serialize_msg.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2012, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
00038 #define MOVEIT_PY_BINDINGS_TOOLS_SERIALIZE_MSG_
00039 
00040 #include <ros/ros.h>
00041 
00042 namespace moveit
00043 {
00044 namespace py_bindings_tools
00045 {
00047 template <typename T>
00048 std::string serializeMsg(const T& msg)
00049 {
00050   // we use the fact char is same size as uint8_t;
00051   assert(sizeof(uint8_t) == sizeof(char));
00052   std::size_t size = ros::serialization::serializationLength(msg);
00053   std::string result(size, '\0');
00054   if (size)
00055   {
00056     // we convert the message into a string because that is easy to sent back & forth with Python
00057     // This is fine since C0x because &string[0] is guaranteed to point to a contiguous block of memory
00058     ros::serialization::OStream stream_arg(reinterpret_cast<uint8_t*>(&result[0]), size);
00059     ros::serialization::serialize(stream_arg, msg);
00060   }
00061   return result;
00062 }
00063 
00065 template <typename T>
00066 void deserializeMsg(const std::string& data, T& msg)
00067 {
00068   assert(sizeof(uint8_t) == sizeof(char));
00069   ros::serialization::IStream stream_arg(const_cast<uint8_t*>(reinterpret_cast<const uint8_t*>(&data[0])), data.size());
00070   ros::serialization::deserialize(stream_arg, msg);
00071 }
00072 }
00073 }
00074 
00075 #endif


planning_interface
Author(s): Ioan Sucan
autogenerated on Tue Dec 26 2017 03:34:47