MessageType.h

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/******************************************************************************
 * Copyright (C) 2014 by Ralf Kaestner                                        *
 * ralf.kaestner@gmail.com                                                    *
 *                                                                            *
 * This program is free software; you can redistribute it and/or modify       *
 * it under the terms of the Lesser GNU General Public License as published by*
 * the Free Software Foundation; either version 3 of the License, or          *
 * (at your option) any later version.                                        *
 *                                                                            *
 * This program is distributed in the hope that it will be useful,            *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of             *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the               *
 * Lesser GNU General Public License for more details.                        *
 *                                                                            *
 * You should have received a copy of the Lesser GNU General Public License   *
 * along with this program. If not, see <http://www.gnu.org/licenses/>.       *
 ******************************************************************************/

#ifndef VARIANT_TOPIC_TOOLS_MESSAGE_TYPE_H
#define VARIANT_TOPIC_TOOLS_MESSAGE_TYPE_H

#include <ros/ros.h>

#include <variant_topic_tools/Forwards.h>

namespace variant_topic_tools {
  class MessageType {
  public:
    MessageType(const std::string& dataType = std::string(),
      const std::string& md5Sum = "*", const std::string&
      definition = std::string());
    
    MessageType(const MessageDataType& dataType);
    
    MessageType(const MessageType& src);
    
    ~MessageType();

    void setDataType(const std::string& dataType);
    
    const std::string& getDataType() const;
    
    void setMD5Sum(const std::string& md5Sum);
    
    const std::string& getMD5Sum() const;
    
    void setDefinition(const std::string& definition);
    
    const std::string& getDefinition() const;
    
    bool isValid() const;

    template <typename T> static MessageType create();
    
    void load(const std::string& messageDataType);
    
    void clear();
    
    void write(std::ostream& stream) const;
    
    Publisher advertise(ros::NodeHandle& nodeHandle, const
      std::string& topic, size_t queueSize, bool latch = false,
      const ros::SubscriberStatusCallback& connectCallback =
      ros::SubscriberStatusCallback());
    
    Subscriber subscribe(ros::NodeHandle& nodeHandle, const std::string&
      topic, size_t queueSize, const SubscriberCallback& callback);
    
    bool operator==(const MessageType& type) const;
    
    bool operator!=(const MessageType& type) const;
    
  protected:
    std::string dataType;
    
    std::string md5Sum;
    
    std::string definition;
  };
  
  std::ostream& operator<<(std::ostream& stream, const MessageType&
    messageType);
};

#include <variant_topic_tools/MessageType.tpp>

#endif