supported_interface_serialization.hpp

Go to the documentation of this file.

// 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__SUPPORTED_INTERFACE_SERIALIZATION_HPP_
#define YASMIN_ROS__SUPPORTED_INTERFACE_SERIALIZATION_HPP_
 
#include <functional>
#include <string>
#include <unordered_map>
#include <vector>
 
#include "yasmin/blackboard.hpp"
 
namespace yasmin_ros {

struct InterfaceSerializationHandler {
  std::function<std::vector<uint8_t>(yasmin::Blackboard::SharedPtr,
                                     const std::string &)>
      serialize_from_blackboard;
  std::function<void(yasmin::Blackboard::SharedPtr, const std::string &,
                     const std::vector<uint8_t> &)>
      deserialize_to_blackboard;
  std::string blackboard_type;
};

const std::unordered_map<std::string, InterfaceSerializationHandler> &
get_supported_interface_serialization_handlers();

bool is_supported_interface_type(const std::string &interface_type);

const InterfaceSerializationHandler &
get_interface_serialization_handler(const std::string &interface_type);

std::vector<std::string> get_supported_interface_types();
 
} // namespace yasmin_ros
 
#endif // YASMIN_ROS__SUPPORTED_INTERFACE_SERIALIZATION_HPP_