serializable_message.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#ifndef RVIZ_RPC_SERIALIZABLE_MESSAGE_H
#define RVIZ_RPC_SERIALIZABLE_MESSAGE_H

#include <ros/serialized_message.h>
#include <ros/serialization.h>

#include <boost/function.hpp>

namespace rve_rpc
{
typedef boost::shared_ptr<void> VoidPtr;
typedef boost::shared_ptr<void const> VoidConstPtr;

template<typename T>
ros::SerializedMessage serialize(const VoidConstPtr& message)
{
  namespace ser = ros::serialization;
  boost::shared_ptr<T const> m = boost::static_pointer_cast<T const>(message);
  return ser::serializeMessage(*m);
}

template<typename T>
uint32_t serializedLength(const VoidConstPtr& message)
{
  namespace ser = ros::serialization;
  boost::shared_ptr<T const> m = boost::static_pointer_cast<T const>(message);
  return ser::serializationLength(*m);
}

struct SerializableMessage
{
  SerializableMessage()
  : ti(0)
  {}

  VoidConstPtr message;
  boost::function<ros::SerializedMessage(const VoidConstPtr& message)> serialize;
  boost::function<uint32_t(const VoidConstPtr& message)> serialized_length;
  const std::type_info* ti;
};
} // namespace rve_rpc

#endif // RVIZ_RPC_SERIALIZABLE_MESSAGE_H