00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright 2016-2017 Davide Faconti 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * *******************************************************************/ 00034 00035 #ifndef ROS_INTROSPECTION_ROSMESSAGE_H 00036 #define ROS_INTROSPECTION_ROSMESSAGE_H 00037 00038 #include "ros_type_introspection/utils/tree.hpp" 00039 #include "ros_type_introspection/ros_field.hpp" 00040 00041 namespace RosIntrospection{ 00042 00043 00044 class ROSMessage{ 00045 public: 00046 00049 ROSMessage(const std::string& msg_def ); 00050 00054 const ROSField& field(size_t index) const { return _fields[index]; } 00055 00060 const std::vector<ROSField>& fields() const { return _fields; } 00061 00062 const ROSType& type() const { return _type; } 00063 00064 void mutateType(const ROSType& new_type ) { _type = new_type; } 00065 00066 void updateMissingPkgNames(const std::vector<const ROSType *> &all_types); 00067 00068 private: 00069 00070 ROSType _type; 00071 std::vector<ROSField> _fields; 00072 }; 00073 00074 typedef details::TreeNode<std::string> StringTreeNode; 00075 typedef details::Tree<std::string> StringTree; 00076 00077 typedef details::TreeNode<const ROSMessage*> MessageTreeNode; 00078 typedef details::Tree<const ROSMessage*> MessageTree; 00079 00080 struct ROSMessageInfo 00081 { 00082 StringTree string_tree; 00083 MessageTree message_tree; 00084 std::vector<ROSMessage> type_list; 00085 }; 00086 00087 //------------------------------------------------ 00088 00089 inline std::ostream& operator<<(std::ostream &os, const ROSMessage& msg ) 00090 { 00091 os << msg.type(); 00092 return os; 00093 } 00094 00095 inline std::ostream& operator<<(std::ostream &os, const ROSMessage* msg ) 00096 { 00097 os << msg->type(); 00098 return os; 00099 } 00100 00101 00102 } 00103 00104 #endif