Gazebo Gazebo

API Reference

6.16.0
gz/sim/components/Serialization.hh
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2  * Copyright (C) 2019 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef GZ_GAZEBO_COMPONENTS_SERIALIZATION_HH_
18 #define GZ_GAZEBO_COMPONENTS_SERIALIZATION_HH_
19 
20 #ifdef _MSC_VER
21 #pragma warning(push)
22 #pragma warning(disable: 4251)
23 #endif
24 
25 #include <google/protobuf/message_lite.h>
26 
27 #ifdef _MSC_VER
28 #pragma warning(pop)
29 #endif
30 
31 #include <gz/msgs/double_v.pb.h>
32 
33 #include <string>
34 #include <vector>
35 #include <sdf/Sensor.hh>
36 
37 #include <gz/sim/Conversions.hh>
38 #include <gz/msgs/Utility.hh>
39 
40 // This header holds serialization operators which are shared among several
41 // components
42 
43 namespace ignition
44 {
45 namespace gazebo
46 {
47 // Inline bracket to help doxygen filtering.
48 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
49 namespace traits
50 {
58  template <typename In, typename Out>
60  {
61  private: template <typename InArg, typename OutArg>
62  static auto Test(int _test)
63  -> decltype(std::declval<OutArg>() =
64  ignition::gazebo::convert<OutArg>(std::declval<const InArg &>()),
65  std::true_type());
66 
67  private: template <typename, typename>
68  static auto Test(...) -> std::false_type;
69 
70  public: static constexpr bool value = // NOLINT
71  decltype(Test<In, Out>(true))::value;
72  };
73 }
92 
93 namespace serializers
94 {
107  template <typename DataType, typename MsgType>
109  {
114  public: static std::ostream &Serialize(std::ostream &_out,
115  const DataType &_data)
116  {
117  MsgType msg;
118  // cppcheck-suppress syntaxError
120  {
121  msg = gz::sim::convert<MsgType>(_data);
122  }
123  else
124  {
125  msg = gz::msgs::Convert(_data);
126  }
127 
128  msg.SerializeToOstream(&_out);
129  return _out;
130  }
131 
136  public: static std::istream &Deserialize(std::istream &_in,
137  DataType &_data)
138  {
139  MsgType msg;
140  msg.ParseFromIstream(&_in);
141 
143  {
144  _data = gz::sim::convert<DataType>(msg);
145  }
146  else
147  {
148  _data = gz::msgs::Convert(msg);
149  }
150  return _in;
151  }
152  };
153 
156 
159  {
164  public: static std::ostream &Serialize(std::ostream &_out,
165  const std::vector<double> &_vec)
166  {
167  gz::msgs::Double_V msg;
168  *msg.mutable_data() = {_vec.begin(), _vec.end()};
169  msg.SerializeToOstream(&_out);
170  return _out;
171  }
172 
177  public: static std::istream &Deserialize(std::istream &_in,
178  std::vector<double> &_vec)
179  {
180  gz::msgs::Double_V msg;
181  msg.ParseFromIstream(&_in);
182 
183  _vec = {msg.data().begin(), msg.data().end()};
184  return _in;
185  }
186  };
187 
190  {
195  public: static std::ostream &Serialize(std::ostream &_out,
196  const google::protobuf::Message &_msg)
197  {
198  _msg.SerializeToOstream(&_out);
199  return _out;
200  }
201 
206  public: static std::istream &Deserialize(std::istream &_in,
207  google::protobuf::Message &_msg)
208  {
209  _msg.ParseFromIstream(&_in);
210  return _in;
211  }
212  };
213 
216  {
221  public: static std::ostream &Serialize(std::ostream &_out,
222  const std::string &_data)
223  {
224  _out << _data;
225  return _out;
226  }
227 
232  public: static std::istream &Deserialize(std::istream &_in,
233  std::string &_data)
234  {
236  return _in;
237  }
238  };
239 
240  template <typename T>
242  {
247  public: static std::ostream &Serialize(std::ostream &_out,
248  const std::vector<T> &_data)
249  {
250  _out << _data.size();
251  for (const auto& datum : _data)
252  _out << " " << datum;
253  return _out;
254  }
255 
260  public: static std::istream &Deserialize(std::istream &_in,
261  std::vector<T> &_data)
262  {
263  size_t size;
264  _in >> size;
265  _data.resize(size);
266  for (size_t i = 0; i < size; ++i)
267  {
268  _in >> _data[i];
269  }
270  return _in;
271  }
272  };
273 }
274 }
275 }
276 }
277 
278 #endif
static std::ostream & Serialize(std::ostream &_out, const std::vector< T > &_data)
Serialization for std::vector<T> with serializable T.
Definition: gz/sim/components/Serialization.hh:247
T resize(T... args)
Serializer for components that hold std::string.
Definition: gz/sim/components/Serialization.hh:215
This library is part of the Gazebo project.
STL class.
Definition: gz/sim/components/Serialization.hh:241
static std::istream & Deserialize(std::istream &_in, DataType &_data)
Deserialization.
Definition: gz/sim/components/Serialization.hh:136
static std::istream & Deserialize(std::istream &_in, std::vector< double > &_vec)
Deserialization.
Definition: gz/sim/components/Serialization.hh:177
static constexpr bool value
Definition: gz/sim/components/Serialization.hh:70
static std::istream & Deserialize(std::istream &_in, google::protobuf::Message &_msg)
Deserialization.
Definition: gz/sim/components/Serialization.hh:206
T size(T... args)
static std::istream & Deserialize(std::istream &_in, std::vector< T > &_data)
Deserialization for std::vector<T> with serializable T.
Definition: gz/sim/components/Serialization.hh:260
Serializer for components that hold std::vector<double>.
Definition: gz/sim/components/Serialization.hh:158
static std::ostream & Serialize(std::ostream &_out, const std::vector< double > &_vec)
Serialization.
Definition: gz/sim/components/Serialization.hh:164
static std::ostream & Serialize(std::ostream &_out, const std::string &_data)
Serialization.
Definition: gz/sim/components/Serialization.hh:221
Type trait that determines if an ignition::gazebo::convert from In to Out is defined....
Definition: gz/sim/components/Serialization.hh:59
STL class.
static std::ostream & Serialize(std::ostream &_out, const google::protobuf::Message &_msg)
Serialization.
Definition: gz/sim/components/Serialization.hh:195
T begin(T... args)
Serialization for that converts components data types to gz::msgs. This assumes that gz::sim::convert...
Definition: gz/sim/components/Serialization.hh:108
static std::istream & Deserialize(std::istream &_in, std::string &_data)
Deserialization.
Definition: gz/sim/components/Serialization.hh:232
T end(T... args)
Serializer for components that hold protobuf messages.
Definition: gz/sim/components/Serialization.hh:189
STL class.
T data(T... args)
static std::ostream & Serialize(std::ostream &_out, const DataType &_data)
Serialization.
Definition: gz/sim/components/Serialization.hh:114