File osi_to_dds_converter.h

Location: autonomy/communication/utils/osi_to_dds_converter.h

Namespaces

• simulation_framework
• simulation_framework::autonomy
• simulation_framework::autonomy::communication
• simulation_framework::autonomy::communication::utils

Includes

• core/message/rtidds/generic_bytes/generic_bytes.hpp

Source

#ifndef SIMFWK_AUTONOMY_AUTONOMY_COMMUNICATION_UTILS_OSITODDSCONVERTER_H
#define SIMFWK_AUTONOMY_AUTONOMY_COMMUNICATION_UTILS_OSITODDSCONVERTER_H

#include "core/message/rtidds/generic_bytes/generic_bytes.hpp"
#include <stdexcept>
#include <string>
#include <vector>

namespace simulation_framework
{
namespace autonomy
{
namespace communication
{
namespace utils
{

template <typename OsiProtoType>
rtidds::GenericBytesMessage CreateDdsMessageFromOsiProto(const int frame_counter,
                                                         const std::string& header_name,
                                                         const OsiProtoType& osi_proto_msg)
{
    rtidds::GenericBytesMessage generic_msg{};
    generic_msg.header = header_name;
    generic_msg.frame_number = frame_counter;
    generic_msg.timestamp.seconds = osi_proto_msg.timestamp().seconds();
    generic_msg.timestamp.nanoseconds = osi_proto_msg.timestamp().nanos();

    size_t size = osi_proto_msg.ByteSizeLong();
    std::vector<unsigned char> proto_data_in_bytes;
    proto_data_in_bytes.resize(size);

    if (!osi_proto_msg.SerializeToArray(proto_data_in_bytes.data(), size))
    {
        throw std::runtime_error("[CreateDdsMessageFromOsiProto] Failed to serialize OSI proto message to bytes");
    }

    generic_msg.size = size;
    generic_msg.bytes_array = proto_data_in_bytes;
    return generic_msg;
}

template <typename OsiProtoType>
void ParseOsiProtoFromDdsMessage(const rtidds::GenericBytesMessage& dds_msg, OsiProtoType& osi_proto_msg)
{
    if (!osi_proto_msg.ParseFromArray(dds_msg.bytes_array.data(), dds_msg.size))
    {
        throw std::runtime_error("[ParseOsiProtoFromDdsMessage] Failed to parse OSI proto message from bytes array");
    }
}

}  // namespace utils
}  // namespace communication
}  // namespace autonomy
}  // namespace simulation_framework

#endif  // SIMFWK_AUTONOMY_AUTONOMY_COMMUNICATION_UTILS_OSITODDSCONVERTER_H