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* Copyright (C) 2009, Willow Garage, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the names of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef ROSCPP_SERIALIZATION_H
#define ROSCPP_SERIALIZATION_H
#include "roscpp_serialization_macros.h"
#include <ros/types.h>
#include <ros/time.h>
#include "serialized_message.h"
#include "ros/message_traits.h"
#include "ros/builtin_message_traits.h"
#include "ros/exception.h"
#include "ros/datatypes.h"
#include <vector>
#include <map>
#include <boost/array.hpp>
#include <boost/call_traits.hpp>
#include <boost/utility/enable_if.hpp>
#include <boost/mpl/and.hpp>
#include <boost/mpl/or.hpp>
#include <boost/mpl/not.hpp>
#include <cstring>
#define ROS_NEW_SERIALIZATION_API 1
/**
* \brief Declare your serializer to use an allInOne member instead of requiring 3 different serialization
* functions.
*
* The allinone method has the form:
\verbatim
template<typename Stream, typename T>
inline static void allInOne(Stream& stream, T t)
{
stream.next(t.a);
stream.next(t.b);
...
}
\endverbatim
*
* The only guarantee given is that Stream::next(T) is defined.
*/
#define ROS_DECLARE_ALLINONE_SERIALIZER \
template<typename Stream, typename T> \
inline static void write(Stream& stream, const T& t) \
{ \
allInOne<Stream, const T&>(stream, t); \
} \
\
template<typename Stream, typename T> \
inline static void read(Stream& stream, T& t) \
{ \
allInOne<Stream, T&>(stream, t); \
} \
\
template<typename T> \
inline static uint32_t serializedLength(const T& t) \
{ \
LStream stream; \
allInOne<LStream, const T&>(stream, t); \
return stream.getLength(); \
}
namespace ros
{
namespace serialization
{
namespace mt = message_traits;
namespace mpl = boost::mpl;
class ROSCPP_SERIALIZATION_DECL StreamOverrunException : public ros::Exception
{
public:
StreamOverrunException(const std::string& what)
: Exception(what)
{}
};
ROSCPP_SERIALIZATION_DECL void throwStreamOverrun();
/**
* \brief Templated serialization class. Default implementation provides backwards compatibility with
* old message types.
*
* Specializing the Serializer class is the only thing you need to do to get the ROS serialization system
* to work with a type.
*/
template<typename T>
struct Serializer
{
/**
* \brief Write an object to the stream. Normally the stream passed in here will be a ros::serialization::OStream
*/
template<typename Stream>
inline static void write(Stream& stream, typename boost::call_traits<T>::param_type t)
{
t.serialize(stream.getData(), 0);
}
/**
* \brief Read an object from the stream. Normally the stream passed in here will be a ros::serialization::IStream
*/
template<typename Stream>
inline static void read(Stream& stream, typename boost::call_traits<T>::reference t)
{
t.deserialize(stream.getData());
}
/**
* \brief Determine the serialized length of an object.
*/
inline static uint32_t serializedLength(typename boost::call_traits<T>::param_type t)
{
return t.serializationLength();
}
};
/**
* \brief Serialize an object. Stream here should normally be a ros::serialization::OStream
*/
template<typename T, typename Stream>
inline void serialize(Stream& stream, const T& t)
{
Serializer<T>::write(stream, t);
}
/**
* \brief Deserialize an object. Stream here should normally be a ros::serialization::IStream
*/
template<typename T, typename Stream>
inline void deserialize(Stream& stream, T& t)
{
Serializer<T>::read(stream, t);
}
/**
* \brief Determine the serialized length of an object
*/
template<typename T>
inline uint32_t serializationLength(const T& t)
{
return Serializer<T>::serializedLength(t);
}
#define ROS_CREATE_SIMPLE_SERIALIZER(Type) \
template<> struct Serializer<Type> \
{ \
template<typename Stream> inline static void write(Stream& stream, const Type v) \
{ \
*reinterpret_cast<Type*>(stream.advance(sizeof(v))) = v; \
} \
\
template<typename Stream> inline static void read(Stream& stream, Type& v) \
{ \
v = *reinterpret_cast<Type*>(stream.advance(sizeof(v))); \
