Pipe Inpection Robot / Mbed OS GPG_motor

Dependencies:   BufferedSerial sn7544

Fork of GPG_motor by Kang mingyo

Revision:
11:2228e8931266
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/message_traits.h	Thu Jul 11 13:30:27 2019 +0000
@@ -0,0 +1,360 @@
+/*
+ * Copyright (C) 2009, Willow Garage, Inc.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the names of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROSLIB_MESSAGE_TRAITS_H
+#define ROSLIB_MESSAGE_TRAITS_H
+
+#include "message_forward.h"
+
+#include <ros/time.h>
+
+#include <string>
+#include <boost/utility/enable_if.hpp>
+#include <boost/type_traits/remove_const.hpp>
+#include <boost/type_traits/remove_reference.hpp>
+
+namespace std_msgs
+{
+  ROS_DECLARE_MESSAGE(Header)
+}
+
+#define ROS_IMPLEMENT_SIMPLE_TOPIC_TRAITS(msg, md5sum, datatype, definition) \
+  namespace ros \
+  { \
+  namespace message_traits \
+  { \
+  template<> struct MD5Sum<msg> \
+  { \
+    static const char* value() { return md5sum; } \
+    static const char* value(const msg&) { return value(); } \
+  }; \
+  template<> struct DataType<msg> \
+  { \
+    static const char* value() { return datatype; } \
+    static const char* value(const msg&) { return value(); } \
+  }; \
+  template<> struct Definition<msg> \
+  { \
+    static const char* value() { return definition; } \
+    static const char* value(const msg&) { return value(); } \
+  }; \
+  } \
+  }
+
+
+namespace ros
+{
+namespace message_traits
+{
+
+/**
+ * \brief Base type for compile-type true/false tests.  Compatible with Boost.MPL.  classes inheriting from this type
+ * are \b true values.
+ */
+struct TrueType
+{
+  static const bool value = true;
+  typedef TrueType type;
+};
+
+/**
+ * \brief Base type for compile-type true/false tests.  Compatible with Boost.MPL.  classes inheriting from this type
+ * are \b false values.
+ */
+struct FalseType
+{
+  static const bool value = false;
+  typedef FalseType type;
+};
+
+/**
+ * \brief A simple datatype is one that can be memcpy'd directly in array form, i.e. it's a POD, fixed-size type and
+ * sizeof(M) == sum(serializationLength(M:a...))
+ */
+template<typename M> struct IsSimple : public FalseType {};
+/**
+ * \brief A fixed-size datatype is one whose size is constant, i.e. it has no variable-length arrays or strings
+ */
+template<typename M> struct IsFixedSize : public FalseType {};
+/**
+ * \brief HasHeader informs whether or not there is a header that gets serialized as the first thing in the message
+ */
+template<typename M> struct HasHeader : public FalseType {};
+
+/**
+ * \brief Am I message or not
+ */
+template<typename M> struct IsMessage : public FalseType {};
+
+/**
+ * \brief Specialize to provide the md5sum for a message
+ */
+template<typename M>
+struct MD5Sum
+{
+  static const char* value()
+  {
+    return M::__s_getMD5Sum().c_str();
+  }
+
+  static const char* value(const M& m)
+  {
+    return m.__getMD5Sum().c_str();
+  }
+};
+
+/**
+ * \brief Specialize to provide the datatype for a message
+ */
+template<typename M>
+struct DataType
+{
+  static const char* value()
+  {
+    return M::__s_getDataType().c_str();
+  }
+
+  static const char* value(const M& m)
+  {
+    return m.__getDataType().c_str();
+  }
+};
+
+/**
+ * \brief Specialize to provide the definition for a message
+ */
+template<typename M>
+struct Definition
+{
+  static const char* value()
+  {
+    return M::__s_getMessageDefinition().c_str();
+  }
+
+  static const char* value(const M& m)
+  {
+    return m.__getMessageDefinition().c_str();
+  }
+};
+
+/**
+ * \brief Header trait.  In the default implementation pointer()
+ * returns &m.header if HasHeader<M>::value is true, otherwise returns NULL
+ */
+template<typename M, typename Enable = void>
+struct Header
+{
+  static std_msgs::Header* pointer(M& m) { (void)m; return 0; }
+  static std_msgs::Header const* pointer(const M& m) { (void)m; return 0; }
+};
+
+template<typename M>
+struct Header<M, typename boost::enable_if<HasHeader<M> >::type >
+{
+  static std_msgs::Header* pointer(M& m) { return &m.header; }
+  static std_msgs::Header const* pointer(const M& m) { return &m.header; }
+};
+
+/**
+ * \brief FrameId trait.  In the default implementation pointer()
+ * returns &m.header.frame_id if HasHeader<M>::value is true, otherwise returns NULL.  value()
+ * does not exist, and causes a compile error
