CarlaCollisionEventPubSubTypes.cpp

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// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*!
 * @file CarlaCollisionEventPubSubTypes.cpp
 * This header file contains the implementation of the serialization functions.
 *
 * This file was generated by the tool fastcdrgen.
 */
 
#include <fastcdr/FastBuffer.h>
#include <fastcdr/Cdr.h>
 
#include "CarlaCollisionEventPubSubTypes.h"
 
using SerializedPayload_t = eprosima::fastrtps::rtps::SerializedPayload_t;
using InstanceHandle_t = eprosima::fastrtps::rtps::InstanceHandle_t;
 
namespace carla_msgs {
    namespace msg {
      CarlaCollisionEventPubSubType::CarlaCollisionEventPubSubType()
{
    // 设置数据类型（消息类型）的名称，用于序列化和反序列化
    setName("carla_msgs::msg::dds_::CarlaCollisionEvent_");
 
    // 获取 CarlaCollisionEvent 对象序列化所需的最大字节数
    // 这包括消息的大小和任何附加的序列化数据
    auto type_size = CarlaCollisionEvent::getMaxCdrSerializedSize();
 
    // 调整可能的子消息对齐（例如，序列化时需要的填充）
    // CDR（通用数据表示）标准可能需要对数据进行特定对齐
    type_size += eprosima::fastcdr::Cdr::alignment(type_size, 4); /* 可能的子消息对齐 */
 
    // 设置总类型大小，包括封装（4 字节）以符合 DDS 序列化格式
    m_typeSize = static_cast<uint32_t>(type_size) + 4; /* 封装 */
 
    // 检查 CarlaCollisionEvent 类型是否定义了键
    // 在 DDS 中，某些消息可能会包含一个键，用于唯一标识数据
    m_isGetKeyDefined = CarlaCollisionEvent::isKeyDefined();
 
    // 计算最大键长度，这个键可能会参与序列化
    // 键长度为最大键的序列化字节数，或者 16 字节（取较大者）
    size_t keyLength = CarlaCollisionEvent::getKeyMaxCdrSerializedSize() > 16 ?
                        CarlaCollisionEvent::getKeyMaxCdrSerializedSize() : 16;
 
    // 为键缓冲区分配内存，用于存储序列化/反序列化时的键
    // 确保分配足够的内存来存储键
    m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
 
    // 将键缓冲区初始化为零，以避免包含任何垃圾值
    memset(m_keyBuffer, 0, keyLength);
}
 
 
        CarlaCollisionEventPubSubType::~CarlaCollisionEventPubSubType()
        {
            if (m_keyBuffer != nullptr)
            {
                free(m_keyBuffer);
            }
        }
 
        bool CarlaCollisionEventPubSubType::serialize(
                  void* data,
                  SerializedPayload_t* payload)
      {
          // 将 void* 类型的数据指针转换为 CarlaCollisionEvent* 类型，指向实际的数据对象
          CarlaCollisionEvent* p_type = static_cast<CarlaCollisionEvent*>(data);
 
          // 创建一个 FastBuffer 对象来管理原始数据缓冲区
          // fastbuffer 将会操作 payload->data 中的数据，最大缓冲区大小由 payload->max_size 决定
          eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
 
          // 创建一个 Cdr 对象来进行序列化操作
          // Cdr 对象是基于 fastbuffer 创建的，默认使用系统字节序，并且序列化采用 DDS CDR 格式
          eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
 
          // 根据 Cdr 对象的字节序判断封装类型，设置 payload 的封装类型
          // 如果使用大端字节序，使用 CDR_BE，否则使用 CDR_LE
          payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
 
          // 序列化封装部分
          ser.serialize_encapsulation();
 
          try
          {
              // 序列化数据对象（p_type 即 CarlaCollisionEvent 类型的对象）
              // 调用 CarlaCollisionEvent 类的 serialize 方法将数据序列化到 Cdr 对象中
              p_type->serialize(ser);
          }
          catch (eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
          {
              // 如果序列化过程中内存不足，捕获异常并返回 false
              return false;
          }
 
          // 获取序列化后的数据长度，赋值给 payload->length
          payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
 
          // 序列化成功，返回 true
          return true;
      }
 
 
        bool CarlaCollisionEventPubSubType::deserialize(
                SerializedPayload_t* payload,
                void* data)
        {
            try
            {
                //Convert DATA to pointer of your type
                CarlaCollisionEvent* p_type = static_cast<CarlaCollisionEvent*>(data);
 
                // Object that manages the raw buffer.
                eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
                // Object that deserializes the data.
                eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
 
                // Deserialize encapsulation.
                deser.read_encapsulation();
                payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
 
                // Deserialize the object.
                p_type->deserialize(deser);
            }
            catch (eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
            {
                return false;
            }
 
            return true;
        }
 
        std::function<uint32_t()> CarlaCollisionEventPubSubType::getSerializedSizeProvider(
                void* data)
        {
            return [data]() -> uint32_t
                   {
                       return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<CarlaCollisionEvent*>(data))) +
                              4u /*encapsulation*/;
                   };
        }
 
        void* CarlaCollisionEventPubSubType::createData()
        {
            return reinterpret_cast<void*>(new CarlaCollisionEvent());
        }
 
        void CarlaCollisionEventPubSubType::deleteData(
                void* data)
        {
            delete(reinterpret_cast<CarlaCollisionEvent*>(data));
        }
 
        bool CarlaCollisionEventPubSubType::getKey(
                void* data,
                InstanceHandle_t* handle,
                bool force_md5)
        {
            if (!m_isGetKeyDefined)
            {
                return false;
            }
 
            CarlaCollisionEvent* p_type = static_cast<CarlaCollisionEvent*>(data);
 
            // Object that manages the raw buffer.
            eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
                    CarlaCollisionEvent::getKeyMaxCdrSerializedSize());
 
            // Object that serializes the data.
            eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
            p_type->serializeKey(ser);
            if (force_md5 || CarlaCollisionEvent::getKeyMaxCdrSerializedSize() > 16)
            {
                m_md5.init();
                m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
                m_md5.finalize();
                for (uint8_t i = 0; i < 16; ++i)
                {
                    handle->value[i] = m_md5.digest[i];
                }
            }
            else
            {
                for (uint8_t i = 0; i < 16; ++i)
                {
                    handle->value[i] = m_keyBuffer[i];
                }
            }
            return true;
        }
    } //End of namespace msg
} //End of namespace carla_msgs