include_TEMPLATE_MSGS.h

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00001 // ----------------------------------------------------------------------------
00002 //
00003 // $Id$
00004 //
00005 // Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
00006 //
00007 // This file is part of MIP.
00008 //
00009 // MIP is free software: you can redistribute it and/or modify
00010 // it under the terms of the GNU General Public License as published by
00011 // the Free Software Foundation, either version 3 of the License, or
00012 // (at your option) any later version.
00013 //
00014 // MIP is distributed in the hope that it will be useful,
00015 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00016 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017 // GNU General Public License for more details.
00018 //
00019 // You should have received a copy of the GNU General Public License
00020 // along with MIP. If not, see <http://www.gnu.org/licenses/>.
00021 //
00022 // Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
00023 //
00024 // ----------------------------------------------------------------------------
00025 
00026 
00027 // each new message type requires from here to TOHERE
00034 bool getTopicMessage(int topicSpecifier, TEMPLATE_MSGS &msg){
00035  return ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMessage(msg);
00036 }
00037 
00044 bool getUpdateTopicMessage(int topicSpecifier, TEMPLATE_MSGS &msg){
00045  if(_openTopics[topicSpecifier]->updateMessage());
00046  return ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMessage(msg);
00047 }
00048 
00055 bool writeTopic(int topicSpecifier, const TEMPLATE_MSGS &msg){
00056  return ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->sendMessage(msg);
00057 }
00058 
00062 void getTopicMessages(int topicSpecifier, deque<TEMPLATE_MSGS> &msg){
00063  ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMsgList(msg);
00064 }
00065 
00069 void getUpdateTopicMessages(int topicSpecifier, deque<TEMPLATE_MSGS> &msg){
00070  if(_openTopics[topicSpecifier]->updateMessage());
00071  ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMsgList(msg);
00072 }
00073 // TOHERE
00074 

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