include_TEMPLATE_MSGS.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------


// each new message type requires from here to TOHERE
bool getTopicMessage(int topicSpecifier, TEMPLATE_MSGS &msg){
 return ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMessage(msg);
}

bool getUpdateTopicMessage(int topicSpecifier, TEMPLATE_MSGS &msg){
 if(_openTopics[topicSpecifier]->updateMessage());
 return ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMessage(msg);
}

bool writeTopic(int topicSpecifier, const TEMPLATE_MSGS &msg){
 return ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->sendMessage(msg);
}

void getTopicMessages(int topicSpecifier, deque<TEMPLATE_MSGS> &msg){
 ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMsgList(msg);
}

void getUpdateTopicMessages(int topicSpecifier, deque<TEMPLATE_MSGS> &msg){
 if(_openTopics[topicSpecifier]->updateMessage());
 ((ROSiFace<TEMPLATE_MSGS,TEMPLATE_MSGS::ConstPtr>*)(_openTopics[topicSpecifier]))->getMsgList(msg);
}
// TOHERE