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Add C++ conversion APIs to
proto2ros (#118)
Signed-off-by: Michel Hidalgo <[email protected]>
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| # -*- yaml -*- | ||
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| # This file determines clang-format's style settings; for details, refer to | ||
| # http://clang.llvm.org/docs/ClangFormatStyleOptions.html | ||
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| # See https://google.github.io/styleguide/cppguide.html for more info | ||
| BasedOnStyle: Google | ||
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| Language: Cpp | ||
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| SortIncludes: false | ||
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| # https://clang.llvm.org/docs/ClangFormatStyleOptions.html#columnlimit | ||
| # Maximum line with is 120 characters (default: 80) | ||
| ColumnLimit : 120 |
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| // Copyright (c) 2024 Boston Dynamics AI Institute LLC. All rights reserved. | ||
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| /// This module provides basic conversion APIs, applicable to any proto2ros generated packages. | ||
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| #pragma once | ||
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| #include <google/protobuf/any.pb.h> | ||
| #include <google/protobuf/duration.pb.h> | ||
| #include <google/protobuf/struct.pb.h> | ||
| #include <google/protobuf/timestamp.pb.h> | ||
| #include <google/protobuf/wrappers.pb.h> | ||
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| #include <stdexcept> | ||
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| #include <builtin_interfaces/msg/duration.hpp> | ||
| #include <builtin_interfaces/msg/time.hpp> | ||
| #include <proto2ros/msg/any.hpp> | ||
| #include <proto2ros/msg/any_proto.hpp> | ||
| #include <proto2ros/msg/bytes.hpp> | ||
| #include <proto2ros/msg/list.hpp> | ||
| #include <proto2ros/msg/struct.hpp> | ||
| #include <proto2ros/msg/value.hpp> | ||
| #include <std_msgs/msg/bool.hpp> | ||
| #include <std_msgs/msg/float32.hpp> | ||
| #include <std_msgs/msg/float64.hpp> | ||
| #include <std_msgs/msg/int32.hpp> | ||
| #include <std_msgs/msg/int64.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
| #include <std_msgs/msg/u_int32.hpp> | ||
| #include <std_msgs/msg/u_int64.hpp> | ||
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| namespace proto2ros { | ||
| namespace conversions { | ||
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| /// Unpacks a proto2ros/AnyProto ROS message into any Protobuf message. | ||
| /// | ||
| /// \throws std::runtime_error if the given ROS message cannot be unpacked onto the given Protobuf message. | ||
| template <typename T> | ||
| void convert(const proto2ros::msg::AnyProto& ros_msg, T* proto_msg) { | ||
| proto_msg->Clear(); | ||
| auto wrapper = google::protobuf::Any(); | ||
| wrapper.set_type_url(ros_msg.type_url); | ||
| auto* value = wrapper.mutable_value(); | ||
| value->reserve(ros_msg.value.size()); | ||
| value->assign(ros_msg.value.begin(), ros_msg.value.end()); | ||
| if (!wrapper.UnpackTo(proto_msg)) { | ||
| throw std::runtime_error("failed to unpack AnyProto message"); | ||
| } | ||
| } | ||
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| /// Packs any Protobuf message into a proto2ros/AnyProto ROS message. | ||
| template <typename T> | ||
| void convert(const T& proto_msg, proto2ros::msg::AnyProto* ros_msg) { | ||
| auto wrapper = google::protobuf::Any(); | ||
| wrapper.PackFrom(proto_msg); | ||
| ros_msg->type_url = wrapper.type_url(); | ||
| const auto& value = wrapper.value(); | ||
| ros_msg->value.reserve(value.size()); | ||
| ros_msg->value.assign(value.begin(), value.end()); | ||
| } | ||
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| /// Converts from proto2ros/AnyProto ROS message to google.protobuf.Any Protobuf messages. | ||
| void convert(const proto2ros::msg::AnyProto& ros_msg, google::protobuf::Any* proto_msg); | ||
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| /// Converts from google.protobuf.Any Protobuf messages to proto2ros/AnyProto ROS messages. | ||
| void convert(const google::protobuf::Any& proto_msg, proto2ros::msg::AnyProto* ros_msg); | ||
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| /// Converts from google.protobuf.Any Protobuf messages to proto2ros/AnyProto ROS messages. | ||
| void convert(const builtin_interfaces::msg::Duration& ros_msg, google::protobuf::Duration* proto_msg); | ||
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| /// Converts from google.protobuf.Duration Protobuf messages to builtin_interfaces/Duration ROS messages. | ||
| void convert(const google::protobuf::Duration& proto_msg, builtin_interfaces::msg::Duration* ros_msg); | ||
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| /// Converts from builtin_interfaces/Time ROS messages to google.protobuf.Timestamp Protobuf messages. | ||
| void convert(const builtin_interfaces::msg::Time& ros_msg, google::protobuf::Timestamp* proto_msg); | ||
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| /// Converts from google.protobuf.Timestamp Protobuf messages to builtin_interfaces/Time ROS messages. | ||
| void convert(const google::protobuf::Timestamp& proto_msg, builtin_interfaces::msg::Time* ros_msg); | ||
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| /// Converts from std_msgs/Float64 ROS messages to google.protobuf.DoubleValue Protobuf messages. | ||
| void convert(const std_msgs::msg::Float64& ros_msg, google::protobuf::DoubleValue* proto_msg); | ||
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| /// Converts from google.protobuf.DoubleValue Protobuf messages to std_msgs/Float64 ROS messages. | ||
