CARLA
ImagePubSubTypes.cpp
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1 // Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
2 //
3 // Licensed under the Apache License, Version 2.0 (the "License");
4 // you may not use this file except in compliance with the License.
5 // You may obtain a copy of the License at
6 //
7 // http://www.apache.org/licenses/LICENSE-2.0
8 //
9 // Unless required by applicable law or agreed to in writing, software
10 // distributed under the License is distributed on an "AS IS" BASIS,
11 // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
12 // See the License for the specific language governing permissions and
13 // limitations under the License.
14 
15 /*!
16  * @file ImagePubSubTypes.cpp
17  * This header file contains the implementation of the serialization functions.
18  *
19  * This file was generated by the tool fastcdrgen.
20  */
21 
22 #include <fastcdr/FastBuffer.h>
23 #include <fastcdr/Cdr.h>
24 
25 #include "ImagePubSubTypes.h"
26 
29 
30 namespace sensor_msgs {
31  namespace msg {
33  {
34  setName("sensor_msgs::msg::dds_::Image_");
35  auto type_size = Image::getMaxCdrSerializedSize();
36  type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
37  m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
38  m_isGetKeyDefined = Image::isKeyDefined();
39  size_t keyLength = Image::getKeyMaxCdrSerializedSize() > 16 ?
41  m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
42  memset(m_keyBuffer, 0, keyLength);
43  }
44 
46  {
47  if (m_keyBuffer != nullptr)
48  {
49  free(m_keyBuffer);
50  }
51  }
52 
54  void* data,
55  SerializedPayload_t* payload)
56  {
57  Image* p_type = static_cast<Image*>(data);
58 
59  // Object that manages the raw buffer.
60  eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
61  // Object that serializes the data.
62  eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
63  payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
64  // Serialize encapsulation
65  ser.serialize_encapsulation();
66  p_type->serialize(ser);
67  // Get the serialized length
68  payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
69  return true;
70  }
71 
73  SerializedPayload_t* payload,
74  void* data)
75  {
76  //Convert DATA to pointer of your type
77  Image* p_type = static_cast<Image*>(data);
78 
79  // Object that manages the raw buffer.
80  eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
81 
82  // Object that deserializes the data.
83  eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
84 
85  // Deserialize encapsulation.
86  deser.read_encapsulation();
87  payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
88 
89  // Deserialize the object.
90  p_type->deserialize(deser);
91  return true;
92  }
93 
94  std::function<uint32_t()> ImagePubSubType::getSerializedSizeProvider(
95  void* data)
96  {
97  return [data]() -> uint32_t
98  {
99  return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<Image*>(data))) +
100  4u /*encapsulation*/;
101  };
102  }
103 
105  {
106  return reinterpret_cast<void*>(new Image());
107  }
108 
110  void* data)
111  {
112  delete(reinterpret_cast<Image*>(data));
113  }
114 
116  void* data,
117  InstanceHandle_t* handle,
118  bool force_md5)
119  {
120  if (!m_isGetKeyDefined)
121  {
122  return false;
123  }
124 
125  Image* p_type = static_cast<Image*>(data);
126 
127  // Object that manages the raw buffer.
128  eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
130 
131  // Object that serializes the data.
132  eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
133  p_type->serializeKey(ser);
134  if (force_md5 || Image::getKeyMaxCdrSerializedSize() > 16)
135  {
136  m_md5.init();
137  m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
138  m_md5.finalize();
139  for (uint8_t i = 0; i < 16; ++i)
140  {
141  handle->value[i] = m_md5.digest[i];
142  }
143  }
144  else
145  {
146  for (uint8_t i = 0; i < 16; ++i)
147  {
148  handle->value[i] = m_keyBuffer[i];
149  }
150  }
151  return true;
152  }
153  } //End of namespace msg
154 } //End of namespace sensor_msgs
eprosima::fastrtps::rtps::InstanceHandle_t InstanceHandle_t
static eProsima_user_DllExport size_t getKeyMaxCdrSerializedSize(size_t current_alignment=0)
This function returns the maximum serialized size of the Key of an object depending on the buffer ali...
Definition: Image.cpp:407
virtual eProsima_user_DllExport bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t *payload, void *data) override
virtual eProsima_user_DllExport bool serialize(void *data, eprosima::fastrtps::rtps::SerializedPayload_t *payload) override
eprosima::fastrtps::rtps::InstanceHandle_t InstanceHandle_t
virtual eProsima_user_DllExport ~ImagePubSubType() override
eProsima_user_DllExport void deserialize(eprosima::fastcdr::Cdr &cdr)
This function deserializes an object using CDR serialization.
Definition: Image.cpp:169
ImageTmpl< Color > Image
An image of 32-bit BGRA colors (8-bit channels, 4 bytes)
static eProsima_user_DllExport size_t getMaxCdrSerializedSize(size_t current_alignment=0)
This function returns the maximum serialized size of an object depending on the buffer alignment...
Definition: Image.cpp:129
virtual eProsima_user_DllExport bool getKey(void *data, eprosima::fastrtps::rtps::InstanceHandle_t *ihandle, bool force_md5=false) override
This class represents the structure Image defined by the user in the IDL file.
virtual eProsima_user_DllExport void deleteData(void *data) override
virtual eProsima_user_DllExport void * createData() override
eProsima_user_DllExport ImagePubSubType()
eprosima::fastrtps::rtps::SerializedPayload_t SerializedPayload_t
virtual eProsima_user_DllExport std::function< uint32_t()> getSerializedSizeProvider(void *data) override
eprosima::fastrtps::rtps::SerializedPayload_t SerializedPayload_t
static eProsima_user_DllExport size_t getCdrSerializedSize(const sensor_msgs::msg::Image &data, size_t current_alignment=0)
This function returns the serialized size of a data depending on the buffer alignment.
Definition: Image.cpp:136
eProsima_user_DllExport void serializeKey(eprosima::fastcdr::Cdr &cdr) const
This function serializes the key members of an object using CDR serialization.
Definition: Image.cpp:419
static eProsima_user_DllExport bool isKeyDefined()
This function tells you if the Key has been defined for this type.
Definition: Image.cpp:414
eProsima_user_DllExport void serialize(eprosima::fastcdr::Cdr &cdr) const
This function serializes an object using CDR serialization.
Definition: Image.cpp:157