interface_serialization.hpp

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// Copyright (C) 2026 Maik Knof
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
 
#ifndef YASMIN_ROS__INTERFACE_SERIALIZATION_HPP_
#define YASMIN_ROS__INTERFACE_SERIALIZATION_HPP_
 
#include <cstring>
#include <stdexcept>
#include <string>
#include <vector>
 
#include <rclcpp/serialization.hpp>
#include <rclcpp/serialized_message.hpp>
 
namespace yasmin_ros {

template <typename InterfaceT>
std::vector<uint8_t> serialize_interface(const InterfaceT &interface_value) {
  rclcpp::Serialization<InterfaceT> serializer;
  rclcpp::SerializedMessage serialized_message;
  serializer.serialize_message(&interface_value, &serialized_message);
 
  const auto &rcl_serialized_message =
      serialized_message.get_rcl_serialized_message();
 
  return std::vector<uint8_t>(rcl_serialized_message.buffer,
                              rcl_serialized_message.buffer +
                                  rcl_serialized_message.buffer_length);
}

template <typename InterfaceT>
InterfaceT deserialize_interface(const std::vector<uint8_t> &serialized_data) {
  rclcpp::Serialization<InterfaceT> serializer;
  rclcpp::SerializedMessage serialized_message(serialized_data.size());
 
  auto &rcl_serialized_message =
      serialized_message.get_rcl_serialized_message();
 
  if (!serialized_data.empty()) {
    std::memcpy(rcl_serialized_message.buffer, serialized_data.data(),
                serialized_data.size());
  }
 
  rcl_serialized_message.buffer_length = serialized_data.size();
 
  InterfaceT interface_value;
  serializer.deserialize_message(&serialized_message, &interface_value);
 
  return interface_value;
}
 
} // namespace yasmin_ros
 
#endif // YASMIN_ROS__INTERFACE_SERIALIZATION_HPP_