serialization.h File Reference

#include "roscpp_serialization_macros.h"
#include <ros/types.h>
#include <ros/time.h>
#include "serialized_message.h"
#include "ros/message_traits.h"
#include "ros/builtin_message_traits.h"
#include "ros/exception.h"
#include "ros/datatypes.h"
#include <vector>
#include <map>
#include <boost/array.hpp>
#include <boost/call_traits.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/mpl/and.hpp>
#include <boost/mpl/or.hpp>
#include <boost/mpl/not.hpp>
#include <cstring>

Include dependency graph for serialization.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	ros::serialization::ArraySerializer< T, N, Enabled >
	Array serializer, default implementation does nothing. More...
struct	ros::serialization::ArraySerializer< T, N, typename boost::disable_if< mt::IsFixedSize< T > >::type >
	Array serializer, specialized for non-fixed-size, non-simple types. More...
struct	ros::serialization::ArraySerializer< T, N, typename boost::enable_if< mpl::and_< mt::IsFixedSize< T >, mpl::not_< mt::IsSimple< T > > > >::type >
	Array serializer, specialized for fixed-size, non-simple types. More...
struct	ros::serialization::ArraySerializer< T, N, typename boost::enable_if< mt::IsSimple< T > >::type >
	Array serializer, specialized for fixed-size, simple types. More...
struct	ros::serialization::IStream
	Input stream. More...
struct	ros::serialization::LStream
	Length stream. More...
struct	ros::serialization::OStream
	Output stream. More...
struct	ros::serialization::PreDeserialize< M >
	called by the SubscriptionCallbackHelper after a message is instantiated but before that message is deserialized More...
struct	ros::serialization::PreDeserializeParams< M >
struct	ros::serialization::Serializer< T >
	Templated serialization class. Default implementation provides backwards compatibility with old message types. More...
struct	ros::serialization::Serializer< bool >
	Serializer specialized for bool (serialized as uint8) More...
struct	ros::serialization::Serializer< ros::Duration >
	Serializer specialized for ros::Duration. More...
struct	ros::serialization::Serializer< ros::Time >
	Serializer specialized for ros::Time. More...
struct	ros::serialization::Serializer< std::basic_string< char, std::char_traits< char >, ContainerAllocator > >
	Serializer specialized for std::string. More...
struct	ros::serialization::Stream
	Stream base-class, provides common functionality for IStream and OStream. More...
class	ros::serialization::StreamOverrunException
struct	ros::serialization::VectorSerializer< T, ContainerAllocator, Enabled >
	Vector serializer. Default implementation does nothing. More...
struct	ros::serialization::VectorSerializer< T, ContainerAllocator, typename boost::disable_if< mt::IsFixedSize< T > >::type >
	Vector serializer, specialized for non-fixed-size, non-simple types. More...
struct	ros::serialization::VectorSerializer< T, ContainerAllocator, typename boost::enable_if< mpl::and_< mt::IsFixedSize< T >, mpl::not_< mt::IsSimple< T > > > >::type >
	Vector serializer, specialized for fixed-size non-simple types. More...
struct	ros::serialization::VectorSerializer< T, ContainerAllocator, typename boost::enable_if< mt::IsSimple< T > >::type >
	Vector serializer, specialized for fixed-size simple types. More...
Namespaces
namespace	ros
namespace	ros::serialization
namespace	ros::serialization::stream_types
	Enum.
Defines
#define	ROS_CREATE_SIMPLE_SERIALIZER(Type)
#define	ROS_CREATE_SIMPLE_SERIALIZER_ARM(Type)
#define	ROS_DECLARE_ALLINONE_SERIALIZER
	Declare your serializer to use an allInOne member instead of requiring 3 different serialization functions.
#define	ROS_NEW_SERIALIZATION_API   1
Typedefs
typedef stream_types::StreamType	ros::serialization::StreamType
Enumerations
enum	ros::serialization::stream_types::StreamType { ros::serialization::stream_types::Input, ros::serialization::stream_types::Output, ros::serialization::stream_types::Length }
Functions
template<typename T , typename Stream >
void	ros::serialization::deserialize (Stream &stream, T &t)
	Deserialize an object. Stream here should normally be a ros::serialization::IStream.
template<typename T , class ContainerAllocator , typename Stream >
void	ros::serialization::deserialize (Stream &stream, std::vector< T, ContainerAllocator > &t)
	deserialize version for std::vector
template<typename T , size_t N, typename Stream >
void	ros::serialization::deserialize (Stream &stream, boost::array< T, N > &t)
	deserialize version for boost::array
template<typename M >
void	ros::serialization::deserializeMessage (const SerializedMessage &m, M &message)
	Deserialize a message. If includes_length is true, skips the first 4 bytes.
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (uint8_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (int8_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (uint16_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (int16_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (uint32_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (int32_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (uint64_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (int64_t)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (float)
	ros::serialization::ROS_CREATE_SIMPLE_SERIALIZER (double)
template<typename T >
uint32_t	ros::serialization::serializationLength (const T &t)
	Determine the serialized length of an object.
template<typename T , class ContainerAllocator >
uint32_t	ros::serialization::serializationLength (const std::vector< T, ContainerAllocator > &t)
	serializationLength version for std::vector
template<typename T , size_t N>
uint32_t	ros::serialization::serializationLength (const boost::array< T, N > &t)
	serializationLength version for boost::array
template<typename T , typename Stream >
void	ros::serialization::serialize (Stream &stream, const T &t)
	Serialize an object. Stream here should normally be a ros::serialization::OStream.
template<typename T , class ContainerAllocator , typename Stream >
void	ros::serialization::serialize (Stream &stream, const std::vector< T, ContainerAllocator > &t)
	serialize version for std::vector
template<typename T , size_t N, typename Stream >
void	ros::serialization::serialize (Stream &stream, const boost::array< T, N > &t)
	serialize version for boost::array
template<typename M >
SerializedMessage	ros::serialization::serializeMessage (const M &message)
	Serialize a message.
template<typename M >
SerializedMessage	ros::serialization::serializeServiceResponse (bool ok, const M &message)
	Serialize a service response.
ROSCPP_SERIALIZATION_DECL void	ros::serialization::throwStreamOverrun ()

