V2XSerializer.h

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// Copyright (c) 2026 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "carla/Memory.h"
#include "carla/sensor/RawData.h"
#include "carla/sensor/data/V2XData.h"
 
#include <cstdint>
#include <cstring>
 
namespace carla {
namespace sensor {
 
  class SensorData;
 
namespace s11n {
 
  // ===========================================================================
  // -- V2XSerializer ----------------------------------------------------------
  // ===========================================================================
 
  /// Serializes the CAM data generated by V2X sensors.
  class CAMDataSerializer {
  public:
 
    template <typename Sensor>
    static Buffer Serialize(
        const Sensor &sensor,
        const data::CAMDataS &data,
        Buffer &&output);
 
    static SharedPtr<SensorData> Deserialize(RawData &&data);
  };
 
  template <typename Sensor>
  inline Buffer CAMDataSerializer::Serialize(
      const Sensor &,
      const data::CAMDataS &data,
      Buffer &&output) {
    output.copy_from(data.MessageList);
    return std::move(output);
  }
 
  /// Serializes the custom message data generated by V2X sensors.
  class CustomV2XDataSerializer {
  public:
 
    template <typename Sensor>
    static Buffer Serialize(
        const Sensor &sensor,
        const data::CustomV2XDataS &data,
        Buffer &&output);
 
    static SharedPtr<SensorData> Deserialize(RawData &&data);
  };
 
  template <typename Sensor>
  inline Buffer CustomV2XDataSerializer::Serialize(
      const Sensor &,
      const data::CustomV2XDataS &data,
      Buffer &&output) {
    output.copy_from(data.MessageList);
    return std::move(output);
  }
 
} // namespace s11n
} // namespace sensor
} // namespace carla