Serializer.h

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/******************************************************************************
 * Copyright (C) 2014 by Ralf Kaestner                                        *
 * ralf.kaestner@gmail.com                                                    *
 *                                                                            *
 * This program is free software; you can redistribute it and/or modify       *
 * it under the terms of the Lesser GNU General Public License as published by*
 * the Free Software Foundation; either version 3 of the License, or          *
 * (at your option) any later version.                                        *
 *                                                                            *
 * This program is distributed in the hope that it will be useful,            *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of             *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the               *
 * Lesser GNU General Public License for more details.                        *
 *                                                                            *
 * You should have received a copy of the Lesser GNU General Public License   *
 * along with this program. If not, see <http://www.gnu.org/licenses/>.       *
 ******************************************************************************/

#ifndef VARIANT_TOPIC_TOOLS_SERIALIZER_H
#define VARIANT_TOPIC_TOOLS_SERIALIZER_H

#include <ros/ros.h>

#include <variant_topic_tools/DataTypeTraits.h>
#include <variant_topic_tools/Forwards.h>

namespace variant_topic_tools {
  class Serializer {
  public:
    Serializer();
    
    Serializer(const DataType& dataType);
    
    Serializer(const Serializer& src);
    
    ~Serializer();

    size_t getSerializedLength(const Variant& value) const;
    
    bool isValid() const;
    
    void clear();
    
    void serialize(ros::serialization::OStream& stream, const Variant& value);
    
    void deserialize(ros::serialization::IStream& stream, Variant& value);
    
    void advance(ros::serialization::Stream& stream, const Variant& value);
    
    inline operator void*() const {
      return (impl) ? (void*)1 : (void*)0;
    };
    
  protected:
    class Impl {
    public:
      Impl();
      
      virtual ~Impl();

      virtual size_t getSerializedLength(const Variant& value) const = 0;
    
      virtual void serialize(ros::serialization::OStream& stream, const
        Variant& value) = 0;
      
      virtual void deserialize(ros::serialization::IStream& stream,
        Variant& value) = 0;
        
      void advance(ros::serialization::Stream& stream, const Variant& value);
    };
    
    typedef boost::shared_ptr<Impl> ImplPtr;
    
    typedef boost::weak_ptr<Impl> ImplWPtr;
    
    ImplPtr impl;
  };
  
  std::ostream& operator<<(std::ostream& stream, const Serializer& serializer);
};

#endif