cpp_introspection: cpp_introspection: message.h Source File

00001 //=================================================================================================
00002 // Copyright (c) 2011, 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_H
00030 #define CPP_INTROSPECTION_MESSAGE_H
00031 
00032 #include <introspection/forwards.h>
00033 #include <introspection/field.h>
00034 
00035 #include <std_msgs/Header.h>
00036 #include <ros/time.h>
00037 
00038 namespace cpp_introspection {
00039 
00040   class Message
00041   {
00042   public:
00043     virtual ~Message() {}
00044 
00045 //    virtual const Package& package() const = 0;
00046 
00047     virtual const char* getName() const = 0;
00048     virtual const char* getDataType() const = 0;
00049     virtual const char* getMD5Sum() const = 0;
00050     virtual const char* getDefinition() const = 0;
00051     virtual const std::type_info& getTypeId() const = 0;
00052 
00053     virtual bool isMessage() const { return true; }
00054     virtual bool isSimple() const = 0;
00055     virtual bool isFixedSize() const = 0;
00056     virtual bool hasHeader() const = 0;
00057 
00058     virtual std_msgs::Header* getHeader(const VoidPtr& instance) const = 0;
00059     virtual const std_msgs::Header* getHeader(const VoidConstPtr& instance) const = 0;
00060     virtual std::string* getFrameId(const VoidPtr& instance) const = 0;
00061     virtual const std::string* getFrameId(const VoidConstPtr& instance) const = 0;
00062     virtual ros::Time* getTimeStamp(const VoidPtr& instance) const = 0;
00063     virtual const ros::Time* getTimeStamp(const VoidConstPtr& instance) const = 0;
00064 
00065     virtual const V_Field& fields() const = 0;
00066     virtual FieldWPtr field(const std::string& name) const = 0;
00067     virtual const V_FieldName& getFieldNames() const = 0;
00068 
00069     V_string getFields(bool expand = false, const std::string& separator = ".", const std::string& prefix = std::string()) const;
00070     V_string& getFields(V_string& fields, bool expand = false, const std::string& separator = ".", const std::string& prefix = std::string()) const;
00071     V_string getTypes(bool expand = false) const;
00072     V_string& getTypes(V_string& types, bool expand = false) const;
00073     std::vector<boost::any> getValues(bool expand = false) const;
00074     std::vector<boost::any>& getValues(std::vector<boost::any>& values, bool expand = false) const;
00075 
00076     virtual VoidPtr createInstance() const = 0;
00077     virtual void serialize(ros::serialization::OStream& stream, const VoidConstPtr& instance = VoidConstPtr()) const = 0;
00078     virtual ros::SerializedMessage serialize(const VoidConstPtr& instance = VoidConstPtr()) const = 0;
00079     virtual std::size_t serializationLength(const VoidConstPtr& instance = VoidConstPtr()) const = 0;
00080     virtual VoidPtr deserialize(ros::serialization::IStream& stream, const VoidPtr& instance = VoidPtr()) const = 0;
00081 
00082     virtual bool hasInstance() const { return false; }
00083     virtual VoidPtr getInstance() const { return VoidPtr(); }
00084     virtual VoidConstPtr getConstInstance() const { return VoidConstPtr(); }
00085 
00086     virtual MessagePtr introspect(const VoidPtr& instance) const = 0;
00087     virtual MessagePtr introspect(void *instance) const = 0;
00088     virtual MessagePtr introspect(const VoidConstPtr& instance) const = 0;
00089     virtual MessagePtr introspect(void const *instance) const = 0;
00090 
00091     template <typename T> typename T::Ptr      narrow(const VoidPtr& instance) const      { return boost::shared_static_cast<T>(instance); }
00092     template <typename T> typename T::ConstPtr narrow(const VoidConstPtr& instance) const { return boost::shared_static_cast<T const>(instance); }
00093 
00094     typedef V_Field::iterator iterator;
00095     typedef V_Field::const_iterator const_iterator;
00096     const_iterator begin() const { return fields().begin(); }
00097     const_iterator end() const { return fields().end(); }
00098     std::size_t size() const { return fields().size(); }
00099   };
00100 
00101   MessagePtr messageByDataType(const std::string& data_type, const std::string& package = std::string());
00102   static inline MessagePtr messageByDataType(const char* data_type, const char* package) { return messageByDataType(std::string(data_type), std::string(package)); }
00103   MessagePtr messageByMD5Sum(const std::string& md5sum);
00104   static inline MessagePtr messageByMD5Sum(const char* md5sum) { return messageByMD5Sum(std::string(md5sum)); }
00105   MessagePtr messageByTypeId(const std::type_info& type_info);
00106 
00107   MessagePtr expand(const MessagePtr& message, const std::string &separator = ".", const std::string &prefix = "");
00108 
00109 } // namespace cpp_introspection
00110 
00111 #endif // CPP_INTROSPECTION_MESSAGE_H