/usr/include/rosbag/message_instance.h is in librosbag-storage-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
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#ifndef ROSBAG_MESSAGE_INSTANCE_H
#define ROSBAG_MESSAGE_INSTANCE_H
#include <ros/message_traits.h>
#include <ros/serialization.h>
//#include <ros/ros.h>
#include <ros/time.h>
#include "rosbag/structures.h"
#include "rosbag/macros.h"
namespace rosbag {
class Bag;
//! A class pointing into a bag file
/*!
* The MessageInstance class itself is fairly light weight. It
* simply contains a pointer to a bag-file and the index_entry
* necessary to get access to the corresponding data.
*
* It adheres to the necessary ros::message_traits to be directly
* serializable.
*/
class ROSBAG_DECL MessageInstance
{
friend class View;
public:
ros::Time const& getTime() const;
std::string const& getTopic() const;
std::string const& getDataType() const;
std::string const& getMD5Sum() const;
std::string const& getMessageDefinition() const;
boost::shared_ptr<ros::M_string> getConnectionHeader() const;
std::string getCallerId() const;
bool isLatching() const;
//! Test whether the underlying message of the specified type.
/*!
* returns true iff the message is of the template type
*/
template<class T>
bool isType() const;
//! Templated call to instantiate a message
/*!
* returns NULL pointer if incompatible
*/
template<class T>
boost::shared_ptr<T> instantiate() const;
//! Write serialized message contents out to a stream
template<typename Stream>
void write(Stream& stream) const;
//! Size of serialized message
uint32_t size() const;
private:
MessageInstance(ConnectionInfo const* connection_info, IndexEntry const& index, Bag const& bag);
ConnectionInfo const* connection_info_;
IndexEntry const index_entry_;
Bag const* bag_;
};
} // namespace rosbag
namespace ros {
namespace message_traits {
template<>
struct MD5Sum<rosbag::MessageInstance>
{
static const char* value(const rosbag::MessageInstance& m) { return m.getMD5Sum().c_str(); }
};
template<>
struct DataType<rosbag::MessageInstance>
{
static const char* value(const rosbag::MessageInstance& m) { return m.getDataType().c_str(); }
};
template<>
struct Definition<rosbag::MessageInstance>
{
static const char* value(const rosbag::MessageInstance& m) { return m.getMessageDefinition().c_str(); }
};
} // namespace message_traits
namespace serialization
{
template<>
struct Serializer<rosbag::MessageInstance>
{
template<typename Stream>
inline static void write(Stream& stream, const rosbag::MessageInstance& m) {
m.write(stream);
}
inline static uint32_t serializedLength(const rosbag::MessageInstance& m) {
return m.size();
}
};
} // namespace serialization
} // namespace ros
#include "rosbag/bag.h"
namespace rosbag {
template<class T>
bool MessageInstance::isType() const {
char const* md5sum = ros::message_traits::MD5Sum<T>::value();
return md5sum == std::string("*") || md5sum == getMD5Sum();
}
template<class T>
boost::shared_ptr<T> MessageInstance::instantiate() const {
if (!isType<T>())
return boost::shared_ptr<T>();
return bag_->instantiateBuffer<T>(index_entry_);
}
template<typename Stream>
void MessageInstance::write(Stream& stream) const {
bag_->readMessageDataIntoStream(index_entry_, stream);
}
} // namespace rosbag
#endif
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