Robotics Service Bus

h1. Writing Converters

h2. Introduction

In RSB, converters are used to serialize and deserialize programming-language objects for transportation (e.g. over a network connection). RSB comes with converters for the fundamental types listed [[Types|here]]. However, in many use-cases it is necessary to use additional converters for domain-specific types and/or serialization mechanisms.

This page describes how to add such converters to RSB using the running example of a converter for TODO.

h2. Preparation

In order to implement a new converter, the following information is required:

* To/from which [[Glossary|wire-type]] will the converter serialize/deserialize? In our example, the wire-type is TODO.

* Which [[Glossary|data-type]] or (data-types) will be handled by the converter? TODO in our example.

* What is the [[Glossary|wire-schema]] of the converter?

h2. Implementation: C++