/usr/include/topic_tools/shape_shifter.h is in libtopic-tools-dev 1.11.16-3.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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#ifndef TOPIC_TOOLS_SHAPE_SHIFTER_H
#define TOPIC_TOOLS_SHAPE_SHIFTER_H
#include "ros/ros.h"
#include "ros/console.h"
#include "ros/assert.h"
#include <vector>
#include <string>
#include <string.h>
#include <ros/message_traits.h>
#include "macros.h"
namespace topic_tools
{
class ShapeShifterException : public ros::Exception
{
public:
ShapeShifterException(const std::string& msg)
: ros::Exception(msg) {}
};
class TOPIC_TOOLS_DECL ShapeShifter
{
public:
typedef boost::shared_ptr<ShapeShifter> Ptr;
typedef boost::shared_ptr<ShapeShifter const> ConstPtr;
static bool uses_old_API_;
// Constructor and destructor
ShapeShifter();
virtual ~ShapeShifter();
// Helpers for inspecting shapeshifter
std::string const& getDataType() const;
std::string const& getMD5Sum() const;
std::string const& getMessageDefinition() const;
void morph(const std::string& md5sum, const std::string& datatype, const std::string& msg_def,
const std::string& latching);
// Helper for advertising
ros::Publisher advertise(ros::NodeHandle& nh, const std::string& topic, uint32_t queue_size_, bool latch=false,
const ros::SubscriberStatusCallback &connect_cb=ros::SubscriberStatusCallback()) const;
//! Call to try instantiating as a particular type
template<class M>
boost::shared_ptr<M> instantiate() const;
//! Write serialized message contents out to a stream
template<typename Stream>
void write(Stream& stream) const;
template<typename Stream>
void read(Stream& stream);
//! Return the size of the serialized message
uint32_t size() const;
private:
std::string md5, datatype, msg_def, latching;
bool typed;
uint8_t *msgBuf;
uint32_t msgBufUsed;
uint32_t msgBufAlloc;
};
}
// Message traits allow shape shifter to work with the new serialization API
namespace ros {
namespace message_traits {
template <> struct IsMessage<topic_tools::ShapeShifter> : TrueType { };
template <> struct IsMessage<const topic_tools::ShapeShifter> : TrueType { };
template<>
struct MD5Sum<topic_tools::ShapeShifter>
{
static const char* value(const topic_tools::ShapeShifter& m) { return m.getMD5Sum().c_str(); }
// Used statically, a shapeshifter appears to be of any type
static const char* value() { return "*"; }
};
template<>
struct DataType<topic_tools::ShapeShifter>
{
static const char* value(const topic_tools::ShapeShifter& m) { return m.getDataType().c_str(); }
// Used statically, a shapeshifter appears to be of any type
static const char* value() { return "*"; }
};
template<>
struct Definition<topic_tools::ShapeShifter>
{
static const char* value(const topic_tools::ShapeShifter& m) { return m.getMessageDefinition().c_str(); }
};
} // namespace message_traits
namespace serialization
{
template<>
struct Serializer<topic_tools::ShapeShifter>
{
template<typename Stream>
inline static void write(Stream& stream, const topic_tools::ShapeShifter& m) {
m.write(stream);
}
template<typename Stream>
inline static void read(Stream& stream, topic_tools::ShapeShifter& m)
{
m.read(stream);
}
inline static uint32_t serializedLength(const topic_tools::ShapeShifter& m) {
return m.size();
}
};
template<>
struct PreDeserialize<topic_tools::ShapeShifter>
{
static void notify(const PreDeserializeParams<topic_tools::ShapeShifter>& params)
{
std::string md5 = (*params.connection_header)["md5sum"];
std::string datatype = (*params.connection_header)["type"];
std::string msg_def = (*params.connection_header)["message_definition"];
std::string latching = (*params.connection_header)["latching"];
params.message->morph(md5, datatype, msg_def, latching);
}
};
} // namespace serialization
} //namespace ros
// Template implementations:
namespace topic_tools
{
//
// only used in testing, seemingly
//
template<class M>
boost::shared_ptr<M> ShapeShifter::instantiate() const
{
if (!typed)
throw ShapeShifterException("Tried to instantiate message from an untyped shapeshifter.");
if (ros::message_traits::datatype<M>() != getDataType())
throw ShapeShifterException("Tried to instantiate message without matching datatype.");
if (ros::message_traits::md5sum<M>() != getMD5Sum())
throw ShapeShifterException("Tried to instantiate message without matching md5sum.");
boost::shared_ptr<M> p(new M());
ros::serialization::IStream s(msgBuf, msgBufUsed);
ros::serialization::deserialize(s, *p);
return p;
}
template<typename Stream>
void ShapeShifter::write(Stream& stream) const {
if (msgBufUsed > 0)
memcpy(stream.advance(msgBufUsed), msgBuf, msgBufUsed);
}
template<typename Stream>
void ShapeShifter::read(Stream& stream)
{
stream.getLength();
stream.getData();
// stash this message in our buffer
if (stream.getLength() > msgBufAlloc)
{
delete[] msgBuf;
msgBuf = new uint8_t[stream.getLength()];
msgBufAlloc = stream.getLength();
}
msgBufUsed = stream.getLength();
memcpy(msgBuf, stream.getData(), stream.getLength());
}
} // namespace topic_tools
#endif
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