YARP
Yet Another Robot Platform
Header.h
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1 /*
2  * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
3  * SPDX-License-Identifier: BSD-3-Clause
4  */
5 
6 // This is an automatically generated file.
7 
8 // Generated from the following "std_msgs/Header" msg definition:
9 // # Standard metadata for higher-level stamped data types.
10 // # This is generally used to communicate timestamped data
11 // # in a particular coordinate frame.
12 // #
13 // # sequence ID: consecutively increasing ID
14 // uint32 seq
15 // #Two-integer timestamp that is expressed as:
16 // # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
17 // # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
18 // # time-handling sugar is provided by the client library
19 // time stamp
20 // #Frame this data is associated with
21 // # 0: no frame
22 // # 1: global frame
23 // string frame_id
24 // Instances of this class can be read and written with YARP ports,
25 // using a ROS-compatible format.
26 
27 #ifndef YARP_ROSMSG_std_msgs_Header_h
28 #define YARP_ROSMSG_std_msgs_Header_h
29 
30 #include <yarp/os/Wire.h>
31 #include <yarp/os/Type.h>
32 #include <yarp/os/idl/WireTypes.h>
33 #include <string>
34 #include <vector>
35 #include <yarp/rosmsg/TickTime.h>
36 
37 namespace yarp {
38 namespace rosmsg {
39 namespace std_msgs {
40 
42 {
43 public:
44  std::uint32_t seq;
46  std::string frame_id;
47 
48  Header() :
49  seq(0),
50  stamp(),
51  frame_id("")
52  {
53  }
54 
55  void clear()
56  {
57  // *** seq ***
58  seq = 0;
59 
60  // *** stamp ***
61  stamp.clear();
62 
63  // *** frame_id ***
64  frame_id = "";
65  }
66 
67  bool readBare(yarp::os::ConnectionReader& connection) override
68  {
69  // *** seq ***
70  seq = connection.expectInt32();
71 
72  // *** stamp ***
73  if (!stamp.read(connection)) {
74  return false;
75  }
76 
77  // *** frame_id ***
78  int len = connection.expectInt32();
79  frame_id.resize(len);
80  if (!connection.expectBlock((char*)frame_id.c_str(), len)) {
81  return false;
82  }
83 
84  return !connection.isError();
85  }
86 
87  bool readBottle(yarp::os::ConnectionReader& connection) override
88  {
89  connection.convertTextMode();
90  yarp::os::idl::WireReader reader(connection);
91  if (!reader.readListHeader(3)) {
92  return false;
93  }
94 
95  // *** seq ***
96  seq = reader.expectInt32();
97 
98  // *** stamp ***
99  if (!stamp.read(connection)) {
100  return false;
101  }
102 
103  // *** frame_id ***
104  if (!reader.readString(frame_id)) {
105  return false;
106  }
107 
108  return !connection.isError();
109  }
110 
112  bool read(yarp::os::ConnectionReader& connection) override
113  {
114  return (connection.isBareMode() ? readBare(connection)
115  : readBottle(connection));
116  }
117 
118  bool writeBare(yarp::os::ConnectionWriter& connection) const override
119  {
120  // *** seq ***
121  connection.appendInt32(seq);
122 
123  // *** stamp ***
124  if (!stamp.write(connection)) {
125  return false;
126  }
127 
128  // *** frame_id ***
129  connection.appendInt32(frame_id.length());
130  connection.appendExternalBlock((char*)frame_id.c_str(), frame_id.length());
131 
132  return !connection.isError();
133  }
134 
135  bool writeBottle(yarp::os::ConnectionWriter& connection) const override
136  {
137  connection.appendInt32(BOTTLE_TAG_LIST);
138  connection.appendInt32(3);
139 
140  // *** seq ***
141  connection.appendInt32(BOTTLE_TAG_INT32);
142  connection.appendInt32(seq);
143 
144  // *** stamp ***
145  if (!stamp.write(connection)) {
146  return false;
147  }
148 
149  // *** frame_id ***
150  connection.appendInt32(BOTTLE_TAG_STRING);
151  connection.appendInt32(frame_id.length());
152  connection.appendExternalBlock((char*)frame_id.c_str(), frame_id.length());
153 
154  connection.convertTextMode();
155  return !connection.isError();
156  }
157 
159  bool write(yarp::os::ConnectionWriter& connection) const override
160  {
161  return (connection.isBareMode() ? writeBare(connection)
162  : writeBottle(connection));
163  }
164 
165  // This class will serialize ROS style or YARP style depending on protocol.
