cosmetic touchups

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
ros2 · Apr 21, 2020 · e455702 · e455702
1 parent 1b87de0
commit e455702
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Showing 3 changed files with 25 additions and 113 deletions.
diff --git a/rclcpp/include/rclcpp/serialization.hpp b/rclcpp/include/rclcpp/serialization.hpp
@@ -27,16 +27,31 @@
 
 #include "rosidl_typesupport_cpp/message_type_support.hpp"
 
-
 namespace rclcpp
 {
 
 class SerializedMessage;
 
+namespace serialization_traits
+{
+  // trait to check if type is the object oriented serialized message
+  template<typename T>
+  struct is_serialized_message_class : std::false_type
+  {};
+
+  template<>
+  struct is_serialized_message_class<rcl_serialized_message_t> : std::true_type
+  {};
+
+  template<>
+  struct is_serialized_message_class<SerializedMessage> : std::true_type
+  {};
+}  // namespace serialization_traits
+
 /// Interface to (de)serialize a message
 class RCLCPP_PUBLIC_TYPE SerializationBase
 {
-protected:
+public:
   explicit SerializationBase(const rosidl_message_type_support_t * type_support);
 
   virtual ~SerializationBase() = default;
@@ -67,97 +82,13 @@ class Serialization : public SerializationBase
 public:
   Serialization()
   : SerializationBase(rosidl_typesupport_cpp::get_message_type_support_handle<MessageT>())
-  {}
-
-  void serialize_message(
-    const MessageT & ros_message, SerializedMessage & serialized_message) const
   {
-    SerializationBase::serialize_message(
-      reinterpret_cast<const void *>(&ros_message),
-      &serialized_message);
-  }
-
-  void deserialize_message(
-    const SerializedMessage & serialized_message, MessageT & ros_message) const
-  {
-    SerializationBase::deserialize_message(
-      &serialized_message,
-      reinterpret_cast<void *>(&ros_message));
+    static_assert(
+      !serialization_traits::is_serialized_message_class<MessageT>::value,
+      "Serialization of serialized message to serialized message is not possible.");
   }
 };
 
-template<>
-class Serialization<SerializedMessage>: public SerializationBase
-{
-public:
-  Serialization()
-  : SerializationBase(nullptr)
-  {}
-
-  void serialize_message(
-    const SerializedMessage & ros_message,
-    SerializedMessage & serialized_message) const
-  {
-    (void)ros_message;
-    (void)serialized_message;
-    throw std::runtime_error(
-            "Serialization of serialized message to serialized message is not possible.");
-  }
-
-  void deserialize_message(
-    const SerializedMessage & serialized_message,
-    SerializedMessage & ros_message) const
-  {
-    (void)ros_message;
-    (void)serialized_message;
-    throw std::runtime_error(
-            "Deserialization of serialized message to serialized message is not possible.");
-  }
-};
-
-template<>
-class Serialization<rcl_serialized_message_t>: public SerializationBase
-{
-public:
-  Serialization()
-  : SerializationBase(nullptr)
-  {}
-
-  void serialize_message(
-    rcl_serialized_message_t & ros_message,
-    const SerializedMessage & serialized_message) const
-  {
-    (void)ros_message;
-    (void)serialized_message;
-    throw std::runtime_error(
-            "Serialization of serialized message to serialized message is not possible.");
-  }
-
-  void deserialize_message(
-    const SerializedMessage & serialized_message,
-    rcl_serialized_message_t & ros_message) const
-  {
-    (void)ros_message;
-    (void)serialized_message;
-    throw std::runtime_error(
-            "Deserialization of serialized message to serialized message is not possible.");
-  }
-};
-
-// trait to check if type is the object oriented serialized message
-template<typename T>
-struct is_serialized_message_class : std::false_type
-{};
-
-template<>
-struct is_serialized_message_class<rcl_serialized_message_t>: std::false_type
-{};
-
-template<>
-struct is_serialized_message_class<SerializedMessage>
-  : std::true_type
-{};
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__SERIALIZATION_HPP_
diff --git a/rclcpp/src/rclcpp/serialization.cpp b/rclcpp/src/rclcpp/serialization.cpp
@@ -47,8 +47,7 @@ void SerializationBase::serialize_message(
   }
 }
 
-void
-SerializationBase::deserialize_message(
+void SerializationBase::deserialize_message(
   const SerializedMessage * serialized_message, void * ros_message) const
 {
   rcpputils::check_true(type_support_ != nullptr, "Typesupport is nullpointer.");

diff --git a/rclcpp/test/test_serialized_message.cpp b/rclcpp/test/test_serialized_message.cpp
@@ -118,11 +118,11 @@ TEST(TestSerializedMessage, serialization) {
   for (const auto & ros_msg : basic_type_ros_msgs) {
     // convert ros msg to serialized msg
     rclcpp::SerializedMessage serialized_msg;
-    serializer.serialize_message(*ros_msg, serialized_msg);
+    serializer.serialize_message(ros_msg.get(), &serialized_msg);
 
     // convert serialized msg back to ros msg
     MessageT deserialized_ros_msg;
-    serializer.deserialize_message(serialized_msg, deserialized_ros_msg);
+    serializer.deserialize_message(&serialized_msg, &deserialized_ros_msg);
 
     EXPECT_EQ(*ros_msg, deserialized_ros_msg);
   }
@@ -135,7 +135,7 @@ void test_empty_msg_serialize()
   MessageT ros_msg;
   rclcpp::SerializedMessage serialized_msg;
 
-  serializer.serialize_message(ros_msg, serialized_msg);
+  serializer.serialize_message(&ros_msg, &serialized_msg);
 }
 
 template<typename MessageT>
@@ -145,23 +145,5 @@ void test_empty_msg_deserialize()
   MessageT ros_msg;
   rclcpp::SerializedMessage serialized_msg;
 
-  serializer.deserialize_message(serialized_msg, ros_msg);
-}
-
-TEST(TestSerializedMessage, serialization_invalid) {
-  // serialized messages (used as ROS message) should throw an exception while (de)serialization
-
-  EXPECT_THROW(
-    test_empty_msg_serialize<rclcpp::SerializedMessage>(),
-    std::runtime_error);
-  EXPECT_THROW(
-    test_empty_msg_serialize<rcl_serialized_message_t>(),
-    std::runtime_error);
-
-  EXPECT_THROW(
-    test_empty_msg_deserialize<rclcpp::SerializedMessage>(),
-    std::runtime_error);
-  EXPECT_THROW(
-    test_empty_msg_deserialize<rcl_serialized_message_t>(),
-    std::runtime_error);
+  serializer.deserialize_message(&serialized_msg, &ros_msg);
 }