serializable_message.h
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00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_RPC_SERIALIZABLE_MESSAGE_H
00031 #define RVIZ_RPC_SERIALIZABLE_MESSAGE_H
00032 
00033 #include <ros/serialized_message.h>
00034 #include <ros/serialization.h>
00035 
00036 #include <boost/function.hpp>
00037 
00038 namespace rve_rpc
00039 {
00040 typedef boost::shared_ptr<void> VoidPtr;
00041 typedef boost::shared_ptr<void const> VoidConstPtr;
00042 
00043 template<typename T>
00044 ros::SerializedMessage serialize(const VoidConstPtr& message)
00045 {
00046   namespace ser = ros::serialization;
00047   boost::shared_ptr<T const> m = boost::static_pointer_cast<T const>(message);
00048   return ser::serializeMessage(*m);
00049 }
00050 
00051 template<typename T>
00052 uint32_t serializedLength(const VoidConstPtr& message)
00053 {
00054   namespace ser = ros::serialization;
00055   boost::shared_ptr<T const> m = boost::static_pointer_cast<T const>(message);
00056   return ser::serializationLength(*m);
00057 }
00058 
00059 struct SerializableMessage
00060 {
00061   SerializableMessage()
00062   : ti(0)
00063   {}
00064 
00065   VoidConstPtr message;
00066   boost::function<ros::SerializedMessage(const VoidConstPtr& message)> serialize;
00067   boost::function<uint32_t(const VoidConstPtr& message)> serialized_length;
00068   const std::type_info* ti;
00069 };
00070 } // namespace rve_rpc
00071 
00072 #endif // RVIZ_RPC_SERIALIZABLE_MESSAGE_H


rve_rpc
Author(s): Josh Faust
autogenerated on Wed Dec 11 2013 14:30:53