Program Listing for File memory_management.hpp
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// Copyright 2018, Bosch Software Innovations GmbH.
//
// 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 ROSBAG2_TEST_COMMON__MEMORY_MANAGEMENT_HPP_
#define ROSBAG2_TEST_COMMON__MEMORY_MANAGEMENT_HPP_
#include <memory>
#include <string>
#include "rclcpp/serialization.hpp"
#include "rclcpp/serialized_message.hpp"
namespace rosbag2_test_common
{
class MemoryManagement
{
public:
MemoryManagement() = default;
~MemoryManagement() = default;
template<typename T>
inline
std::shared_ptr<rmw_serialized_message_t>
serialize_message(std::shared_ptr<T> message)
{
rclcpp::Serialization<T> ser;
rclcpp::SerializedMessage serialized_message;
ser.serialize_message(message.get(), &serialized_message);
auto ret = std::make_shared<rmw_serialized_message_t>();
*ret = serialized_message.release_rcl_serialized_message();
return ret;
}
template<typename T>
inline
std::shared_ptr<T>
deserialize_message(std::shared_ptr<rmw_serialized_message_t> serialized_message)
{
rclcpp::Serialization<T> ser;
auto message = std::make_shared<T>();
rclcpp::SerializedMessage rclcpp_serialized_message(*serialized_message);
ser.deserialize_message(&rclcpp_serialized_message, message.get());
return message;
}
std::shared_ptr<rmw_serialized_message_t> make_initialized_message()
{
rclcpp::SerializedMessage serialized_message(0u);
auto ret = std::make_shared<rmw_serialized_message_t>();
*ret = serialized_message.release_rcl_serialized_message();
return ret;
}
};
} // namespace rosbag2_test_common
#endif // ROSBAG2_TEST_COMMON__MEMORY_MANAGEMENT_HPP_