00001 /****************************************************************************** 00002 * Copyright (C) 2014 by Ralf Kaestner * 00003 * ralf.kaestner@gmail.com * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the Lesser GNU General Public License as published by* 00007 * the Free Software Foundation; either version 3 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * Lesser GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the Lesser GNU General Public License * 00016 * along with this program. If not, see <http://www.gnu.org/licenses/>. * 00017 ******************************************************************************/ 00018 00023 #ifndef VARIANT_TOPIC_TOOLS_MESSAGE_DEFINITION_H 00024 #define VARIANT_TOPIC_TOOLS_MESSAGE_DEFINITION_H 00025 00026 #include <iostream> 00027 00028 #include <boost/enable_shared_from_this.hpp> 00029 00030 #include <ros/ros.h> 00031 00032 #include <variant_topic_tools/DataType.h> 00033 #include <variant_topic_tools/Forwards.h> 00034 #include <variant_topic_tools/MessageField.h> 00035 #include <variant_topic_tools/MessageFieldCollection.h> 00036 #include <variant_topic_tools/MessageType.h> 00037 00038 namespace variant_topic_tools { 00041 class MessageDefinition : 00042 public MessageFieldCollection<DataType>, 00043 public boost::enable_shared_from_this<MessageDefinition> { 00044 public: 00047 MessageDefinition(); 00048 00051 MessageDefinition(const MessageType& messageType); 00052 00055 MessageDefinition(const MessageDataType& messageDataType); 00056 00059 MessageDefinition(const MessageDefinition& src); 00060 00063 ~MessageDefinition(); 00064 00068 void setMessageType(const MessageType& messageType); 00069 00073 template <typename T> void setMessageType(); 00074 00078 void setMessageDataType(const MessageDataType& messageDataType); 00079 00083 MessageDataType getMessageDataType() const; 00084 00087 bool isValid() const; 00088 00091 template <typename T> static MessageDefinition create(); 00092 00096 void load(const std::string& messageDataType); 00097 00100 void clear(); 00101 00104 void write(std::ostream& stream) const; 00105 00106 protected: 00109 DataType messageDataType; 00110 00113 void fill(const MessageDataType& currentDataType, 00114 MessageFieldCollection<DataType>& currentCollection); 00115 }; 00116 00119 std::ostream& operator<<(std::ostream& stream, const MessageDefinition& 00120 messageDefinition); 00121 }; 00122 00123 #include <variant_topic_tools/MessageDefinition.tpp> 00124 00125 #endif