} \
\
inline static uint32_t serializedLength(const Type&) \
{ \
return sizeof(Type); \
} \
};
#define ROS_CREATE_SIMPLE_SERIALIZER_ARM(Type) \
template<> struct Serializer<Type> \
{ \
template<typename Stream> inline static void write(Stream& stream, const Type v) \
{ \
memcpy(stream.advance(sizeof(v)), &v, sizeof(v) ); \
} \
\
template<typename Stream> inline static void read(Stream& stream, Type& v) \
{ \
memcpy(&v, stream.advance(sizeof(v)), sizeof(v) ); \
} \
\
inline static uint32_t serializedLength(const Type t) \
{ \
return sizeof(Type); \
} \
};
#if defined(__arm__) || defined(__arm)
ROS_CREATE_SIMPLE_SERIALIZER_ARM(uint8_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(int8_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(uint16_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(int16_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(uint32_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(int32_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(uint64_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(int64_t);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(float);
ROS_CREATE_SIMPLE_SERIALIZER_ARM(double);
#else
ROS_CREATE_SIMPLE_SERIALIZER(uint8_t);
ROS_CREATE_SIMPLE_SERIALIZER(int8_t);
ROS_CREATE_SIMPLE_SERIALIZER(uint16_t);
ROS_CREATE_SIMPLE_SERIALIZER(int16_t);
ROS_CREATE_SIMPLE_SERIALIZER(uint32_t);
ROS_CREATE_SIMPLE_SERIALIZER(int32_t);
ROS_CREATE_SIMPLE_SERIALIZER(uint64_t);
ROS_CREATE_SIMPLE_SERIALIZER(int64_t);
ROS_CREATE_SIMPLE_SERIALIZER(float);
ROS_CREATE_SIMPLE_SERIALIZER(double);
#endif
/**
* \brief Serializer specialized for bool (serialized as uint8)
*/
template<> struct Serializer<bool>
{
template<typename Stream> inline static void write(Stream& stream, const bool v)
{
uint8_t b = (uint8_t)v;
#if defined(__arm__) || defined(__arm)
memcpy(stream.advance(sizeof(1)), &b, 1 );
#else
*reinterpret_cast<uint8_t*>(stream.advance(1)) = b;
#endif
}
template<typename Stream> inline static void read(Stream& stream, bool& v)
{
uint8_t b;
#if defined(__arm__) || defined(__arm)
memcpy(&b, stream.advance(sizeof(1)), 1 );
#else
b = *reinterpret_cast<uint8_t*>(stream.advance(1));
#endif
v = (bool)b;
}
inline static uint32_t serializedLength(bool)
{
return 1;
}
};
/**
* \brief Serializer specialized for std::string
*/
template<class ContainerAllocator>
struct Serializer<std::basic_string<char, std::char_traits<char>, ContainerAllocator> >
{
typedef std::basic_string<char, std::char_traits<char>, ContainerAllocator> StringType;
template<typename Stream>
inline static void write(Stream& stream, const StringType& str)
{
size_t len = str.size();
stream.next((uint32_t)len);
if (len > 0)
{
memcpy(stream.advance((uint32_t)len), str.data(), len);
}
}
template<typename Stream>
inline static void read(Stream& stream, StringType& str)
{
uint32_t len;
stream.next(len);
if (len > 0)
{
str = StringType((char*)stream.advance(len), len);
}
else
{
str.clear();
}
}
inline static uint32_t serializedLength(const StringType& str)
{
return 4 + (uint32_t)str.size();
}
};
/**
* \brief Serializer specialized for ros::Time
*/
template<>
struct Serializer<ros::Time>
{
template<typename Stream>
inline static void write(Stream& stream, const ros::Time& v)
{
stream.next(v.sec);
stream.next(v.nsec);
}
template<typename Stream>
inline static void read(Stream& stream, ros::Time& v)
{
stream.next(v.sec);
stream.next(v.nsec);
}
inline static uint32_t serializedLength(const ros::Time&)
{
return 8;
}
};
/**
* \brief Serializer specialized for ros::Duration
*/
template<>
struct Serializer<ros::Duration>
{
template<typename Stream>
inline static void write(Stream& stream, const ros::Duration& v)
{
stream.next(v.sec);
stream.next(v.nsec);
}
template<typename Stream>
inline static void read(Stream& stream, ros::Duration& v)
{
stream.next(v.sec);
stream.next(v.nsec);
}
inline static uint32_t serializedLength(const ros::Duration&)
{
return 8;
}
};
/**
* \brief Vector serializer. Default implementation does nothing
*/
