void serialize_field(
const rosidl_typesupport_introspection_cpp::MessageMember * member,
void * field,
eprosima::fastcdr::Cdr & ser)
{
if (!member->is_array_) {
ser << *static_cast<T *>(field);
} else if (member->array_size_ && !member->is_upper_bound_) {
ser.serializeArray(static_cast<T *>(field), member->array_size_);
} else {
std::vector<T> & data = *reinterpret_cast<std::vector<T> *>(field);
ser << data;
}
}
void serialize_field(
const rosidl_typesupport_introspection_c__MessageMember * member,
void * field,
eprosima::fastcdr::Cdr & ser)
{
if (!member->is_array_) {
ser << *static_cast<T *>(field);
} else if (member->array_size_ && !member->is_upper_bound_) {
ser.serializeArray(static_cast<T *>(field), member->array_size_);
} else {
auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
ser.serializeSequence(reinterpret_cast<T *>(data.data), data.size);
}
}
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;
}
}
}
void GUID_t::deserialize(eprosima::fastcdr::Cdr &cdr)
{
cdr.deserializeArray(m_value, 16);
}
void GUID_t::serialize(eprosima::fastcdr::Cdr &cdr) const
{
cdr.serializeArray(m_value, 16);
}
void EntityId_t::deserialize(eprosima::fastcdr::Cdr &cdr)
{
cdr.deserializeArray(entityKey_, 3);
cdr >> entityKind_;
}
void EntityId_t::serialize(eprosima::fastcdr::Cdr &cdr) const
{
cdr.serializeArray(entityKey_, 3);
cdr << entityKind_;
}
void GUID_t::deserialize(eprosima::fastcdr::Cdr &cdr)
{
cdr.deserializeArray(guidPrefix_, 12);
cdr >> entityId_;
}
void GUID_t::serialize(eprosima::fastcdr::Cdr &cdr) const
{
cdr.serializeArray(guidPrefix_, 12);
cdr << entityId_;
}
