helpers.h
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef TEST_ROSCP_SERIALIZATION_HELPERS_H
00031 #define TEST_ROSCP_SERIALIZATION_HELPERS_H
00032 
00033 #include <boost/shared_array.hpp>
00034 #include <ros/serialization.h>
00035 
00036 namespace test_roscpp_serialization
00037 {
00038 namespace ser = ros::serialization;
00039 namespace mt = ros::message_traits;
00040 typedef boost::shared_array<uint8_t> Array;
00041 
00042 template<typename T>
00043 Array serializeAndDeserialize(const T& ser_val, T& deser_val)
00044 {
00045   uint32_t len = ser::serializationLength(ser_val);
00046   boost::shared_array<uint8_t> b(new uint8_t[len]);
00047   ser::OStream ostream(b.get(), len);
00048   ser::serialize(ostream, ser_val);
00049   ser::IStream istream(b.get(), len);
00050   ser::deserialize(istream, deser_val);
00051 
00052   return b;
00053 }
00054 
00055 template<class T> class Allocator;
00056 
00057 // specialize for void:
00058 template<>
00059 class Allocator<void>
00060 {
00061 public:
00062   typedef void* pointer;
00063   typedef const void* const_pointer;
00064   // reference to void members are impossible.
00065   typedef void value_type;
00066 
00067   template<class U>
00068   struct rebind
00069   {
00070     typedef Allocator<U> other;
00071   };
00072 };
00073 
00074 template<class T>
00075 class Allocator
00076 {
00077 public:
00078   typedef size_t size_type;
00079   typedef ptrdiff_t difference_type;
00080   typedef T* pointer;
00081   typedef const T* const_pointer;
00082   typedef T& reference;
00083   typedef const T& const_reference;
00084   typedef T value_type;
00085 
00086   template<class U>
00087   struct rebind
00088   {
00089     typedef Allocator<U> other;
00090   };
00091 
00092   Allocator() throw ()
00093   {
00094   }
00095   template<class U>
00096   Allocator(const Allocator<U>& u) throw ()
00097   {
00098   }
00099 
00100   ~Allocator() throw ()
00101   {
00102   }
00103 
00104   pointer address(reference r) const
00105   {
00106     return &r;
00107   }
00108   const_pointer address(const_reference r) const
00109   {
00110     return &r;
00111   }
00112   size_type max_size() const throw ()
00113   {
00114     return ~size_type(0);
00115   }
00116   pointer allocate(size_type n, Allocator<void>::const_pointer hint = 0)
00117   {
00118     return reinterpret_cast<pointer> (malloc(n * sizeof(T)));
00119   }
00120   void deallocate(pointer p, size_type n)
00121   {
00122     free(p);
00123   }
00124 
00125   void construct(pointer p, const_reference val)
00126   {
00127     new (p) T(val);
00128   }
00129   void destroy(pointer p)
00130   {
00131     p->~T();
00132   }
00133 };
00134 
00135 template<class T1, class T2>
00136 inline bool operator==(const Allocator<T1>& a1, const Allocator<T2>& a2) throw ()
00137 {
00138   return true;
00139 }
00140 
00141 template<class T1, class T2>
00142 inline bool operator!=(const Allocator<T1>& a1, const Allocator<T2>& a2) throw ()
00143 {
00144   return false;
00145 }
00146 
00147 }
00148 
00149 #endif // TEST_ROSCP_SERIALIZATION_HELPERS_H


test_roscpp_serialization
Author(s): Josh Faust
autogenerated on Sat Dec 28 2013 17:35:47