template<typename T, class ContainerAllocator, class Enabled = void>
struct VectorSerializer
{};
/**
* \brief Vector serializer, specialized for non-fixed-size, non-simple types
*/
template<typename T, class ContainerAllocator>
struct VectorSerializer<T, ContainerAllocator, typename boost::disable_if<mt::IsFixedSize<T> >::type >
{
typedef std::vector<T, typename ContainerAllocator::template rebind<T>::other> VecType;
typedef typename VecType::iterator IteratorType;
typedef typename VecType::const_iterator ConstIteratorType;
template<typename Stream>
inline static void write(Stream& stream, const VecType& v)
{
stream.next((uint32_t)v.size());
ConstIteratorType it = v.begin();
ConstIteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
template<typename Stream>
inline static void read(Stream& stream, VecType& v)
{
uint32_t len;
stream.next(len);
v.resize(len);
IteratorType it = v.begin();
IteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
inline static uint32_t serializedLength(const VecType& v)
{
uint32_t size = 4;
ConstIteratorType it = v.begin();
ConstIteratorType end = v.end();
for (; it != end; ++it)
{
size += serializationLength(*it);
}
return size;
}
};
/**
* \brief Vector serializer, specialized for fixed-size simple types
*/
template<typename T, class ContainerAllocator>
struct VectorSerializer<T, ContainerAllocator, typename boost::enable_if<mt::IsSimple<T> >::type >
{
typedef std::vector<T, typename ContainerAllocator::template rebind<T>::other> VecType;
typedef typename VecType::iterator IteratorType;
typedef typename VecType::const_iterator ConstIteratorType;
template<typename Stream>
inline static void write(Stream& stream, const VecType& v)
{
uint32_t len = (uint32_t)v.size();
stream.next(len);
if (!v.empty())
{
const uint32_t data_len = len * (uint32_t)sizeof(T);
memcpy(stream.advance(data_len), &v.front(), data_len);
}
}
template<typename Stream>
inline static void read(Stream& stream, VecType& v)
{
uint32_t len;
stream.next(len);
v.resize(len);
if (len > 0)
{
const uint32_t data_len = (uint32_t)sizeof(T) * len;
memcpy(&v.front(), stream.advance(data_len), data_len);
}
}
inline static uint32_t serializedLength(const VecType& v)
{
return 4 + v.size() * (uint32_t)sizeof(T);
}
};
/**
* \brief Vector serializer, specialized for fixed-size non-simple types
*/
template<typename T, class ContainerAllocator>
struct VectorSerializer<T, ContainerAllocator, typename boost::enable_if<mpl::and_<mt::IsFixedSize<T>, mpl::not_<mt::IsSimple<T> > > >::type >
{
typedef std::vector<T, typename ContainerAllocator::template rebind<T>::other> VecType;
typedef typename VecType::iterator IteratorType;
typedef typename VecType::const_iterator ConstIteratorType;
template<typename Stream>
inline static void write(Stream& stream, const VecType& v)
{
stream.next((uint32_t)v.size());
ConstIteratorType it = v.begin();
ConstIteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
template<typename Stream>
inline static void read(Stream& stream, VecType& v)
{
uint32_t len;
stream.next(len);
v.resize(len);
IteratorType it = v.begin();
IteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
inline static uint32_t serializedLength(const VecType& v)
{
uint32_t size = 4;
if (!v.empty())
{
uint32_t len_each = serializationLength(v.front());
size += len_each * (uint32_t)v.size();
}
return size;
}
};
/**
* \brief serialize version for std::vector
*/
template<typename T, class ContainerAllocator, typename Stream>
inline void serialize(Stream& stream, const std::vector<T, ContainerAllocator>& t)
{
VectorSerializer<T, ContainerAllocator>::write(stream, t);
}
/**
* \brief deserialize version for std::vector
*/
template<typename T, class ContainerAllocator, typename Stream>
inline void deserialize(Stream& stream, std::vector<T, ContainerAllocator>& t)
{
VectorSerializer<T, ContainerAllocator>::read(stream, t);
}
/**
* \brief serializationLength version for std::vector
*/
template<typename T, class ContainerAllocator>