166  // If you need to force a serialization style, use one of these classes:
169 
170  // The name for this message, ROS will need this
171  static constexpr const char* typeName = "std_msgs/Header";
172 
173  // The checksum for this message, ROS will need this
174  static constexpr const char* typeChecksum = "2176decaecbce78abc3b96ef049fabed";
175 
176  // The source text for this message, ROS will need this
177  static constexpr const char* typeText = "\
178 # Standard metadata for higher-level stamped data types.\n\
179 # This is generally used to communicate timestamped data \n\
180 # in a particular coordinate frame.\n\
181 # \n\
182 # sequence ID: consecutively increasing ID \n\
183 uint32 seq\n\
184 #Two-integer timestamp that is expressed as:\n\
185 # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n\
186 # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n\
187 # time-handling sugar is provided by the client library\n\
188 time stamp\n\
189 #Frame this data is associated with\n\
190 # 0: no frame\n\
191 # 1: global frame\n\
192 string frame_id\n\
193 ";
194 
195  yarp::os::Type getType() const override
196  {
198  typ.addProperty("md5sum", yarp::os::Value(typeChecksum));
199  typ.addProperty("message_definition", yarp::os::Value(typeText));
200  return typ;
201  }
202 };
203 
204 } // namespace std_msgs
205 } // namespace rosmsg
206 } // namespace yarp
207 
208 #endif // YARP_ROSMSG_std_msgs_Header_h
#define BOTTLE_TAG_INT32
Definition: Bottle.h:21
#define BOTTLE_TAG_STRING
Definition: Bottle.h:26
#define BOTTLE_TAG_LIST
Definition: Bottle.h:28
An interface for reading from a network connection.
virtual bool expectBlock(char *data, size_t len)=0
Read a block of data from the network connection.
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual std::int32_t expectInt32()=0
Read a 32-bit integer from the network connection.
virtual bool convertTextMode()=0
Reads in a standard description in text mode, and converts it to a standard description in binary.
virtual bool isError() const =0
An interface for writing to a network connection.
virtual bool isError() const =0
virtual bool isBareMode() const =0
Check if the connection is bare mode.
virtual void appendExternalBlock(const char *data, size_t len)=0
Send a block of data to the network connection, without making a copy.
virtual bool convertTextMode()=0
Converts a standard description in binary into a textual description, if the connection is in text-mo...
virtual void appendInt32(std::int32_t data)=0
Send a representation of a 32-bit integer to the network connection.
static Type byName(const char *name)
Definition: Type.cpp:171
Type & addProperty(const char *key, const Value &val)
Definition: Type.cpp:134
A single value (typically within a Bottle).
Definition: Value.h:45
A "tamed" Portable, that promises to serialize itself in an IDL-friendly way.
Definition: WirePortable.h:23
virtual bool read(yarp::os::idl::WireReader &reader)
virtual bool write(const yarp::os::idl::WireWriter &writer) const
IDL-friendly connection reader.
Definition: WireReader.h:30
bool readString(std::string &str, bool *is_vocab=nullptr)
Definition: WireReader.cpp:382
std::int32_t expectInt32()
Definition: WireReader.h:92
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: TickTime.h:148
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: TickTime.h:113
bool readBare(yarp::os::ConnectionReader &connection) override
Definition: Header.h:67
bool writeBottle(yarp::os::ConnectionWriter &connection) const override
Definition: Header.h:135
bool write(yarp::os::ConnectionWriter &connection) const override
Write this object to a network connection.
Definition: Header.h:159
bool readBottle(yarp::os::ConnectionReader &connection) override
Definition: Header.h:87
bool writeBare(yarp::os::ConnectionWriter &connection) const override
Definition: Header.h:118
yarp::rosmsg::TickTime stamp
Definition: Header.h:45
static constexpr const char * typeName
Definition: Header.h:171
yarp::os::Type getType() const override
Definition: Header.h:195
static constexpr const char * typeText
Definition: Header.h:177
yarp::os::idl::BottleStyle< yarp::rosmsg::std_msgs::Header > bottleStyle
Definition: Header.h:168
bool read(yarp::os::ConnectionReader &connection) override
Read this object from a network connection.
Definition: Header.h:112
yarp::os::idl::BareStyle< yarp::rosmsg::std_msgs::Header > rosStyle
Definition: Header.h:167
static constexpr const char * typeChecksum
Definition: Header.h:174
Definition: Bool.h:19
The main, catch-all namespace for YARP.
Definition: dirs.h:16