.. _program_listing_file_include_rclcpp_serialization.hpp:

Program Listing for File serialization.hpp
==========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_serialization.hpp>` (``include/rclcpp/serialization.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020 Open Source Robotics Foundation, Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef RCLCPP__SERIALIZATION_HPP_
   #define RCLCPP__SERIALIZATION_HPP_
   
   #include <memory>
   #include <stdexcept>
   #include <string>
   
   #include "rclcpp/visibility_control.hpp"
   
   #include "rcl/types.h"
   
   #include "rosidl_runtime_c/message_type_support_struct.h"
   
   #include "rosidl_typesupport_cpp/message_type_support.hpp"
   
   namespace rclcpp
   {
   
   class SerializedMessage;
   
   namespace serialization_traits
   {
   // trait to check if type is the object oriented serialized message
   template<typename T>
   struct is_serialized_message_class : std::false_type
   {};
   
   template<>
   struct is_serialized_message_class<SerializedMessage>: std::true_type
   {};
   }  // namespace serialization_traits
   
   class RCLCPP_PUBLIC_TYPE SerializationBase
   {
   public:
   
     explicit SerializationBase(const rosidl_message_type_support_t * type_support);
   
     virtual ~SerializationBase() = default;
   
   
     void serialize_message(
       const void * ros_message, SerializedMessage * serialized_message) const;
   
   
     void deserialize_message(
       const SerializedMessage * serialized_message, void * ros_message) const;
   
   private:
     const rosidl_message_type_support_t * type_support_;
   };
   
   template<typename MessageT>
   class Serialization : public SerializationBase
   {
   public:
     Serialization()
     : SerializationBase(rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>())
     {
       static_assert(
         !serialization_traits::is_serialized_message_class<MessageT>::value,
         "Serialization of serialized message to serialized message is not possible.");
     }
   };
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__SERIALIZATION_HPP_