Field.h

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#pragma once

#include <swarmros/introspection/Serializer.h>
#include <swarmio/data/Variant.pb.h>
#include <string>
#include <sstream>

namespace swarmros::introspection 
{
    class Field : public Serializer
    {
        protected:

            const Serializer& _serializer;

            void WriteTypeName(std::stringstream& stream, bool forHash) const;

        public:

            Field(const std::string& name, const Serializer& serializer)
                : Serializer(name), _serializer(serializer) { }

            virtual void WriteDefinition(std::stringstream& stream, bool forHash) const;

            const Serializer& GetSerializer() const
            {
                return _serializer;
            }

            virtual uint32_t GetDefaultLength(const FieldStack& fieldStack) const override;

            virtual uint32_t CalculateSerializedLength(const swarmio::data::Variant& value, const FieldStack& fieldStack) const override;

            virtual void Serialize(ros::serialization::OStream& stream, const swarmio::data::Variant& value, const FieldStack& fieldStack) const override;

            virtual void EmitDefault(ros::serialization::OStream& stream, const FieldStack& fieldStack) const override;
            
            virtual swarmio::data::Variant Deserialize(ros::serialization::IStream& stream, const FieldStack& fieldStack) const override;

            virtual swarmio::data::Variant DeserializeArray(ros::serialization::IStream& stream, uint32_t count, const FieldStack& fieldStack) const override;

            virtual swarmio::data::discovery::Field GetFieldDescriptor() const override;
    };
}