ros_message.hpp

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 *   Copyright (c) 2016-2022 Davide Faconti
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#ifndef ROS_INTROSPECTION_ROSMESSAGE_H
#define ROS_INTROSPECTION_ROSMESSAGE_H
 
#include <unordered_map>
#include "rosx_introspection/tree.hpp"
#include "rosx_introspection/ros_field.hpp"
 
namespace RosMsgParser
{
 
class ROSMessage
{
public:
  using Ptr = std::shared_ptr<ROSMessage>;
 
  ROSMessage(const std::string& msg_def);
 
  const ROSField& field(size_t i) const
  {
    return _fields[i];
  }
 
  const std::vector<ROSField>& fields() const
  {
    return _fields;
  }
 
  std::vector<ROSField>& fields()
  {
    return _fields;
  }
 
  const ROSType& type() const
  {
    return _type;
  }
 
  void setType(const ROSType& new_type)
  {
    _type = new_type;
  }
 
private:
  ROSType _type;
  std::vector<ROSField> _fields;
};
 
typedef details::TreeNode<const ROSField*> FieldTreeNode;
typedef details::Tree<const ROSField*> FieldTree;
 
struct MessageSchema
{
  using Ptr = std::shared_ptr<MessageSchema>;
 
  std::string topic_name;
  FieldTree field_tree;
  ROSMessage::Ptr root_msg;
  RosMessageLibrary msg_library;
};
 
//------------------------------------------------
 
inline std::ostream& operator<<(std::ostream& os, const ROSMessage& msg)
{
  os << msg.type();
  return os;
}
 
inline std::ostream& operator<<(std::ostream& os, const ROSMessage* msg)
{
  os << msg->type();
  return os;
}
 
std::vector<ROSMessage::Ptr> ParseMessageDefinitions(const std::string& multi_def,
                                                     const ROSType& type);
 
MessageSchema::Ptr BuildMessageSchema(const std::string& topic_name,
                                      const std::vector<ROSMessage::Ptr>& parsed_msgs);
 
}  // namespace RosMsgParser
 
#endif