serialization.hpp

// 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
 
class RCLCPP_PUBLIC_TYPE SerializationBase
{
public:
 
  explicit SerializationBase(const rosidl_message_type_support_t * type_support);
 
  virtual ~SerializationBase() = default;
 
 
  void serialize_message(
    const void * ros_message, SerializedMessage * serialized_message) const;
 
 
  void deserialize_message(
    const SerializedMessage * serialized_message, void * ros_message) const;
 
private:
  const rosidl_message_type_support_t * type_support_;
};
 
template<typename MessageT>
class Serialization : public SerializationBase
{
public:
  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_