C++ (Cpp) Cdr::serialize Examples

Example #1

File: TypeSupport_impl.hpp Project: eProsima/ROS-RMW-Fast-RTPS-cpp

inline
void serialize_field<std::string>(
  const rosidl_typesupport_introspection_c__MessageMember * member,
  void * field,
  eprosima::fastcdr::Cdr & ser)
{
  using CStringHelper = StringHelper<rosidl_typesupport_introspection_c__MessageMembers>;
  if (!member->is_array_) {
    auto && str = CStringHelper::convert_to_std_string(field);
    // Control maximum length.
    if (member->string_upper_bound_ && str.length() > member->string_upper_bound_ + 1) {
      throw std::runtime_error("string overcomes the maximum length");
    }
    ser << str;
  } else {
    // First, cast field to rosidl_generator_c
    // Then convert to a std::string using StringHelper and serialize the std::string
    if (member->array_size_ && !member->is_upper_bound_) {
      // tmpstring is defined here and not below to avoid
      // memory allocation in every iteration of the for loop
      std::string tmpstring;
      auto string_field = static_cast<rosidl_generator_c__String *>(field);
      for (size_t i = 0; i < member->array_size_; ++i) {
        tmpstring = string_field[i].data;
        ser.serialize(tmpstring);
      }
    } else {
      auto & string_sequence_field =
        *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
      std::vector<std::string> cpp_string_vector;
      for (size_t i = 0; i < string_sequence_field.size; ++i) {
        cpp_string_vector.push_back(
          CStringHelper::convert_to_std_string(string_sequence_field.data[i]));
      }
      ser << cpp_string_vector;
    }
  }
}