shape_shifter.h
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00034 
00035 #ifndef TOPIC_TOOLS_SHAPE_SHIFTER_H
00036 #define TOPIC_TOOLS_SHAPE_SHIFTER_H
00037 
00038 #include "ros/ros.h"
00039 #include "ros/console.h"
00040 #include "ros/assert.h"
00041 #include <vector>
00042 #include <string>
00043 #include <string.h>
00044 
00045 #include <ros/message_traits.h>
00046 #include "macros.h"
00047 
00048 namespace topic_tools
00049 {
00050  
00051 class ShapeShifterException : public ros::Exception
00052 {
00053 public:
00054   ShapeShifterException(const std::string& msg)
00055     : ros::Exception(msg)  {}
00056 };
00057 
00058 
00059 class TOPIC_TOOLS_DECL ShapeShifter
00060 {
00061 public:
00062   typedef boost::shared_ptr<ShapeShifter> Ptr;
00063   typedef boost::shared_ptr<ShapeShifter const> ConstPtr;
00064 
00065   static bool uses_old_API_;
00066 
00067   // Constructor and destructor
00068   ShapeShifter();
00069   virtual ~ShapeShifter();
00070 
00071   // Helpers for inspecting shapeshifter
00072   std::string const& getDataType()          const;
00073   std::string const& getMD5Sum()            const;
00074   std::string const& getMessageDefinition() const;
00075 
00076   void morph(const std::string& md5sum, const std::string& datatype, const std::string& msg_def,
00077              const std::string& latching);
00078 
00079   // Helper for advertising
00080   ros::Publisher advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size_, bool latch=false, 
00081                            const ros::SubscriberStatusCallback &connect_cb=ros::SubscriberStatusCallback()) const;
00082 
00084   template<class M> 
00085   boost::shared_ptr<M> instantiate() const;
00086 
00088   template<typename Stream>
00089   void write(Stream& stream) const;
00090 
00091   template<typename Stream>
00092   void read(Stream& stream);
00093 
00095   uint32_t size() const;
00096 
00097   boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00098 
00099 private:
00100 
00101   std::string md5, datatype, msg_def, latching;
00102   bool typed;
00103 
00104   uint8_t *msgBuf;
00105   uint32_t msgBufUsed;
00106   uint32_t msgBufAlloc;
00107   
00108 };
00109   
00110 }
00111 
00112 
00113 // Message traits allow shape shifter to work with the new serialization API
00114 namespace ros {
00115 namespace message_traits {
00116 
00117 template <> struct IsMessage<topic_tools::ShapeShifter> : TrueType { };
00118 template <> struct IsMessage<const topic_tools::ShapeShifter> : TrueType { };
00119 
00120 template<>
00121 struct MD5Sum<topic_tools::ShapeShifter>
00122 {
00123   static const char* value(const topic_tools::ShapeShifter& m) { return m.getMD5Sum().c_str(); }
00124 
00125   // Used statically, a shapeshifter appears to be of any type
00126   static const char* value() { return "*"; }
00127 };
00128 
00129 template<>
00130 struct DataType<topic_tools::ShapeShifter>
00131 {
00132   static const char* value(const topic_tools::ShapeShifter& m) { return m.getDataType().c_str(); }
00133 
00134   // Used statically, a shapeshifter appears to be of any type
00135   static const char* value() { return "*"; }
00136 };
00137 
00138 template<>
00139 struct Definition<topic_tools::ShapeShifter>
00140 {
00141   static const char* value(const topic_tools::ShapeShifter& m) { return m.getMessageDefinition().c_str(); }
00142 };
00143 
00144 } // namespace message_traits
00145 
00146 
00147 namespace serialization
00148 {
00149 
00150 template<>
00151 struct Serializer<topic_tools::ShapeShifter>
00152 {
00153   template<typename Stream>
00154   inline static void write(Stream& stream, const topic_tools::ShapeShifter& m) {
00155     m.write(stream);
00156   }
00157 
00158   template<typename Stream>
00159   inline static void read(Stream& stream, topic_tools::ShapeShifter& m)
00160   {
00161     m.read(stream);
00162   }
00163 
00164   inline static uint32_t serializedLength(const topic_tools::ShapeShifter& m) {
00165     return m.size();
00166   }
00167 };
00168 
00169 
00170 template<>
00171 struct PreDeserialize<topic_tools::ShapeShifter>
00172 {
00173   static void notify(const PreDeserializeParams<topic_tools::ShapeShifter>& params)
00174   {
00175     std::string md5      = (*params.connection_header)["md5sum"];
00176     std::string datatype = (*params.connection_header)["type"];
00177     std::string msg_def  = (*params.connection_header)["message_definition"];
00178     std::string latching  = (*params.connection_header)["latching"];
00179 
00180     typedef std::map<std::string, std::string> map_t;
00181     boost::shared_ptr<map_t> shmap(new map_t(*params.connection_header));
00182     params.message->__connection_header = shmap;
00183     params.message->morph(md5, datatype, msg_def, latching);
00184   }
00185 };
00186 
00187 } // namespace serialization
00188 
00189 } //namespace ros
00190 
00191 
00192 
00193 // Template implementations:
00194 
00195 namespace topic_tools
00196 {
00197 
00198   //
00199   //  only used in testing, seemingly
00200   //
00201 template<class M> 
00202 boost::shared_ptr<M> ShapeShifter::instantiate() const
00203 {
00204   if (!typed)
00205     throw ShapeShifterException("Tried to instantiate message from an untyped shapeshifter.");
00206   
00207   if (ros::message_traits::datatype<M>() != getDataType())
00208     throw ShapeShifterException("Tried to instantiate message without matching datatype.");
00209   
00210   if (ros::message_traits::md5sum<M>() != getMD5Sum())
00211     throw ShapeShifterException("Tried to instantiate message without matching md5sum.");
00212   
00213   boost::shared_ptr<M> p(new M());
00214 
00215   ros::assignSubscriptionConnectionHeader<M>(p.get(), __connection_header);
00216 
00217   ros::serialization::IStream s(msgBuf, msgBufUsed);
00218   ros::serialization::deserialize(s, *p);
00219 
00220   return p;
00221 }
00222 
00223 template<typename Stream>
00224 void ShapeShifter::write(Stream& stream) const {
00225   if (msgBufUsed > 0)
00226     memcpy(stream.advance(msgBufUsed), msgBuf, msgBufUsed);
00227 }
00228 
00229 template<typename Stream>
00230 void ShapeShifter::read(Stream& stream)
00231 {
00232   stream.getLength();
00233   stream.getData();
00234     
00235   // stash this message in our buffer
00236   if (stream.getLength() > msgBufAlloc)
00237   {
00238     delete[] msgBuf;
00239     msgBuf = new uint8_t[stream.getLength()];
00240     msgBufAlloc = stream.getLength();
00241   }
00242   msgBufUsed = stream.getLength();
00243   memcpy(msgBuf, stream.getData(), stream.getLength());
00244 }
00245 
00246 } // namespace topic_tools
00247 
00248 
00249 #endif
00250 


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Fri Aug 28 2015 12:33:48