Namespace simulation_framework::autonomy::communication::utils

Definition: autonomy/communication/utils/osi_to_dds_converter.h (line 16)

Functions

Function CreateDdsMessageFromOsiProto

rtidds::GenericBytesMessage simulation_framework::autonomy::communication::utils::CreateDdsMessageFromOsiProto(const int frame_counter, const std::string &header_name, const OsiProtoType &osi_proto_msg)

Converts an OSI proto message to a DDS GenericBytesMessage.

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Parameters:

• frame_counter: The frame counter for the message
• header_name: The header name to use for the DDS message (e.g., "SensorView", "SensorData", "TrafficUpdate", "MotionRequest")
• osi_proto_msg: The OSI proto message to convert

Returns:

A GenericBytesMessage containing the serialized OSI proto message

?> The OsiProtoType must have:

• timestamp() method returning an object with seconds() and nanos() methods

• ByteSizeLong() method

• SerializeToArray() method

?> Supported OSI message types include: SensorView, SensorData, TrafficUpdate, MotionRequest

Parameters:

• const int frame_counter
• const std::string & header_name
• const OsiProtoType & osi_proto_msg

Return type: rtidds::GenericBytesMessage

Function ParseOsiProtoFromDdsMessage

void simulation_framework::autonomy::communication::utils::ParseOsiProtoFromDdsMessage(const rtidds::GenericBytesMessage &dds_msg, OsiProtoType &osi_proto_msg)

Converts a DDS GenericBytesMessage back to an OSI proto message.

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Parameters:

• dds_msg: The DDS GenericBytesMessage to convert
• osi_proto_msg: Reference to the OSI proto message to populate

Exceptions:

• std::runtime_error: If parsing fails

?> The OsiProtoType must have:

• ParseFromArray() method

?> Supported OSI message types include: SensorView, SensorData, TrafficUpdate

Parameters:

• const rtidds::GenericBytesMessage & dds_msg
• OsiProtoType & osi_proto_msg

Return type: void

Function ConvertAutonomyMsgToGenericBytes

rtidds::GenericBytesMessage simulation_framework::autonomy::communication::utils::ConvertAutonomyMsgToGenericBytes(const int frame_counter, const std::string &header_name, const messages::AutonomyMsg &msg)

Convert an Autonomy message to a DDS GenericBytesMessage.

Parameters:

• frame_counter: Frame counter to store in the DDS header.
• header_name: Header name for the DDS message.
• msg: The AutonomyMsg message to serialize into the GenericBytesMessage.

Returns:

A rtidds::GenericBytesMessage containing the serialized autonomy message.

Exceptions:

• std::runtime_error: If serialization fails (e.g., buffer overflow).

Parameters:

• const int frame_counter
• const std::string & header_name
• const messages::AutonomyMsg & msg

Return type: rtidds::GenericBytesMessage

Function ConvertGenericBytesToAutonomyMsg

void simulation_framework::autonomy::communication::utils::ConvertGenericBytesToAutonomyMsg(const rtidds::GenericBytesMessage &dds_msg, messages::AutonomyMsg &msg)

Parse an Autonomy message from a DDS GenericBytesMessage.

Parameters:

• dds_msg: The DDS GenericBytesMessage containing serialized bytes.
• msg: Reference to the message object to populate.

Exceptions:

• std::runtime_error: If parsing fails (e.g., buffer underflow or malformed data).

Parameters:

• const rtidds::GenericBytesMessage & dds_msg
• messages::AutonomyMsg & msg

Return type: void