utils.hpp

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/*********************************************************************
 * utils.hpp
 *
 *  Created on: Jun 16, 2014
 *      Author: Filip Mandic
 *
 ********************************************************************/

/*********************************************************************
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#ifndef UTILS_HPP_
#define UTILS_HPP_

#include <ros/ros.h>

namespace labust{
        namespace utilities{

                /*************************************************************
                 ***  Functions used calling ROS services
                 *************************************************************/
                template <typename custom_srv>
                custom_srv callService(ros::ServiceClient& client, custom_srv& request){

                        if (client.call(request)){
                                ROS_INFO("Call to service %s successful", client.getService().c_str());
                                return request;
                        } else {
                                ROS_ERROR("Call to service %s failed", client.getService().c_str());
                        }
                }

                /*************************************************************
                 ***  Functions for ROS message serialization and deserialization
                 *************************************************************/
                template <typename msgType>
                std::vector<uint8_t> serializeMsg(msgType data){

                        uint32_t serial_size = ros::serialization::serializationLength(data);
                        std::vector<uint8_t> buffer(serial_size);

                        ros::serialization::OStream stream(&buffer.front(), serial_size);
                        ros::serialization::serialize(stream, data);

                        return buffer;
                }

                template <typename msgType>
                msgType deserializeMsg(std::vector<uint8_t> my_buffer){

                        msgType my_msg;

                        uint32_t serial_size = ros::serialization::serializationLength(my_msg);
                        uint8_t *iter = &my_buffer.front();

                        ros::serialization::IStream stream(iter, serial_size);
                        ros::serialization::deserialize(stream, my_msg);

                        return my_msg;
                }

                /*************************************************************
                 ***  Functions used for splitting string expressions
                 *************************************************************/
                std::vector<std::string> &split(const std::string &s, char delim, std::vector<std::string> &elems) {
                        std::stringstream ss(s);
                        std::string item;
                        while (std::getline(ss, item, delim)) {
                                if(!item.empty()){
                                        elems.push_back(item);
                                }
                        }
                        return elems;
                }

                std::vector<std::string> split(const std::string &s, char delim) {
                        std::vector<std::string> elems;
                        split(s, delim, elems);
                        return elems;
                }
        }
}

#endif /* UTILS_HPP_ */