/usr/include/ros/message_traits.h is in libroscpp-core-dev 0.5.6-2.
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* 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) { return 0; }
static std_msgs::Header const* pointer(const M& 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) { return 0; }
static std::string const* pointer(const M& 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) { return 0; }
static ros::Time const* pointer(const M& 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
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