Converter.hpp

#pragma once
 
/*
 * Copyright 2019 - present Proyectos y Sistemas de Mantenimiento SL (eProsima).
 *
 * This implementation is based on https://github.com/eProsima/FastDDS-SH/blob/main/src/Conversion.hpp
 * There are no functional changes done in dds-fmu, only changing namespace and formatting.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 */
 
#include <map>
#include <vector>
 
#include <fastrtps/types/DynamicData.h>
#include <fastrtps/types/DynamicPubSubType.h>
#include <fastrtps/types/DynamicType.h>
#include <fastrtps/types/DynamicTypeBuilder.h>
#include <fastrtps/types/DynamicTypeBuilderPtr.h>
#include <xtypes/idl/idl.hpp>
#include <xtypes/xtypes.hpp>
 
namespace ddsfmu {
 
struct Converter {
  static bool xtypes_to_fastdds(
    const eprosima::xtypes::DynamicData& input, eprosima::fastrtps::types::DynamicData* output);
 
  static bool fastdds_to_xtypes(
    const eprosima::fastrtps::types::DynamicData* input, eprosima::xtypes::DynamicData& output);
 
  static eprosima::xtypes::DynamicData dynamic_data(const std::string& type_name);
 
  static void register_type(
    const std::string& type_name, eprosima::fastrtps::types::DynamicPubSubType* type) {
    m_registered_types.emplace(type_name, type);
  }
 
  static void register_xtype(
      const std::string& type_name, const eprosima::xtypes::DynamicType& type) {
    m_types.insert_or_assign(type_name, type);
  }
 
 
  static eprosima::fastrtps::types::DynamicTypeBuilder*
    create_builder(const eprosima::xtypes::DynamicType& type);
 
  static std::string convert_type_name(const std::string& message_type);
 
  static const eprosima::xtypes::DynamicType& resolve_discriminator_type(
    const eprosima::xtypes::DynamicType& service_type, const std::string& discriminator);
 
  static eprosima::xtypes::WritableDynamicDataRef access_member_data(
    eprosima::xtypes::WritableDynamicDataRef membered_data, const std::string& path);
 
  static void clear_data_structures() {
    m_types.clear();
    m_registered_types.clear();
    m_builders.clear();
  }
 
private:
  ~Converter() = default;
  static std::map<std::string, eprosima::xtypes::DynamicType::Ptr> m_types;
  static std::map<std::string, eprosima::fastrtps::types::DynamicPubSubType*> m_registered_types;
  static std::map<std::string, eprosima::fastrtps::types::DynamicTypeBuilder_ptr> m_builders;
 
  static const eprosima::xtypes::DynamicType&
    resolve_type(const eprosima::xtypes::DynamicType& type);
  static eprosima::fastrtps::types::TypeKind
    resolve_type(const eprosima::fastrtps::types::DynamicType_ptr type);
  static eprosima::fastrtps::types::DynamicTypeBuilder_ptr
    get_builder(const eprosima::xtypes::DynamicType& type);
 
  static void get_array_specs(
    const eprosima::xtypes::ArrayType& array,
    std::pair<std::vector<uint32_t>, eprosima::fastrtps::types::DynamicTypeBuilder_ptr>& result);
 
  static eprosima::xtypes::WritableDynamicDataRef access_member_data(
    eprosima::xtypes::WritableDynamicDataRef membered_data, const std::vector<std::string>& tokens,
    size_t index);
 
  // xtypes Dynamic Data -> FastDDS Dynamic Data
  static void set_primitive_data(
    eprosima::xtypes::ReadableDynamicDataRef from, eprosima::fastrtps::types::DynamicData* to,
    eprosima::fastrtps::types::MemberId id);
  static void set_sequence_data(
    eprosima::xtypes::ReadableDynamicDataRef from, eprosima::fastrtps::types::DynamicData* to);
  static void set_map_data(
    eprosima::xtypes::ReadableDynamicDataRef from, eprosima::fastrtps::types::DynamicData* to);
  static void set_array_data(
    eprosima::xtypes::ReadableDynamicDataRef from, eprosima::fastrtps::types::DynamicData* to,
    const std::vector<uint32_t>& indexes);
  static bool set_struct_data(
    eprosima::xtypes::ReadableDynamicDataRef input, eprosima::fastrtps::types::DynamicData* output);
  static bool set_union_data(
    eprosima::xtypes::ReadableDynamicDataRef input, eprosima::fastrtps::types::DynamicData* output);
 
 
  // FastDDS Dynamic Data -> xtypes Dynamic Data
  static void set_sequence_data(
    const eprosima::fastrtps::types::DynamicData* from,
    eprosima::xtypes::WritableDynamicDataRef to);
  static void set_map_data(
    const eprosima::fastrtps::types::DynamicData* from,
    eprosima::xtypes::WritableDynamicDataRef to);
  static void set_array_data(
    const eprosima::fastrtps::types::DynamicData* from, eprosima::xtypes::WritableDynamicDataRef to,
    const std::vector<uint32_t>& indexes);
  static bool set_struct_data(
    const eprosima::fastrtps::types::DynamicData* input,
    eprosima::xtypes::WritableDynamicDataRef output);
  static bool set_union_data(
    const eprosima::fastrtps::types::DynamicData* input,
    eprosima::xtypes::WritableDynamicDataRef output);
};
 
}