CCA
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InfoConverter.cpp
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00001 /* ============================================================ 00002 * 00003 * This file is a part of CCA project 00004 * 00005 * Copyright (C) 2011 by Arne Nordmann <anordman at cor-lab dot uni-bielefeld dot de> 00006 * 00007 * This file may be licensed under the terms of the 00008 * GNU Lesser General Public License Version 3 (the ``LGPL''), 00009 * or (at your option) any later version. 00010 * 00011 * Software distributed under the License is distributed 00012 * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either 00013 * express or implied. See the LGPL for the specific language 00014 * governing rights and limitations. 00015 * 00016 * You should have received a copy of the LGPL along with this 00017 * program. If not, go to http://www.gnu.org/licenses/lgpl.html 00018 * or write to the Free Software Foundation, Inc., 00019 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. 00020 * 00021 * The development of this software was supported by: 00022 * CoR-Lab, Research Institute for Cognition and Robotics 00023 * Bielefeld University 00024 * 00025 * ============================================================ */ 00026 00027 #include "InfoConverter.h" 00028 00029 #include <rsb/converter/SerializationException.h> 00030 #include <rsb/converter/ProtocolBufferConverter.h> 00031 00032 #include <rst/cbse/ComponentInfo.pb.h> 00033 00034 using namespace std; 00035 using namespace nemo; 00036 00037 namespace cca { 00038 00039 ComponentInfoConverter::ComponentInfoConverter() : 00040 rsb::converter::Converter<string>( 00041 rsc::runtime::typeName<rst::cbse::ComponentInfo>(), 00042 RSB_TYPE_TAG(cca::ComponentInfo)), converter() { 00043 converter = boost::shared_ptr < rsb::converter::Converter<string> 00044 > (new rsb::converter::ProtocolBufferConverter< 00045 rst::cbse::ComponentInfo>); 00046 } 00047 00048 ComponentInfoConverter::~ComponentInfoConverter() { 00049 } 00050 00051 string ComponentInfoConverter::getWireSchema() const { 00052 return converter->getWireSchema(); 00053 } 00054 00055 string ComponentInfoConverter::serialize(const rsb::AnnotatedData &data, 00056 string &wire) { 00057 00058 // Cast to original domain type 00059 boost::shared_ptr<cca::ComponentInfo> domain = boost::static_pointer_cast< 00060 cca::ComponentInfo>(data.second); 00061 00062 // Fill protocol buffer object 00063 rst::cbse::ComponentInfo proto; 00064 00065 // 1. reserve() 00066 // 2. std::copy(begin, begin+n) // oder memcpy 00067 proto.set_id(domain->name); 00068 00069 // Use embedded ProtoBuf converter for serialization to wire 00070 return converter->serialize( 00071 make_pair(rsc::runtime::typeName<rst::cbse::ComponentInfo>(), 00072 boost::shared_ptr<void>(&proto, rsc::misc::NullDeleter())), 00073 wire); 00074 } 00075 00076 rsb::AnnotatedData ComponentInfoConverter::deserialize( 00077 const std::string &wireType, const std::string &wire) { 00078 00079 // Deserialize and cast to specific ProtoBuf type 00080 boost::shared_ptr<rst::cbse::ComponentInfo> proto = 00081 boost::static_pointer_cast<rst::cbse::ComponentInfo>( 00082 converter->deserialize(wireType, wire).second); 00083 00084 // Read domain data from ProtoBuf 00085 ComponentInfoPtr domain(new ComponentInfo(proto->id())); 00086 00087 return rsb::AnnotatedData(getDataType(), domain); 00088 00089 } 00090 00091 }