Serializer.h

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#pragma once

#include <swarmros/introspection/FieldStack.h>
#include <swarmio/data/Variant.pb.h>
#include <swarmio/data/discovery/Schema.pb.h>
#include <ros/serialization.h>
#include <string>
#include <memory>

namespace swarmros::introspection 
{
    class Serializer
    {
        private:

            static std::map<std::string, std::unique_ptr<Serializer>> _defaultSerializers;

            static std::map<std::string, std::unique_ptr<Serializer>> LoadDefaultSerializers();

            std::string _name;

        protected:

            Serializer(const std::string& name)
                : _name(name) { }

            static const Serializer& SerializerForType(const std::string& type, const std::string& parentPackage);

        public:

            const std::string& GetName() const
            {
                return _name;
            }

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

            virtual uint32_t GetDefaultLength(const FieldStack& fieldStack) const = 0;

            virtual uint32_t CalculateSerializedLength(const swarmio::data::Variant& value, const FieldStack& fieldStack) const = 0;

            virtual void Serialize(ros::serialization::OStream& stream, const swarmio::data::Variant& value, const FieldStack& fieldStack) const = 0;

            virtual swarmio::data::Variant Deserialize(ros::serialization::IStream& stream, const FieldStack& fieldStack) const = 0;

            virtual swarmio::data::Variant DeserializeArray(ros::serialization::IStream& stream, uint32_t count, const FieldStack& fieldStack) const = 0;

            virtual void EmitDefault(ros::serialization::OStream& stream, const FieldStack& fieldStack) const = 0;

            virtual swarmio::data::discovery::Field GetFieldDescriptor() const = 0;

            virtual ~Serializer() { }
    };
}