query_results_impl.hpp

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 */

namespace warehouse_ros
{

template<class M>
  ResultIterator<M>::ResultIterator(ResultIteratorHelper::Ptr results, bool metadata_only) :
      results_(results), metadata_only_(metadata_only)
  {
    if (!results_->hasData())
      results_.reset();
  }

template<class M>
  ResultIterator<M>::ResultIterator(const ResultIterator<M>& other) :
      results_(other.results_), metadata_only_(other.metadata_only_)
  {
  }

template<class M>
  ResultIterator<M>::ResultIterator() :
      metadata_only_(false)
  {
  }

template<class M>
  ResultIterator<M>::~ResultIterator()
  {
  }

template<class M>
  ResultIterator<M>& ResultIterator<M>::operator=(const ResultIterator& other)
  {
    results_ = other.results_;
    metadata_only_ = other.metadata_only_;
    return *this;
  }

template<class M>
  void ResultIterator<M>::increment()
  {
    if (!results_->next())
    {
      results_.reset();
    }
  }

template<class M>
  typename MessageWithMetadata<M>::ConstPtr ResultIterator<M>::dereference() const
  {
    ROS_ASSERT(results_);

    typename MessageWithMetadata<M>::Ptr msg(new MessageWithMetadata<M>(results_->metadata()));
    if (!metadata_only_)
    {
      std::string str = results_->message();
      uint8_t* buf = (uint8_t*)str.c_str();
      ros::serialization::IStream istream(buf, str.size());
      ros::serialization::Serializer<M>::read(istream, *msg);
    }
    return msg;
  }

template<class M>
  bool ResultIterator<M>::equal(const ResultIterator<M>& other) const
  {
    // Incomplete, the only case we care about is whether iter is at the end
    return (!results_ && !other.results_);
  }

} // namespace