Robotics Systems Types

                        "rst/converters/rci/JointVelocitiesConverter.cpp"

                        "rst/converters/rci/JointVelocitiesConverter.h"

                               "rst::converters::rci::JointVelocitiesConverter"

/* ============================================================

 *

 * This file is part of the rst-converters project.

 *

 * Copyright (C) 2015 by Niels Dehio <ndehio at techfak dot uni-bielefeld dot de>

 *

 * This file may be licensed under the terms of the

 * GNU Lesser General Public License Version 3 (the ``LGPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the LGPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the LGPL along with this

 * program. If not, go to http://www.gnu.org/licenses/lgpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by:

 *   CoR-Lab, Research Institute for Cognition and Robotics

 *     Bielefeld University

 *

 * ============================================================ */

#include "JointVelocitiesConverter.h"

#include <rsb/converter/SerializationException.h>

#include <rsb/converter/ProtocolBufferConverter.h>

#include <rst/kinematics/JointVelocities.pb.h>

#include <rci/dto/JointVelocities.h>

using namespace std;

using namespace nemo;

using namespace rci;

namespace rst {

namespace converters {

namespace rci {

JointVelocitiesConverter::JointVelocitiesConverter() :

        rsb::converter::Converter<string>(

                rsc::runtime::typeName<rst::kinematics::JointVelocities>(),

                RSB_TYPE_TAG( ::rci::JointVelocities)) {

    converter = boost::shared_ptr<rsb::converter::Converter<string> >(

            new rsb::converter::ProtocolBufferConverter<

                    rst::kinematics::JointVelocities>);

}

JointVelocitiesConverter::~JointVelocitiesConverter() {

}

string JointVelocitiesConverter::getWireSchema() const {

    return converter->getWireSchema();

}

string JointVelocitiesConverter::serialize(const rsb::AnnotatedData &data,

        string &wire) {

    // Cast to original domain type

    boost::shared_ptr< ::rci::JointVelocities> domain = boost::static_pointer_cast<

    ::rci::JointVelocities>(data.second);

    // Fill protocol buffer object

    rst::kinematics::JointVelocities proto;

    //    1. reserve()

    //    2. std::copy(begin, begin+n) // oder memcpy

    // TODO Check if this can be done more efficiently (see protobuf C++ docs for repeated numeric fields)

    for (unsigned int i = 0; i < domain->getDimension(); ++i) {

        proto.add_velocities(domain->asDouble(i));

    }

    // Use embedded ProtoBuf converter for serialization to wire

    return converter->serialize(

            make_pair(rsc::runtime::typeName<rst::kinematics::JointVelocities>(),

                    boost::shared_ptr<void>(&proto, rsc::misc::NullDeleter())),

            wire);

}

rsb::AnnotatedData JointVelocitiesConverter::deserialize(

        const std::string &wireType, const std::string &wire) {

    // Deserialize and cast to specific ProtoBuf type

    boost::shared_ptr<rst::kinematics::JointVelocities> proto =

            boost::static_pointer_cast<rst::kinematics::JointVelocities>(

                    converter->deserialize(wireType, wire).second);

    // Read domain data from ProtoBuf

    RealVector values = RealVector(dim(proto->velocities_size()));

    for (int i = 0; i < proto->velocities_size(); ++i) {

        values[i] = proto->velocities(i);

    }

    // Instantiate domain object

    boost::shared_ptr< ::rci::JointVelocities> domain(

            new ::rci::JointVelocities(values));

    return rsb::AnnotatedData(getDataType(), domain);

}

}

}

}

/* ============================================================

 *

 * This file is part of the rst-converters project.

 *

 * Copyright (C) 2015 by Niels Dehio <ndehio at techfak dot uni-bielefeld dot de>

 *

 * This file may be licensed under the terms of the

 * GNU Lesser General Public License Version 3 (the ``LGPL''),

 * or (at your option) any later version.

 *

 * Software distributed under the License is distributed

 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

 * express or implied. See the LGPL for the specific language

 * governing rights and limitations.

 *

 * You should have received a copy of the LGPL along with this

 * program. If not, go to http://www.gnu.org/licenses/lgpl.html

 * or write to the Free Software Foundation, Inc.,

 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

 *

 * The development of this software was supported by:

 *   CoR-Lab, Research Institute for Cognition and Robotics

 *     Bielefeld University

 *

 * ============================================================ */

#pragma once

#include <string>

#include <boost/shared_ptr.hpp>

#include <rsb/converter/Converter.h>

#include "rst/rstconvertersexports.h"

namespace rst {

namespace converters {

namespace rci {

/**

 * Converter for rci::JointVelocities to JointVelocities type.

 *

 * @author swrede

 */

class RST_CONVERTERS_EXPORT JointVelocitiesConverter: public rsb::converter::Converter<std::string> {

public:

    JointVelocitiesConverter();

    virtual ~JointVelocitiesConverter();

    std::string getWireSchema() const;

    std::string serialize(const rsb::AnnotatedData &data, std::string &wire);

    rsb::AnnotatedData deserialize(const std::string &wireType,

            const std::string &wire);

private:

    ::boost::shared_ptr<rsb::converter::Converter<std::string> > converter;

};

}

}

}