message_adapters.hpp

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// Copyright 2017-2019 the Autoware Foundation
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.

#ifndef HELPER_FUNCTIONS__MESSAGE_ADAPTERS_HPP_
#define HELPER_FUNCTIONS__MESSAGE_ADAPTERS_HPP_

#include <builtin_interfaces/msg/time.hpp>
#include <string>

namespace autoware
{
namespace common
{
namespace helper_functions
{
namespace message_field_adapters
{
using TimeStamp = builtin_interfaces::msg::Time;

template<typename T, typename = nullptr_t>
struct HasHeader : std::false_type {};

template<typename T>
struct HasHeader<T, decltype((void) T::header, nullptr)>: std::true_type {};


template<typename T, nullptr_t>
const std::string & get_frame_id(const T & msg) noexcept;

template<typename T, nullptr_t>
std::string & get_frame_id(T & msg) noexcept;

template<typename T, nullptr_t>
const TimeStamp & get_stamp(const T & msg) noexcept;

template<typename T, nullptr_t>
TimeStamp & get_stamp(T & msg) noexcept;


template<class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
const std::string & get_frame_id(const T & msg) noexcept
{
  return msg.header.frame_id;
}

template<class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
std::string & get_frame_id(T & msg) noexcept
{
  return msg.header.frame_id;
}

template<class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
TimeStamp & get_stamp(T & msg) noexcept
{
  return msg.header.stamp;
}

template<class T, typename std::enable_if<HasHeader<T>::value, nullptr_t>::type = nullptr>
TimeStamp get_stamp(const T & msg) noexcept
{
  return msg.header.stamp;
}

}  // namespace message_field_adapters
}  // namespace helper_functions
}  // namespace common
}  // namespace autoware

#endif  // HELPER_FUNCTIONS__MESSAGE_ADAPTERS_HPP_