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PoseWithCovariancePubSubTypes.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 PoseWithCovariancePubSubTypes.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
26
27using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
28using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
29
30namespace geometry_msgs {
31 namespace msg {
32
34 {
35 setName("geometry_msgs::msg::dds_::PoseWithCovariance_");
37 type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* possible submessage alignment */
38 m_typeSize = static_cast<uint32_t>(type_size) + 4; /*encapsulation*/
39 m_isGetKeyDefined = PoseWithCovariance::isKeyDefined();
40 size_t keyLength = PoseWithCovariance::getKeyMaxCdrSerializedSize() > 16 ?
42 m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
43 memset(m_keyBuffer, 0, keyLength);
44 }
45
53
55 void* data,
56 SerializedPayload_t* payload)
57 {
58 PoseWithCovariance* p_type = static_cast<PoseWithCovariance*>(data);
59
60 // Object that manages the raw buffer.
61 eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
62 // Object that serializes the data.
63 eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
64 payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
65 // Serialize encapsulation
66 ser.serialize_encapsulation();
67
68 try
69 {
70 // Serialize the object.
71 p_type->serialize(ser);
72 }
73 catch (eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
74 {
75 return false;
76 }
77
78 // Get the serialized length
79 payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
80 return true;
81 }
82
84 SerializedPayload_t* payload,
85 void* data)
86 {
87 try
88 {
89 //Convert DATA to pointer of your type
90 PoseWithCovariance* p_type = static_cast<PoseWithCovariance*>(data);
91
92 // Object that manages the raw buffer.
93 eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
94
95 // Object that deserializes the data.
96 eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
97
98 // Deserialize encapsulation.
99 deser.read_encapsulation();
100 payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
101
102 // Deserialize the object.
103 p_type->deserialize(deser);
104 }
105 catch (eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
106 {
107 return false;
108 }
109
110 return true;
111 }
112
114 void* data)
115 {
116 return [data]() -> uint32_t
117 {
118 return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<PoseWithCovariance*>(data))) +
119 4u /*encapsulation*/;
120 };
121 }
122
124 {
125 return reinterpret_cast<void*>(new PoseWithCovariance());
126 }
127
129 void* data)
130 {
131 delete(reinterpret_cast<PoseWithCovariance*>(data));
132 }
133
135 void* data,
136 InstanceHandle_t* handle,
137 bool force_md5)
138 {
139 if (!m_isGetKeyDefined)
140 {
141 return false;
142 }
143
144 PoseWithCovariance* p_type = static_cast<PoseWithCovariance*>(data);
145
146 // Object that manages the raw buffer.
147 eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
149
150 // Object that serializes the data.
151 eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
152 p_type->serializeKey(ser);
154 {
155 m_md5.init();
156 m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
157 m_md5.finalize();
158 for (uint8_t i = 0; i < 16; ++i)
159 {
160 handle->value[i] = m_md5.digest[i];
161 }
162 }
163 else
164 {
165 for (uint8_t i = 0; i < 16; ++i)
166 {
167 handle->value[i] = m_keyBuffer[i];
168 }
169 }
170 return true;
171 }
172 } //End of namespace msg
173} //End of namespace geometry_msgs
eprosima::fastrtps::rtps::InstanceHandle_t InstanceHandle_t
eprosima::fastrtps::rtps::SerializedPayload_t SerializedPayload_t
virtual eProsima_user_DllExport bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t *payload, void *data) override
virtual eProsima_user_DllExport void deleteData(void *data) override
virtual eProsima_user_DllExport std::function< uint32_t()> getSerializedSizeProvider(void *data) override
virtual eProsima_user_DllExport ~PoseWithCovariancePubSubType() override
virtual eProsima_user_DllExport void * createData() override
virtual eProsima_user_DllExport bool getKey(void *data, eprosima::fastrtps::rtps::InstanceHandle_t *ihandle, bool force_md5=false) override
virtual eProsima_user_DllExport bool serialize(void *data, eprosima::fastrtps::rtps::SerializedPayload_t *payload) override
This class represents the structure PoseWithCovariance defined by the user in the IDL file.
eProsima_user_DllExport void serialize(eprosima::fastcdr::Cdr &cdr) const
This function serializes an object using CDR serialization.
static eProsima_user_DllExport size_t getCdrSerializedSize(const geometry_msgs::msg::PoseWithCovariance &data, size_t current_alignment=0)
This function returns the serialized size of a data depending on the buffer alignment.
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...
eProsima_user_DllExport void serializeKey(eprosima::fastcdr::Cdr &cdr) const
This function serializes the key members of an object using CDR serialization.
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.
static eProsima_user_DllExport bool isKeyDefined()
This function tells you if the Key has been defined for this type
eProsima_user_DllExport void deserialize(eprosima::fastcdr::Cdr &cdr)
This function deserializes an object using CDR serialization.