ros2_introspection.hpp

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#pragma once

#include <unordered_map>
#include <ros2_introspection/stringtree.hpp>
#include <rosbag2_cpp/typesupport_helpers.hpp>
#include <rosbag2_cpp/types/introspection_message.hpp>
#include <rosidl_typesupport_cpp/identifier.hpp>
#include <rosidl_typesupport_introspection_cpp/identifier.hpp>

namespace Ros2Introspection{

struct FlatMessage {

  const StringTree* tree;

  std::vector< std::pair<StringTreeLeaf, double> > values;

  std::vector< std::pair<StringTreeLeaf, std::string> > strings;

  std::vector< std::pair<StringTreeLeaf, BufferView> > blobs;
};

struct TopicInfo{

  TopicInfo(const std::string& type);

  std::string topic_type;
  bool has_header_stamp;

  std::shared_ptr<rcpputils::SharedLibrary> _introspection_library;
  const rosidl_message_type_support_t *introspection_support;

  std::shared_ptr<rcpputils::SharedLibrary> _support_library;
  const rosidl_message_type_support_t *type_support;

  static rcutils_allocator_t allocator;
};

enum MaxArrayPolicy: bool {
  DISCARD_LARGE_ARRAYS = true,
  KEEP_LARGE_ARRAYS = false
};

class Parser{

public:
  Parser(const std::string &topic_name, const std::string& type_name);

  enum{ MAX_ARRAY_SIZE = 9999 };

  void setMaxArrayPolicy( MaxArrayPolicy discard_policy, size_t max_size );

  MaxArrayPolicy maxArrayPolicy() const;

  size_t maxArraySize() const;

  bool deserializeIntoFlatMessage(const rcutils_uint8_array_t *msg,
                                  FlatMessage* flat_container_output) const;

  const TopicInfo& topicInfo() const;

private:

  MaxArrayPolicy _discard_policy;

  size_t _max_array_size;

  StringTree _field_tree;

  TopicInfo _topic_info;
};

bool TypeHasHeader(const rosidl_message_type_support_t* type_support);

}