message_instance.h
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34 
35 #ifndef ROSBAG_MESSAGE_INSTANCE_H
36 #define ROSBAG_MESSAGE_INSTANCE_H
37 
38 #include <ros/message_traits.h>
39 #include <ros/serialization.h>
40 //#include <ros/ros.h>
41 #include <ros/time.h>
42 
43 #include "rosbag/structures.h"
44 #include "rosbag/macros.h"
45 
46 namespace rosbag {
47 
48 class Bag;
49 
51 
60 {
61  friend class View;
62 
63 public:
64  ros::Time const& getTime() const;
65  std::string const& getTopic() const;
66  std::string const& getDataType() const;
67  std::string const& getMD5Sum() const;
68  std::string const& getMessageDefinition() const;
69 
70  boost::shared_ptr<ros::M_string> getConnectionHeader() const;
71 
72  std::string getCallerId() const;
73  bool isLatching() const;
74 
76 
79  template<class T>
80  bool isType() const;
81 
83 
86  template<class T>
87  boost::shared_ptr<T> instantiate() const;
88 
90  template<typename Stream>
91  void write(Stream& stream) const;
92 
94  uint32_t size() const;
95 
96 private:
97  MessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index, Bag const& bag);
98 
101  Bag const* bag_;
102 };
103 
104 
105 } // namespace rosbag
106 
107 namespace ros {
108 namespace message_traits {
109 
110 template<>
111 struct MD5Sum<rosbag::MessageInstance>
112 {
113  static const char* value(const rosbag::MessageInstance& m) { return m.getMD5Sum().c_str(); }
114 };
115 
116 template<>
117 struct DataType<rosbag::MessageInstance>
118 {
119  static const char* value(const rosbag::MessageInstance& m) { return m.getDataType().c_str(); }
120 };
121 
122 template<>
123 struct Definition<rosbag::MessageInstance>
124 {
125  static const char* value(const rosbag::MessageInstance& m) { return m.getMessageDefinition().c_str(); }
126 };
127 
128 } // namespace message_traits
129 
130 namespace serialization
131 {
132 
133 template<>
134 struct Serializer<rosbag::MessageInstance>
135 {
136  template<typename Stream>
137  inline static void write(Stream& stream, const rosbag::MessageInstance& m) {
138  m.write(stream);
139  }
140 
141  inline static uint32_t serializedLength(const rosbag::MessageInstance& m) {
142  return m.size();
143  }
144 };
145 
146 } // namespace serialization
147 
148 } // namespace ros
149 
150 #include "rosbag/bag.h"
151 
152 namespace rosbag {
153 
154 template<class T>
157  return md5sum == std::string("*") || md5sum == getMD5Sum();
158 }
159 
160 template<class T>
162  if (!isType<T>())
163  return boost::shared_ptr<T>();
164 
165  return bag_->instantiateBuffer<T>(index_entry_);
166 }
167 
168 template<typename Stream>
169 void MessageInstance::write(Stream& stream) const {
170  bag_->readMessageDataIntoStream(index_entry_, stream);
171 }
172 
173 } // namespace rosbag
174 
175 #endif
#define ROSBAG_STORAGE_DECL
Definition: macros.h:50
ConnectionInfo const * connection_info_
IndexEntry const index_entry_
static uint32_t serializedLength(const rosbag::MessageInstance &m)
static const char * value(const rosbag::MessageInstance &m)
std::string const & getMD5Sum() const
A class pointing into a bag file.
bool isType() const
Test whether the underlying message of the specified type.
static const char * value(const rosbag::MessageInstance &m)
static const char * value()
boost::shared_ptr< T > instantiate() const
Templated call to instantiate a message.
std::string const & getDataType() const
std::string const & getMessageDefinition() const
uint32_t size() const
Size of serialized message.
const char * md5sum()
static const char * value(const rosbag::MessageInstance &m)
void write(Stream &stream) const
Write serialized message contents out to a stream.
static void write(Stream &stream, const rosbag::MessageInstance &m)


rosbag_storage
Author(s): Dirk Thomas
autogenerated on Wed Apr 28 2021 02:23:49