Message.h
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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_H
00024 #define VARIANT_TOPIC_TOOLS_MESSAGE_H
00025 
00026 #include <vector>
00027 
00028 #include <ros/ros.h>
00029 
00030 #include <variant_msgs/Variant.h>
00031 
00032 #include <variant_topic_tools/Forwards.h>
00033 #include <variant_topic_tools/MessageHeader.h>
00034 #include <variant_topic_tools/MessageType.h>
00035 
00036 namespace variant_topic_tools {
00043   class Message {
00044   public:
00047     Message();
00048     
00051     template <typename T> Message(const T& message, const MessageHeader&
00052       header = MessageHeader());
00053     
00056     Message(const Message& src);
00057     
00060     ~Message();
00061 
00067     void setHeader(const MessageHeader& header);
00068     
00071     const MessageHeader& getHeader() const;
00072     
00078     void setType(const MessageType& type);
00079     
00082     const MessageType& getType() const;
00083 
00086     void setData(const std::vector<uint8_t>& data);
00087     
00090     std::vector<uint8_t>& getData();
00091     
00094     const std::vector<uint8_t>& getData() const;
00095     
00098     void setSize(size_t size);
00099 
00102     size_t getSize() const;
00103 
00106     template <typename T> void morph();
00107 
00110     void serialize(const MessageVariant& variant);
00111       
00114     void deserialize(MessageVariant& variant) const;
00115     
00118     boost::shared_ptr<variant_msgs::Variant> toVariantMessage() const;
00119       
00122     template <typename T> boost::shared_ptr<T> toMessage() const;
00123 
00126     template <typename Stream> void read(Stream& stream);
00127 
00130     template <typename Stream> void write(Stream& stream) const;
00131 
00132   protected:
00135     MessageHeader header;
00136     
00139     MessageType type;
00140     
00143     std::vector<uint8_t> data;
00144   };
00145 };
00146 
00147 #include <variant_topic_tools/Message.tpp>
00148 
00149 #include <variant_topic_tools/MessageTraits.h>
00150 #include <variant_topic_tools/Serialization.h>
00151 
00152 #endif


variant_topic_tools
Author(s): Ralf Kaestner
autogenerated on Fri Aug 5 2016 06:06:27