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Diff: ros/message_traits.h
- 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