00001 /****************************************************************************** 00002 * Copyright (C) 2014 by Ralf Kaestner * 00003 * ralf.kaestner@gmail.com * 00004 * * 00005 * This program is free software; you can redistribute it and/or modify * 00006 * it under the terms of the Lesser GNU General Public License as published by* 00007 * the Free Software Foundation; either version 3 of the License, or * 00008 * (at your option) any later version. * 00009 * * 00010 * This program is distributed in the hope that it will be useful, * 00011 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00012 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * 00013 * Lesser GNU General Public License for more details. * 00014 * * 00015 * You should have received a copy of the Lesser GNU General Public License * 00016 * along with this program. If not, see <http://www.gnu.org/licenses/>. * 00017 ******************************************************************************/ 00018 00023 #ifndef VARIANT_TOPIC_TOOLS_MESSAGE_SERIALIZER_H 00024 #define VARIANT_TOPIC_TOOLS_MESSAGE_SERIALIZER_H 00025 00026 #include <variant_topic_tools/MessageFieldCollection.h> 00027 #include <variant_topic_tools/MessageTypeTraits.h> 00028 #include <variant_topic_tools/Serializer.h> 00029 00030 namespace variant_topic_tools { 00033 class MessageSerializer : 00034 public Serializer { 00035 friend class MessageDataType; 00036 friend class MessageVariant; 00037 public: 00040 MessageSerializer(); 00041 00044 MessageSerializer(const MessageSerializer& src); 00045 00048 MessageSerializer(const Serializer& src); 00049 00052 ~MessageSerializer(); 00053 00054 protected: 00057 class Impl : 00058 public virtual Serializer::Impl { 00059 public: 00062 Impl(); 00063 00066 virtual ~Impl(); 00067 }; 00068 00071 class ImplV : 00072 public Impl { 00073 public: 00076 ImplV(const MessageFieldCollection<Serializer>& memberSerializers = 00077 MessageFieldCollection<Serializer>()); 00078 00081 virtual ~ImplV(); 00082 00086 size_t getSerializedLength(const Variant& value) const; 00087 00090 void serialize(ros::serialization::OStream& stream, const 00091 Variant& value); 00092 00095 void deserialize(ros::serialization::IStream& stream, Variant& value); 00096 00099 MessageFieldCollection<Serializer> memberSerializers; 00100 }; 00101 00105 template <typename T> class ImplT : 00106 public Impl { 00107 public: 00108 BOOST_STATIC_ASSERT(type_traits::IsMessage<T>::value); 00109 00112 typedef typename type_traits::MessageType<T>::ValueType ValueType; 00113 00116 ImplT(); 00117 00120 virtual ~ImplT(); 00121 00125 size_t getSerializedLength(const Variant& value) const; 00126 00129 void serialize(ros::serialization::OStream& stream, const 00130 Variant& value); 00131 00134 void deserialize(ros::serialization::IStream& stream, Variant& value); 00135 }; 00136 00140 MessageSerializer(const MessageFieldCollection<Serializer>& 00141 memberSerializers); 00142 00143 00146 template <typename T> static MessageSerializer create(); 00147 }; 00148 }; 00149 00150 #include <variant_topic_tools/MessageSerializer.tpp> 00151 00152 #endif