inline uint32_t serializationLength(const std::vector<T, ContainerAllocator>& t)
{
return VectorSerializer<T, ContainerAllocator>::serializedLength(t);
}
/**
* \brief Array serializer, default implementation does nothing
*/
template<typename T, size_t N, class Enabled = void>
struct ArraySerializer
{};
/**
* \brief Array serializer, specialized for non-fixed-size, non-simple types
*/
template<typename T, size_t N>
struct ArraySerializer<T, N, typename boost::disable_if<mt::IsFixedSize<T> >::type>
{
typedef boost::array<T, N > ArrayType;
typedef typename ArrayType::iterator IteratorType;
typedef typename ArrayType::const_iterator ConstIteratorType;
template<typename Stream>
inline static void write(Stream& stream, const ArrayType& v)
{
ConstIteratorType it = v.begin();
ConstIteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
template<typename Stream>
inline static void read(Stream& stream, ArrayType& v)
{
IteratorType it = v.begin();
IteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
inline static uint32_t serializedLength(const ArrayType& v)
{
uint32_t size = 0;
ConstIteratorType it = v.begin();
ConstIteratorType end = v.end();
for (; it != end; ++it)
{
size += serializationLength(*it);
}
return size;
}
};
/**
* \brief Array serializer, specialized for fixed-size, simple types
*/
template<typename T, size_t N>
struct ArraySerializer<T, N, typename boost::enable_if<mt::IsSimple<T> >::type>
{
typedef boost::array<T, N > ArrayType;
typedef typename ArrayType::iterator IteratorType;
typedef typename ArrayType::const_iterator ConstIteratorType;
template<typename Stream>
inline static void write(Stream& stream, const ArrayType& v)
{
const uint32_t data_len = N * sizeof(T);
memcpy(stream.advance(data_len), &v.front(), data_len);
}
template<typename Stream>
inline static void read(Stream& stream, ArrayType& v)
{
const uint32_t data_len = N * sizeof(T);
memcpy(&v.front(), stream.advance(data_len), data_len);
}
inline static uint32_t serializedLength(const ArrayType&)
{
return N * sizeof(T);
}
};
/**
* \brief Array serializer, specialized for fixed-size, non-simple types
*/
template<typename T, size_t N>
struct ArraySerializer<T, N, typename boost::enable_if<mpl::and_<mt::IsFixedSize<T>, mpl::not_<mt::IsSimple<T> > > >::type>
{
typedef boost::array<T, N > ArrayType;
typedef typename ArrayType::iterator IteratorType;
typedef typename ArrayType::const_iterator ConstIteratorType;
template<typename Stream>
inline static void write(Stream& stream, const ArrayType& v)
{
ConstIteratorType it = v.begin();
ConstIteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
template<typename Stream>
inline static void read(Stream& stream, ArrayType& v)
{
IteratorType it = v.begin();
IteratorType end = v.end();
for (; it != end; ++it)
{
stream.next(*it);
}
}
inline static uint32_t serializedLength(const ArrayType& v)
{
return serializationLength(v.front()) * N;
}
};
/**
* \brief serialize version for boost::array
*/
template<typename T, size_t N, typename Stream>
inline void serialize(Stream& stream, const boost::array<T, N>& t)
{
ArraySerializer<T, N>::write(stream, t);
}
/**
* \brief deserialize version for boost::array
*/
template<typename T, size_t N, typename Stream>
inline void deserialize(Stream& stream, boost::array<T, N>& t)
{
ArraySerializer<T, N>::read(stream, t);
}
/**
* \brief serializationLength version for boost::array
*/
template<typename T, size_t N>
inline uint32_t serializationLength(const boost::array<T, N>& t)
{
return ArraySerializer<T, N>::serializedLength(t);
}
/**
* \brief Enum
*/
namespace stream_types
{
enum StreamType
{
Input,
Output,
Length
};
}
typedef stream_types::StreamType StreamType;
/**
* \brief Stream base-class, provides common functionality for IStream and OStream
*/
struct ROSCPP_SERIALIZATION_DECL Stream
{
/*
* \brief Returns a pointer to the current position of the stream
*/
inline uint8_t* getData() { return data_; }
/**
* \brief Advances the stream, checking bounds, and returns a pointer to the position before it
* was advanced.
