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get_topics_list.hh
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get_topics_list.hh
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// Desctiption:
// This program's function is getting topics list from running gazebo,
// and find a topic name including some keywords which you wanna get.
// In USARGazebo.cc, you can see a sample code for using this program.
// To find the sample code in USARGazebo.cc, search "TopicsList".
//
// Author : Masaru Shimizu
// E-Mail : [email protected]
// Date : 5.2015
//
#ifndef GETPCLST_HH
#define GETPCLST_HH
#include <set>
#include <iostream>
//////////////////////////////////////////////////////////////////
// Topics List
struct TopicsList
{
//////////////////////////////////////////////////////////////////
// TopicsList.Variables
int _already_called_get_topics;
std::string _data;
gazebo::msgs::Packet _packet;
gazebo::msgs::Request _request;
gazebo::transport::ConnectionPtr _connection;
gazebo::msgs::GzString_V _topics;
std::set<char*> _topics_list;
//////////////////////////////////////////////////////////////////
// TopicsList.Constructor
TopicsList(void) : _data(), _packet(), _request()
, _topics(), _already_called_get_topics(0)
, _topics_list()
{
_topics_list.clear();
}
//////////////////////////////////////////////////////////////////
// TopicsList.Destructor
~TopicsList()
{
Clear_topics_list();
}
//////////////////////////////////////////////////////////////////
// Return the number of topics in _topics_list
int Size(void)
{
return _topics_list.size();
}
//////////////////////////////////////////////////////////////////
// TopicsList.Add a topics to _topics_list
void Add_a_topics(const char* _a_topic)
{
char* _newp;
_newp = new char[strlen(_a_topic)+2];
strcpy(_newp, _a_topic);
_topics_list.insert(_newp);
}
//////////////////////////////////////////////////////////////////
// TopicsList.Clear _topics_list
void Clear_topics_list(void)
{
if(0 == Size())
return;
for(typename std::set<char*>::iterator i = _topics_list.begin()
; i != _topics_list.end(); i++)
delete *i;
_topics_list.clear();
}
//////////////////////////////////////////////////////////////////
// TopicsList.Get_Topics_List
// SAMPLE CODE to get a list of topics from
// https://bitbucket.org/osrf/gazebo/src/5eed0402ea08b3dff261d25ef8da82db426bbab6/tools/gz_topic.cc?at=default#cl-87
void Get_Topics_List(void)
{
_connection = gazebo::transport::connectToMaster();
_request.set_id(0);
_request.set_request("get_topics");
_connection->EnqueueMsg(gazebo::msgs::Package("request",_request),true);
_connection->Read(_data);
_packet.ParseFromString(_data);
_topics.ParseFromString(_packet.serialized_data());
_connection.reset();
_already_called_get_topics = 1;
Clear_topics_list();
for(int i = 0; i < _topics.data_size(); ++i)
{
std::stringstream _s(_topics.data(i));
Add_a_topics((const char*)_s.str().c_str());
}
// Codes for debug
/*std::cout << "_topics size = " << _topics.data_size() << std::endl;
Disp_Topics();
std::cout << "_topics_list size = " << Size() << std::endl;
Disp_topics_list();*/
}
//////////////////////////////////////////////////////////////////
// TopicsList.Refresh_Topics_List
void Refresh_Topics_List(void)
{
Get_Topics_List();
}
//////////////////////////////////////////////////////////////////
// TopicsList.Filter : remove topic entries which does not have _keyword
// from _topics_list
int Filter(const char* _keyword = NULL)
{
// if(1 != _already_called_get_topics)
// Get_Topics_List();
if(0 == Size())
return 0;
if(NULL == _keyword || (NULL != _keyword && 0 == _keyword[0]))
return Size();
for(typename std::set<char*>::iterator i = _topics_list.begin()
; i != _topics_list.end();)
{
if(NULL == strcasestr(*i, _keyword))
{
delete *i;
_topics_list.erase(*i);
i = _topics_list.begin();
continue;
}
i++;
}
//std::cout << "Remain = " << Size() << std::endl;
return Size();
}
//////////////////////////////////////////////////////////////////
// TopicsList.Search_n : Search about 3 keywords in _topics_list,
// and return _num'th string's pointer
// (The first hitted string's _num is 0).
const char* Search_n(int _num, const char* _keyword1 = NULL,
const char* _keyword2 = NULL,
const char* _keyword3 = NULL)
{
// if(1 != _already_called_get_topics)
// Get_Topics_List();
if(0 == Size())
return NULL;
for(typename std::set<char*>::iterator i = _topics_list.begin()
; i != _topics_list.end(); i++)
if(NULL == _keyword3 || (NULL != _keyword3 && 0 == _keyword3[0]) ||
(NULL != _keyword3 && 0 != _keyword3[0]
&& NULL != strcasestr(*i, _keyword3)))
if(NULL == _keyword2 || (NULL != _keyword2 && 0 == _keyword2[0]) ||
(NULL != _keyword2 && 0 != _keyword2[0]
&& NULL != strcasestr(*i, _keyword2)))
/* Memo for Debug
if(NULL == _keyword1 || (NULL != _keyword1 && 0 == _keyword1[0])||
(NULL != _keyword1 && 0 != _keyword1[0]
&& NULL != strcasestr(*i, _keyword1))) */
if((NULL != _keyword1 && 0 != _keyword1[0]
&& NULL != strcasestr(*i, _keyword1)))
if(0 == _num--)
return *i;
return NULL;
}
//////////////////////////////////////////////////////////////////
// TopicsList.Search : Search about 3 keywords in _topics_list,
// and return the first hitted string's pointer.
const char* Search(const char* _keyword1 = NULL,
const char* _keyword2 = NULL,
const char* _keyword3 = NULL)
{
Search_n(0, _keyword1, _keyword2, _keyword3);
}
//////////////////////////////////////////////////////////////////
// TopicsList.Disp_Topics
void Disp_topics(void)
{
for (int i = 0; i < _topics.data_size(); ++i)
{
std::cout << _topics.data(i) << std::endl;
}
}
//////////////////////////////////////////////////////////////////
// TopicsList.Disp_Topics_List
void Disp_topics_list(void)
{
if(0 == Size())
return;
for(typename std::set<char*>::iterator i = _topics_list.begin()
; i != _topics_list.end(); i++)
std::cout << *i << std::endl;
}
};
#endif