serialize.h

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#ifndef SERIALIZE_H_
#define SERIALIZE_H_

#include <iostream>
#include <fstream>
#include <sstream>
#include <ros/ros.h>
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
#include <boost/serialization/string.hpp> 
#include <boost/serialization/vector.hpp>

namespace micros_swarm{

    // serializer using ROS.
    template<class T>
    std::vector<uint8_t> serialize_ros(T t)
    {
        std::vector<uint8_t> vec;
        uint32_t serial_size = ros::serialization::serializationLength(t);
        boost::shared_array<uint8_t> buffer(new uint8_t[serial_size]);
        ros::serialization::OStream ostream(buffer.get(), serial_size);
        ros::serialization::serialize(ostream, t);
        vec.resize(serial_size);
        std::copy(buffer.get(), buffer.get() + serial_size, vec.begin());
        return vec;
    }
    // deserializer using ROS.
    template<class T>
    T deserialize_ros(const std::vector<uint8_t>& vec)
    {
        T t;
        uint32_t serial_size = vec.size();
        std::vector<uint8_t> buffer(serial_size);
        std::copy(vec.begin(), vec.begin() + serial_size, buffer.begin());
        ros::serialization::IStream istream(buffer.data(), serial_size);
        ros::serialization::Serializer<T>::read(istream, t);
        return t;
    }

    // serializer using Boost.
    template<class T>
    std::string serialize_boost(T t)
    {
        std::ostringstream archiveStream;
        boost::archive::text_oarchive archive(archiveStream);
        archive<<t;
        return archiveStream.str();
    }
    // deserializer using Boost.
    template<class T>
    T deserialize_boost(std::string str)
    {
        T t;
        std::istringstream archiveStream(str);
        boost::archive::text_iarchive archive(archiveStream);
        archive>>t;
        return t;
    }
};
#endif