message_template.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef CPP_INTROSPECTION_MESSAGE_TEMPLATE_H
00030 #define CPP_INTROSPECTION_MESSAGE_TEMPLATE_H
00031 
00032 #include <introspection/message.h>
00033 #include <ros/message_traits.h>
00034 
00035 #include <cstring>
00036 
00037 namespace cpp_introspection {
00038 
00039   template <typename T>
00040   class MessageTemplate : public Message {
00041   public:
00042     typedef T MessageType;
00043 
00044     virtual ~MessageTemplate() {}
00045 
00046     const char* getDataType() const    { return ros::message_traits::DataType<MessageType>::value(); }
00047     const char* getMD5Sum() const      { return ros::message_traits::MD5Sum<MessageType>::value(); }
00048     const char* getDefinition() const  { return ros::message_traits::Definition<MessageType>::value(); }
00049     const std::type_info& getTypeId() const { return typeid(MessageType); }
00050 
00051     bool isSimple() const              { return ros::message_traits::isSimple<MessageType>(); }
00052     bool isFixedSize() const           { return ros::message_traits::isFixedSize<MessageType>(); }
00053     bool hasHeader() const             { return ros::message_traits::hasHeader<MessageType>(); }
00054 
00055     ::std_msgs::Header* getHeader(const VoidPtr& instance) const;
00056     const ::std_msgs::Header* getHeader(const VoidConstPtr& instance) const;
00057     std::string* getFrameId(const VoidPtr& instance) const;
00058     const std::string* getFrameId(const VoidConstPtr& instance) const;
00059     ros::Time* getTimeStamp(const VoidPtr& instance) const;
00060     const ros::Time* getTimeStamp(const VoidConstPtr& instance) const;
00061 
00062     VoidPtr createInstance() const;
00063     void serialize(ros::serialization::OStream& stream, const VoidConstPtr& instance = VoidConstPtr()) const;
00064     ros::SerializedMessage serialize(const VoidConstPtr& instance = VoidConstPtr()) const;
00065     std::size_t serializationLength(const VoidConstPtr& instance = VoidConstPtr()) const;
00066     VoidPtr deserialize(ros::serialization::IStream& stream, const VoidPtr& instance = VoidPtr()) const;
00067 
00068     MessagePtr introspect(const VoidPtr& instance) const;
00069     MessagePtr introspect(void *instance) const;
00070     MessagePtr introspect(const VoidConstPtr& instance) const;
00071     MessagePtr introspect(void const *instance) const;
00072   };
00073 
00074   template <typename T>
00075   ::std_msgs::Header* MessageTemplate<T>::getHeader(const VoidPtr& instance) const {
00076     MessageType* x = static_cast<MessageType*>(instance.get());
00077     if (!x) return 0;
00078     return ros::message_traits::Header<MessageType>::pointer(*x);
00079   }
00080 
00081   template <typename T>
00082   const ::std_msgs::Header* MessageTemplate<T>::getHeader(const VoidConstPtr& instance) const {
00083     const MessageType* x = static_cast<const MessageType*>(instance.get());
00084     if (!x) return 0;
00085     return ros::message_traits::Header<MessageType>::pointer(*x);
00086   }
00087 
00088   template <typename T>
00089   std::string* MessageTemplate<T>::getFrameId(const VoidPtr& instance) const {
00090     MessageType* x = static_cast<MessageType*>(instance.get());
00091     if (!x) return 0;
00092     return ros::message_traits::FrameId<MessageType>::pointer(*x);
00093   }
00094 
00095   template <typename T>
00096   const std::string* MessageTemplate<T>::getFrameId(const VoidConstPtr& instance) const {
00097     const MessageType* x = static_cast<const MessageType*>(instance.get());
00098     if (!x) return 0;
00099     return ros::message_traits::FrameId<MessageType>::pointer(*x);
00100   }
00101 
00102   template <typename T>
00103   ros::Time* MessageTemplate<T>::getTimeStamp(const VoidPtr& instance) const {
00104     MessageType* x = static_cast<MessageType*>(instance.get());
00105     if (!x) return 0;
00106     return ros::message_traits::TimeStamp<MessageType>::pointer(*x);
00107   }
00108 
00109   template <typename T>
00110   const ros::Time* MessageTemplate<T>::getTimeStamp(const VoidConstPtr& instance) const {
00111     const MessageType* x = static_cast<const MessageType*>(instance.get());
00112     if (!x) return 0;
00113     return ros::message_traits::TimeStamp<MessageType>::pointer(*x);
00114   }
00115 
00116   template <typename T>
00117   VoidPtr MessageTemplate<T>::createInstance() const
00118   {
00119     return VoidPtr(new MessageType());
00120   }
00121 
00122   template <typename T>
00123   void MessageTemplate<T>::serialize(ros::serialization::OStream& stream, const VoidConstPtr& instance) const
00124   {
00125     const MessageType* x = static_cast<const MessageType*>(instance.get());
00126     if (!x) return;
00127     ros::serialization::serialize(stream, *x);
00128   }
00129 
00130   template <typename T>
00131   ros::SerializedMessage MessageTemplate<T>::serialize(const VoidConstPtr& instance) const
00132   {
00133     const MessageType* x = static_cast<const MessageType*>(instance.get());
00134     if (!x) return ros::SerializedMessage();
00135     return ros::serialization::serializeMessage<T>(*x);
00136   }
00137 
00138   template <typename T>
00139   std::size_t MessageTemplate<T>::serializationLength(const VoidConstPtr& instance) const
00140   {
00141     const MessageType* x = static_cast<const MessageType*>(instance.get());
00142     if (!x) return 0;
00143     return ros::serialization::serializationLength(*x);
00144   }
00145 
00146   template <typename T>
00147   VoidPtr MessageTemplate<T>::deserialize(ros::serialization::IStream& stream, const VoidPtr& instance) const
00148   {
00149     typename MessageType::Ptr x = boost::shared_static_cast<MessageType>(instance);
00150     if (!x) x = boost::static_pointer_cast<MessageType>(createInstance());
00151     ros::serialization::deserialize(stream, *x);
00152     return x;
00153   }
00154 
00155 } // namespace
00156 
00157 #endif // CPP_INTROSPECTION_MESSAGE_TEMPLATE_H


cpp_introspection
Author(s): Johannes Meyer
autogenerated on Sun Oct 5 2014 23:17:53