+ */
+template<typename M, typename Enable = void>
+struct FrameId
+{
+  static std::string* pointer(M& m) { (void)m; return 0; }
+  static std::string const* pointer(const M& m) { (void)m; return 0; }
+};
+
+template<typename M>
+struct FrameId<M, typename boost::enable_if<HasHeader<M> >::type >
+{
+  static std::string* pointer(M& m) { return &m.header.frame_id; }
+  static std::string const* pointer(const M& m) { return &m.header.frame_id; }
+  static std::string value(const M& m) { return m.header.frame_id; }
+};
+
+/**
+ * \brief TimeStamp trait.  In the default implementation pointer()
+ * returns &m.header.stamp if HasHeader<M>::value is true, otherwise returns NULL.  value()
+ * does not exist, and causes a compile error
+ */
+template<typename M, typename Enable = void>
+struct TimeStamp
+{
+  static ros::Time* pointer(M& m) { (void)m; return 0; }
+  static ros::Time const* pointer(const M& m) { (void)m; return 0; }
+};
+
+template<typename M>
+struct TimeStamp<M, typename boost::enable_if<HasHeader<M> >::type >
+{
+  static ros::Time* pointer(typename boost::remove_const<M>::type &m) { return &m.header.stamp; }
+  static ros::Time const* pointer(const M& m) { return &m.header.stamp; }
+  static ros::Time value(const M& m) { return m.header.stamp; }
+};
+
+/**
+ * \brief returns MD5Sum<M>::value();
+ */
+template<typename M>
+inline const char* md5sum()
+{
+  return MD5Sum<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value();
+}
+
+/**
+ * \brief returns DataType<M>::value();
+ */
+template<typename M>
+inline const char* datatype()
+{
+  return DataType<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value();
+}
+
+/**
+ * \brief returns Definition<M>::value();
+ */
+template<typename M>
+inline const char* definition()
+{
+  return Definition<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value();
+}
+
+/**
+ * \brief returns MD5Sum<M>::value(m);
+ */
+template<typename M>
+inline const char* md5sum(const M& m)
+{
+  return MD5Sum<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m);
+}
+
+/**
+ * \brief returns DataType<M>::value(m);
+ */
+template<typename M>
+inline const char* datatype(const M& m)
+{
+  return DataType<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m);
+}
+
+/**
+ * \brief returns Definition<M>::value(m);
+ */
+template<typename M>
+inline const char* definition(const M& m)
+{
+  return Definition<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value(m);
+}
+
+/**
+ * \brief returns Header<M>::pointer(m);
+ */
+template<typename M>
+inline std_msgs::Header* header(M& m)
+{
+  return Header<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
+}
+
+/**
+ * \brief returns Header<M>::pointer(m);
+ */
+template<typename M>
+inline std_msgs::Header const* header(const M& m)
+{
+  return Header<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
+}
+
+/**
+ * \brief returns FrameId<M>::pointer(m);
+ */
+template<typename M>
+inline std::string* frameId(M& m)
+{
+  return FrameId<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
+}
+
+/**
+ * \brief returns FrameId<M>::pointer(m);
+ */
+template<typename M>
+inline std::string const* frameId(const M& m)
+{
+  return FrameId<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
+}
+
+/**
+ * \brief returns TimeStamp<M>::pointer(m);
+ */
+template<typename M>
+inline ros::Time* timeStamp(M& m)
+{
+  return TimeStamp<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
+}
+
+/**
+ * \brief returns TimeStamp<M>::pointer(m);
+ */
+template<typename M>
+inline ros::Time const* timeStamp(const M& m)
+{
+  return TimeStamp<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::pointer(m);
+}
+
+/**
+ * \brief returns IsSimple<M>::value;
+ */
+template<typename M>
+inline bool isSimple()
+{
+  return IsSimple<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value;
+}
+
+/**
+ * \brief returns IsFixedSize<M>::value;
+ */
+template<typename M>
+inline bool isFixedSize()
+{
+  return IsFixedSize<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value;
+}
+
+/**
+ * \brief returns HasHeader<M>::value;
+ */
+template<typename M>
+inline bool hasHeader()
+{
+  return HasHeader<typename boost::remove_reference<typename boost::remove_const<M>::type>::type>::value;
+}
+
+} // namespace message_traits
+} // namespace ros
+
+#endif // ROSLIB_MESSAGE_TRAITS_H
\ No newline at end of file