = new std::vector<signed short>(size);
        s->next(*val);
        return val; }
std::vector<unsigned short>* rros_stream_read_uint16_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<unsigned short> *val = new std::vector<unsigned short>(size);
        s->next(*val);
        return val; }
std::vector<signed int>* rros_stream_read_int32_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<signed int> *val = new std::vector<signed int>(size);
        s->next(*val);
        return val; }
std::vector<unsigned int>* rros_stream_read_uint32_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<unsigned int> *val = new std::vector<unsigned int>(size);
        s->next(*val);
        return val; }
std::vector<signed long long>* rros_stream_read_int64_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<signed long long> *val = new std::vector<signed long long>(size);
        s->next(*val);
        return val; }
std::vector<unsigned long long>* rros_stream_read_uint64_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<unsigned long long> *val = new std::vector<unsigned long long>(size);
        s->next(*val);
        return val; }
std::vector<float>* rros_stream_read_float32_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<float> *val = new std::vector<float>(size);
        s->next(*val);
        return val; }
std::vector<double>* rros_stream_read_float64_array(ros::serialization::IStream *s, unsigned int size){
        std::vector<double> *val = new std::vector<double>(size);
        s->next(*val);
        return val; }
std::vector<std::string>* rros_stream_read_string_array(ros::serialization::IStream *s, unsigned int size=0){
        std::vector<std::string> *val = new std::vector<std::string>(size);
        s->next(*val);
        return val; }