---

Define Documentation

#define ROS_CREATE_SIMPLE_SERIALIZER

(

Type

)

Value:

template<> struct Serializer<Type> \
  { \
    template<typename Stream> inline static void write(Stream& stream, const Type v) \
    { \
      *reinterpret_cast<Type*>(stream.advance(sizeof(v))) = v; \
    } \
    \
    template<typename Stream> inline static void read(Stream& stream, Type& v) \
    { \
      v = *reinterpret_cast<Type*>(stream.advance(sizeof(v))); \
    } \
    \
    inline static uint32_t serializedLength(const Type&) \
    { \
      return sizeof(Type); \
    } \
  };

Definition at line 175 of file serialization.h.

#define ROS_CREATE_SIMPLE_SERIALIZER_ARM

(

Type

)

Value:

template<> struct Serializer<Type> \
  { \
    template<typename Stream> inline static void write(Stream& stream, const Type v) \
    { \
      memcpy(stream.advance(sizeof(v)), &v, sizeof(v) ); \
    } \
    \
    template<typename Stream> inline static void read(Stream& stream, Type& v) \
    { \
      memcpy(&v, stream.advance(sizeof(v)), sizeof(v) ); \
    } \
    \
    inline static uint32_t serializedLength(const Type t) \
      { \
      return sizeof(Type); \
    } \
};

Definition at line 194 of file serialization.h.

#define ROS_DECLARE_ALLINONE_SERIALIZER

Value:

template<typename Stream, typename T> \
  inline static void write(Stream& stream, const T& t) \
  { \
    allInOne<Stream, const T&>(stream, t); \
  } \
  \
  template<typename Stream, typename T> \
  inline static void read(Stream& stream, T& t) \
  { \
    allInOne<Stream, T&>(stream, t); \
  } \
  \
  template<typename T> \
  inline static uint32_t serializedLength(const T& t) \
  { \
    LStream stream; \
    allInOne<LStream, const T&>(stream, t); \
    return stream.getLength(); \
  }

Declare your serializer to use an allInOne member instead of requiring 3 different serialization functions.

The allinone method has the form:

template<typename Stream, typename T>
inline static void allInOne(Stream& stream, T t)
{
  stream.next(t.a);
  stream.next(t.b);
  ...
}

The only guarantee given is that Stream::next(T) is defined.

Definition at line 73 of file serialization.h.

#define ROS_NEW_SERIALIZATION_API   1

Definition at line 54 of file serialization.h.