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use composition for serialized message (#1082)

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* use composition over inheritance

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* make parameter names equal

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* address review comments

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
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Karsten Knese 2020-04-21 22:35:35 -07:00 • committed by GitHub
parent 0f0a4a8e39
commit c9319dafc2
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4 changed files with 135 additions and 94 deletions
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33
rclcpp/include/rclcpp/serialized_message.hpp
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@ -24,7 +24,7 @@ namespace rclcpp
{
/// Object oriented version of rcl_serialized_message_t with destructor to avoid memory leaks
class RCLCPP_PUBLIC_TYPE SerializedMessage : public rcl_serialized_message_t
class RCLCPP_PUBLIC_TYPE SerializedMessage
{
public:
/// Default constructor for a SerializedMessage
@ -52,16 +52,16 @@ public:
const rcl_allocator_t & allocator = rcl_get_default_allocator());
/// Copy Constructor for a SerializedMessage
SerializedMessage(const SerializedMessage & serialized_message);
SerializedMessage(const SerializedMessage & other);
/// Constructor for a SerializedMessage from a rcl_serialized_message_t
explicit SerializedMessage(const rcl_serialized_message_t & serialized_message);
explicit SerializedMessage(const rcl_serialized_message_t & other);
/// Move Constructor for a SerializedMessage
SerializedMessage(SerializedMessage && serialized_message);
SerializedMessage(SerializedMessage && other);
/// Constructor for a SerializedMessage from a moved rcl_serialized_message_t
explicit SerializedMessage(rcl_serialized_message_t && serialized_message);
explicit SerializedMessage(rcl_serialized_message_t && other);
/// Copy assignment operator
SerializedMessage & operator=(const SerializedMessage & other);
@ -77,6 +77,29 @@ public:
/// Destructor for a SerializedMessage
virtual ~SerializedMessage();
/// Get the underlying rcl_serialized_t handle
rcl_serialized_message_t & get_rcl_serialized_message();
// Get a const handle to the underlying rcl_serialized_message_t
const rcl_serialized_message_t & get_rcl_serialized_message() const;
/// Get the size of the serialized data buffer
/**
* Note, this is different from the actual amount of allocated memory.
* This can be obtained via a call to `capacity`.
*/
size_t size() const;
/// Get the size of allocated memory for the data buffer
/**
* Note, this is different from the amount of content in the buffer.
* This can be obtained via a call to `size`.
*/
size_t capacity() const;
private:
rcl_serialized_message_t serialized_message_;
};
} // namespace rclcpp