shape_shifter.cpp

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#include <topic_tools/shape_shifter.h>

using namespace topic_tools;

bool ShapeShifter::uses_old_API_ = false;

ShapeShifter::ShapeShifter()
  :  typed(false),
     msgBuf(NULL),
     msgBufUsed(0),
     msgBufAlloc(0)
{ 
}


ShapeShifter::~ShapeShifter()
{
  if (msgBuf)
    delete[] msgBuf;
  
  msgBuf = NULL;
  msgBufAlloc = 0;
}


std::string const& ShapeShifter::getDataType()          const { return datatype; }


std::string const& ShapeShifter::getMD5Sum()            const { return md5;   }


std::string const& ShapeShifter::getMessageDefinition() const { return msg_def;  }


void ShapeShifter::morph(const std::string& _md5sum, const std::string& _datatype, const std::string& _msg_def,
                         const std::string& _latching)
{
  md5 = _md5sum;
  datatype = _datatype;
  msg_def = _msg_def;
  latching = _latching;
  typed = md5 != "*";
}


ros::Publisher ShapeShifter::advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size_, bool latch, const ros::SubscriberStatusCallback &connect_cb) const
{
  ros::AdvertiseOptions opts(topic, queue_size_, getMD5Sum(), getDataType(), getMessageDefinition(), connect_cb);
  opts.latch = latch;

  return nh.advertise(opts);
}


uint32_t ShapeShifter::size() const
{
  return msgBufUsed;
}