* \throws StreamOverrunException if len would take this stream past the end of its buffer
*/
ROS_FORCE_INLINE uint8_t* advance(uint32_t len)
{
uint8_t* old_data = data_;
data_ += len;
if (data_ > end_)
{
// Throwing directly here causes a significant speed hit due to the extra code generated
// for the throw statement
throwStreamOverrun();
}
return old_data;
}
/**
* \brief Returns the amount of space left in the stream
*/
inline uint32_t getLength() { return (uint32_t)(end_ - data_); }
protected:
Stream(uint8_t* _data, uint32_t _count)
: data_(_data)
, end_(_data + _count)
{}
private:
uint8_t* data_;
uint8_t* end_;
};
/**
* \brief Input stream
*/
struct ROSCPP_SERIALIZATION_DECL IStream : public Stream
{
static const StreamType stream_type = stream_types::Input;
IStream(uint8_t* data, uint32_t count)
: Stream(data, count)
{}
/**
* \brief Deserialize an item from this input stream
*/
template<typename T>
ROS_FORCE_INLINE void next(T& t)
{
deserialize(*this, t);
}
template<typename T>
ROS_FORCE_INLINE IStream& operator>>(T& t)
{
deserialize(*this, t);
return *this;
}
};
/**
* \brief Output stream
*/
struct ROSCPP_SERIALIZATION_DECL OStream : public Stream
{
static const StreamType stream_type = stream_types::Output;
OStream(uint8_t* data, uint32_t count)
: Stream(data, count)
{}
/**
* \brief Serialize an item to this output stream
*/
template<typename T>
ROS_FORCE_INLINE void next(const T& t)
{
serialize(*this, t);
}
template<typename T>
ROS_FORCE_INLINE OStream& operator<<(const T& t)
{
serialize(*this, t);
return *this;
}
};
/**
* \brief Length stream
*
* LStream is not what you would normally think of as a stream, but it is used in order to support
* allinone serializers.
*/
struct ROSCPP_SERIALIZATION_DECL LStream
{
static const StreamType stream_type = stream_types::Length;
LStream()
: count_(0)
{}
/**
* \brief Add the length of an item to this length stream
*/
template<typename T>
ROS_FORCE_INLINE void next(const T& t)
{
count_ += serializationLength(t);
}
/**
* \brief increment the length by len
*/
ROS_FORCE_INLINE uint32_t advance(uint32_t len)
{
uint32_t old = count_;
count_ += len;
return old;
}
/**
* \brief Get the total length of this tream
*/
inline uint32_t getLength() { return count_; }
private:
uint32_t count_;
};
/**
* \brief Serialize a message
*/
template<typename M>
inline SerializedMessage serializeMessage(const M& message)
{
SerializedMessage m;
uint32_t len = serializationLength(message);
m.num_bytes = len + 4;
m.buf.reset(new uint8_t[m.num_bytes]);
OStream s(m.buf.get(), (uint32_t)m.num_bytes);
serialize(s, (uint32_t)m.num_bytes - 4);
m.message_start = s.getData();
serialize(s, message);
return m;
}
/**
* \brief Serialize a service response
*/
template<typename M>
inline SerializedMessage serializeServiceResponse(bool ok, const M& message)
{
SerializedMessage m;
if (ok)
{
uint32_t len = serializationLength(message);
m.num_bytes = len + 5;
m.buf.reset(new uint8_t[m.num_bytes]);
OStream s(m.buf.get(), (uint32_t)m.num_bytes);
serialize(s, (uint8_t)ok);
serialize(s, (uint32_t)m.num_bytes - 5);
serialize(s, message);
}
else
{
uint32_t len = serializationLength(message);
m.num_bytes = len + 1;
m.buf.reset(new uint8_t[m.num_bytes]);
OStream s(m.buf.get(), (uint32_t)m.num_bytes);
serialize(s, (uint8_t)ok);
serialize(s, message);
}
return m;
}
/**
* \brief Deserialize a message. If includes_length is true, skips the first 4 bytes
*/
template<typename M>
inline void deserializeMessage(const SerializedMessage& m, M& message)
{
IStream s(m.message_start, m.num_bytes - (m.message_start - m.buf.get()));
deserialize(s, message);
}
// Additional serialization traits
template<typename M>
struct PreDeserializeParams
{
boost::shared_ptr<M> message;
boost::shared_ptr<std::map<std::string, std::string> > connection_header;
};
/**
* \brief called by the SubscriptionCallbackHelper after a message is
* instantiated but before that message is deserialized
*/
template<typename M>
struct PreDeserialize
{
static void notify(const PreDeserializeParams<M>&) { }
};
} // namespace serialization
} // namespace ros
#endif // ROSCPP_SERIALIZATION_H
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