// Copyright 2020 Open Source Robotics Foundation, Inc. // // 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. #include "rclcpp/serialization.hpp" #include #include #include "rclcpp/exceptions.hpp" #include "rclcpp/serialized_message.hpp" #include "rcpputils/asserts.hpp" #include "rmw/rmw.h" namespace rclcpp { SerializationBase::SerializationBase(const rosidl_message_type_support_t * type_support) : type_support_(type_support) { rcpputils::check_true(nullptr != type_support, "Typesupport is nullpointer."); } void SerializationBase::serialize_message( const void * ros_message, SerializedMessage * serialized_message) const { rcpputils::check_true(nullptr != ros_message, "ROS message is nullpointer."); rcpputils::check_true(nullptr != serialized_message, "Serialized message is nullpointer."); const auto ret = rmw_serialize( ros_message, type_support_, &serialized_message->get_rcl_serialized_message()); if (ret != RMW_RET_OK) { rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to serialize ROS message."); } } void SerializationBase::deserialize_message( const SerializedMessage * serialized_message, void * ros_message) const { rcpputils::check_true(nullptr != serialized_message, "Serialized message is nullpointer."); rcpputils::check_true( 0u != serialized_message->capacity(), "Wrongly initialized. Serialized message has a capacity of zero."); rcpputils::check_true( 0u != serialized_message->size(), "Wrongly initialized. Serialized message has a size of zero."); rcpputils::check_true(nullptr != ros_message, "ROS message is a nullpointer."); const auto ret = rmw_deserialize( &serialized_message->get_rcl_serialized_message(), type_support_, ros_message); if (ret != RMW_RET_OK) { rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to deserialize ROS message."); } } } // namespace rclcpp