deserializer.hpp

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#ifndef ROS_INTRO_DESERIALIZE_H
#define ROS_INTRO_DESERIALIZE_H

#include <array>
#include <sstream>
#include "ros_type_introspection/parser.hpp"
#include "ros_type_introspection/stringtree.hpp"
#include "ros_type_introspection/variant.hpp"


namespace RosIntrospection{

struct StringTreeLeaf{

  StringTreeLeaf();

  StringTreeNode* node_ptr;

  uint8_t array_size;

  std::array<uint16_t,7> index_array;

  bool toStr(SString &destination) const;
  bool toStr(std::string &destination) const;
  
  // return string length or -1 if failed
  int toStr(char* buffer) const;
  
  SString toSString() { SString out; toStr(out); return out; }
  
  std::string toStdString() { std::string out; toStr(out); return out; }
};

typedef struct{
  StringTree tree;

  std::vector< std::pair<StringTreeLeaf, VarNumber> > value;

  std::vector< std::pair<StringTreeLeaf, SString> > name;

  // Not used yet
  std::vector< std::pair<StringTreeLeaf, std::vector<uint8_t>>> blob;

}ROSTypeFlat;


void buildRosFlatType(const ROSTypeList& type_map,
                      ROSType type,
                      SString prefix,
                      uint8_t *buffer_ptr,
                      ROSTypeFlat* flat_container_output,
                      const uint32_t max_array_size );


inline std::ostream& operator<<(std::ostream &os, const StringTreeLeaf& leaf )
{
  SString dest;
  leaf.toStr(dest);
  os << dest;
  return os;
}


//-------------------- UTILITY function ------------------
// much faster for numbers below 100
inline int print_number(char* buffer, uint16_t value)
{
    const char DIGITS[] =
            "00010203040506070809"
            "10111213141516171819"
            "20212223242526272829"
            "30313233343536373839"
            "40414243444546474849"
            "50515253545556575859"
            "60616263646566676869"
            "70717273747576777879"
            "80818283848586878889"
            "90919293949596979899";
    if (value < 10)
    {
        buffer[0] = static_cast<char>('0' + value);
        return 1;
    }
    else if (value < 100) {
        value *= 2;
        buffer[0] = DIGITS[ value+1 ];
        buffer[1] = DIGITS[ value ];
        return 2;
    }
    else{
        return sprintf( buffer,"%d", value );
    }
}


} //end namespace

#endif // ROS_INTRO_DESERIALIZE_H