shape_shifter.cpp

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#include <topic_tools/shape_shifter.h>
 
using namespace topic_tools;
 
bool ShapeShifter::uses_old_API_ = false;
 
ShapeShifter::ShapeShifter() : typed(false) {}
 
ShapeShifter::~ShapeShifter() {}
 
std::string const& ShapeShifter::getDataType()          const { return datatype; }
 
 
std::string const& ShapeShifter::getMD5Sum()            const { return md5;   }
 
 
std::string const& ShapeShifter::getMessageDefinition() const { return msg_def;  }
 
 
void ShapeShifter::morph(const std::string& _md5sum, const std::string& _datatype, const std::string& _msg_def,
                         const std::string& _latching)
{
  md5 = _md5sum;
  datatype = _datatype;
  msg_def = _msg_def;
  latching = _latching;
  typed = md5 != "*";
}
 
 
ros::Publisher ShapeShifter::advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size_, bool latch, const ros::SubscriberStatusCallback &connect_cb) const
{
  ros::AdvertiseOptions opts(topic, queue_size_, getMD5Sum(), getDataType(), getMessageDefinition(), connect_cb);
  opts.latch = latch;
 
  return nh.advertise(opts);
}
 
 
uint32_t ShapeShifter::size() const
{
  return msgBuf.size();
}