ros_field.hpp

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/***** MIT License ****
 *
 *   Copyright (c) 2016-2022 Davide Faconti
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#pragma once
 
#include <vector>
#include <map>
#include <memory>
#include <unordered_map>
#include <iostream>
#include "rosx_introspection/ros_type.hpp"
 
namespace RosMsgParser
{
 
class ROSMessage;
 
using RosMessageLibrary = std::unordered_map<ROSType, std::shared_ptr<ROSMessage>>;
 
class Parser;
 
class ROSField
{
public:
  ROSField(const ROSType& type, const std::string& name);
 
  ROSField(const std::string& definition);
 
  const std::string& name() const
  {
    return _fieldname;
  }
 
  const ROSType& type() const
  {
    return _type;
  }
 
  void changeType(const ROSType& type)
  {
    _type = type;
  }
 
  bool isConstant() const
  {
    return _is_constant;
  }
 
  const std::string& value() const
  {
    return _value;
  }
 
  bool isArray() const
  {
    return _is_array;
  }
 
  int arraySize() const
  {
    return _array_size;
  }
 
  friend class ROSMessage;
 
  std::shared_ptr<ROSMessage> getMessagePtr(const RosMessageLibrary& library) const;
 
protected:
  std::string _fieldname;
  ROSType _type;
  std::string _value;
  bool _is_array;
  bool _is_constant = false;
  int _array_size;
 
  mutable const RosMessageLibrary* _cache_library = nullptr;
  mutable std::shared_ptr<ROSMessage> _cache_message;
};
 
void TrimStringLeft(std::string& s);
 
void TrimStringRight(std::string& s);
 
void TrimString(std::string& s);
 
}  // namespace RosMsgParser