| void convert(const google::protobuf::DoubleValue& proto_msg, std_msgs::msg::Float64* ros_msg); | ||
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| /// Converts from std_msgs/Float32 ROS messages to google.protobuf.FloatValue Protobuf messages. | ||
| void convert(const std_msgs::msg::Float32& ros_msg, google::protobuf::FloatValue* proto_msg); | ||
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| /// Converts from google.protobuf.FloatValue Protobuf messages to std_msgs/Float32 ROS messages. | ||
| void convert(const google::protobuf::FloatValue& proto_msg, std_msgs::msg::Float32* ros_msg); | ||
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| /// Converts from std_msgs/Int64 ROS messages to google.protobuf.Int64Value Protobuf messages. | ||
| void convert(const std_msgs::msg::Int64& ros_msg, google::protobuf::Int64Value* proto_msg); | ||
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| /// Converts from google.protobuf.Int64Value Protobuf messages to std_msgs/Int64 ROS messages. | ||
| void convert(const google::protobuf::Int64Value& proto_msg, std_msgs::msg::Int64* ros_msg); | ||
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| /// Converts from std_msgs/Int32 ROS messages to google.protobuf.Int32Value Protobuf messages. | ||
| void convert(const std_msgs::msg::Int32& ros_msg, google::protobuf::Int32Value* proto_msg); | ||
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| /// Converts from google.protobuf.Int32Value Protobuf messages to std_msgs/Int32 ROS messages. | ||
| void convert(const google::protobuf::Int32Value& proto_msg, std_msgs::msg::Int32* ros_msg); | ||
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| /// Converts from std_msgs/UInt64 ROS messages to google.protobuf.UInt64Value Protobuf messages. | ||
| void convert(const std_msgs::msg::UInt64& ros_msg, google::protobuf::UInt64Value* proto_msg); | ||
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| /// Converts from google.protobuf.UInt64Value Protobuf messages to std_msgs/UInt64 ROS messages. | ||
| void convert(const google::protobuf::UInt64Value& proto_msg, std_msgs::msg::UInt64* ros_msg); | ||
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| /// Converts from std_msgs/UInt32 ROS messages to google.protobuf.UInt32Value Protobuf messages. | ||
| void convert(const std_msgs::msg::UInt32& ros_msg, google::protobuf::UInt32Value* proto_msg); | ||
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| /// Converts from google.protobuf.UInt32Value Protobuf messages to std_msgs/UInt32 ROS messages. | ||
| void convert(const google::protobuf::UInt32Value& proto_msg, std_msgs::msg::UInt32* ros_msg); | ||
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| /// Converts from std_msgs/Bool ROS messages to google.protobuf.BoolValue Protobuf messages. | ||
| void convert(const std_msgs::msg::Bool& ros_msg, google::protobuf::BoolValue* proto_msg); | ||
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| /// Converts from google.protobuf.BoolValue Protobuf messages to std_msgs/Bool ROS messages. | ||
| void convert(const google::protobuf::BoolValue& proto_msg, std_msgs::msg::Bool* ros_msg); | ||
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| /// Converts from std_msgs/String ROS messages to google.protobuf.StringValue Protobuf messages. | ||
| void convert(const std_msgs::msg::String& ros_msg, google::protobuf::StringValue* proto_msg); | ||
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| /// Converts from google.protobuf.StringValue Protobuf messages to std_msgs/String ROS messages. | ||
| void convert(const google::protobuf::StringValue& proto_msg, std_msgs::msg::String* ros_msg); | ||
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| /// Converts from proto2ros/Bytes ROS messages to google.protobuf.BytesValue Protobuf messages. | ||
| void convert(const proto2ros::msg::Bytes& ros_msg, google::protobuf::BytesValue* proto_msg); | ||
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| /// Converts from google.protobuf.BytesValue Protobuf messages to proto2ros/Bytes ROS messages. | ||
| void convert(const google::protobuf::BytesValue& proto_msg, proto2ros::msg::Bytes* ros_msg); | ||
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| /// Converts from proto2ros/Value ROS messages to google.protobuf.Value Protobuf messages. | ||
| void convert(const proto2ros::msg::Value& ros_msg, google::protobuf::Value* proto_msg); | ||
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| /// Converts from google.protobuf.Value Protobuf messages to proto2ros/Value ROS messages. | ||
| void convert(const google::protobuf::Value& proto_msg, proto2ros::msg::Value* ros_msg); | ||
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| /// Converts from proto2ros/List ROS messages to google.protobuf.ListValue Protobuf messages. | ||
| void convert(const proto2ros::msg::List& ros_msg, google::protobuf::ListValue* proto_msg); | ||
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| /// Converts from google.protobuf.ListValue Protobuf messages to proto2ros/List ROS messages. | ||
| void convert(const google::protobuf::ListValue& proto_msg, proto2ros::msg::List* ros_msg); | ||
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| /// Converts from proto2ros/Struct ROS messages to google.protobuf.Struct Protobuf messages. | ||
| void convert(const proto2ros::msg::Struct& ros_msg, google::protobuf::Struct* proto_msg); | ||
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| /// Converts from google.protobuf.Struct Protobuf messages to proto2ros/Struct ROS messages. | ||
| void convert(const google::protobuf::Struct& proto_msg, proto2ros::msg::Struct* ros_msg); | ||
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| } // namespace conversions | ||
| } // namespace proto2ros |
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