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serialization.hpp
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// Copyright 2020 Open Source Robotics Foundation, Inc.
//
// 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.
#ifndef RCLCPP__SERIALIZATION_HPP_
#define RCLCPP__SERIALIZATION_HPP_
#include <memory>
#include <stdexcept>
#include <string>
#include "rclcpp/visibility_control.hpp"
#include "rcl/types.h"
#include "rosidl_runtime_c/message_type_support_struct.h"
#include "rosidl_typesupport_cpp/message_type_support.hpp"
namespace rclcpp
{
class SerializedMessage;
namespace serialization_traits
{
// trait to check if type is the object oriented serialized message
template<typename T>
struct is_serialized_message_class : std::false_type
{};
template<>
struct is_serialized_message_class<SerializedMessage>: std::true_type
{};
} // namespace serialization_traits
/// Interface to (de)serialize a message
class RCLCPP_PUBLIC_TYPE SerializationBase
{
public:
/// Constructor of SerializationBase
/**
* \param[in] type_support handle for the message type support
* to be used for serialization and deserialization.
*/
explicit SerializationBase(const rosidl_message_type_support_t * type_support);
/// Destructor of SerializationBase
virtual ~SerializationBase() = default;
/// Serialize a ROS2 message to a serialized stream
/**
* \param[in] ros_message The ROS2 message which is read and serialized by rmw.
* \param[out] serialized_message The serialized message.
*/
void serialize_message(
const void * ros_message, SerializedMessage * serialized_message) const;
/// Deserialize a serialized stream to a ROS message
/**
* \param[in] serialized_message The serialized message to be converted to ROS2 by rmw.
* \param[out] ros_message The deserialized ROS2 message.
*/
void deserialize_message(
const SerializedMessage * serialized_message, void * ros_message) const;
private:
const rosidl_message_type_support_t * type_support_;
};
/// Default implementation to (de)serialize a message by using rmw_(de)serialize
template<typename MessageT>
class Serialization : public SerializationBase
{
public:
/// Constructor of Serialization
Serialization()
: SerializationBase(rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>())
{
static_assert(
!serialization_traits::is_serialized_message_class<MessageT>::value,
"Serialization of serialized message to serialized message is not possible.");
}
};
} // namespace rclcpp
#endif // RCLCPP__SERIALIZATION_HPP_