MessageSerializer.h

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#pragma once

#include <swarmros/introspection/Serializer.h>
#include <swarmros/introspection/Field.h>
#include <swarmros/introspection/ConstantField.h>
#include <list>
#include <functional>

namespace swarmros::introspection 
{
    class MessageSerializer : public Serializer
    {
        private:

            static std::map<std::string, std::unique_ptr<MessageSerializer>> _messageSerializers;

            std::list<std::unique_ptr<Field>> _fields; 

            std::list<ConstantField> _constants; 

            bool _hasHeader;

            const Field* _shortcut;

            std::string _package;

            std::string _fullName;

            std::string _canonicalDefinition;

            std::string _hash;

            std::string BuildCanonicalDefinition();

            std::string CalculateHash();

        public:  

            static const MessageSerializer& MessageSerializerForType(const std::string& type, const std::string& parentPackage);

            MessageSerializer(const std::string& package, const std::string& name, const std::string& path);

            const std::string& GetPackage() const
            {
                return _package;
            }

            virtual const std::string& GetFullName() const override
            {
                return _fullName;
            }

            const std::string& GetHash() const
            {
                return _hash;
            }

            const std::string& GetCanonicalDefinition() const
            {
                return _canonicalDefinition;
            }

            bool HasHeader() const
            {
                return _hasHeader;
            }

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

            virtual uint32_t CalculateSerializedLength(const swarmio::data::Variant& value, 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 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::discovery::Field GetFieldDescriptor() const override;

            uint32_t CalculateSerializedLength(const swarmio::data::Variant& value, unsigned skipCount, const FieldStack& fieldStack) const;

            uint32_t CalculateSerializedLength(const swarmio::data::Map& value, unsigned skipCount, const FieldStack& fieldStack) const;

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

            void Serialize(ros::serialization::OStream& stream, const swarmio::data::Map& value, unsigned skipCount, const FieldStack& fieldStack) const;

            swarmio::data::Variant Deserialize(ros::serialization::IStream& stream, unsigned skipCount, const FieldStack& fieldStack) const;

            void Deserialize(ros::serialization::IStream& stream, swarmio::data::Map& map, unsigned skipCount, const FieldStack& fieldStack) const;

            swarmio::data::discovery::Schema GetSchemaDescriptor(unsigned skipCount) const; 

            void EnumerateFields(std::function<bool(unsigned, const Field&)> enumerator) const;
    };
}