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 # File osi\_to\_dds\_converter.h

 Last update: 22.04.2026 

![](https://img.shields.io/badge/language-C%2B%2B-blue "C++")

**Location**: `autonomy/communication/utils/osi_to_dds_converter.h`

## Namespaces

- [simulation\_framework](namespacesimulation__framework.md#namespacesimulation__framework)
- [simulation\_framework::autonomy](namespacesimulation__framework_1_1autonomy.md#namespacesimulation__framework_1_1autonomy)
- [simulation\_framework::autonomy::communication](namespacesimulation__framework_1_1autonomy_1_1communication.md#namespacesimulation__framework_1_1autonomy_1_1communication)
- [simulation\_framework::autonomy::communication::utils](namespacesimulation__framework_1_1autonomy_1_1communication_1_1utils.md#namespacesimulation__framework_1_1autonomy_1_1communication_1_1utils)

## Includes

- core/message/rtidds/generic\_bytes/generic\_bytes.hpp
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## Source

```cpp


#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

```