serializer.h 文件参考

Compile-time codec dispatch for VLink message payloads. 更多...

#include <string>
#include "./base/bytes.h"
#include "./impl/types.h"
#include "./internal/serializer-inl.h"

serializer.h 的引用(Include)关系图:

此图展示该文件直接或间接的被哪些文件引用了:

浏览源代码.

命名空间
	vlink
	Serializer
	Compile-time codec detection and dispatch for VLink message payloads.
	vlink::Serializer

枚举
enum	vlink::Serializer::Type : uint8_t {   vlink::Serializer::kUnknownType = 0 , vlink::Serializer::kBytesType = 1 , vlink::Serializer::kDynamicType = 2 , vlink::Serializer::kCustomType = 3 ,   vlink::Serializer::kCdrType = 4 , vlink::Serializer::kProtoType = 5 , vlink::Serializer::kProtoPtrType = 6 , vlink::Serializer::kFlatTableType = 7 ,   vlink::Serializer::kFlatPtrType = 8 , vlink::Serializer::kFlatBuilderType = 9 , vlink::Serializer::kStringType = 10 , vlink::Serializer::kCharsType = 11 ,   vlink::Serializer::kStreamType = 12 , vlink::Serializer::kStandardType = 13 , vlink::Serializer::kStandardPtrType = 14 }
	Identifies the codec to use for a given C++ message type. 更多...

函数
constexpr bool	vlink::Serializer::is_supported (Type type) noexcept
	Reports whether type identifies a usable codec. 更多...

详细描述

Compile-time codec dispatch for VLink message payloads.

The Serializer namespace is the codec router used by every VLink primitive. Given a C++ type T it determines, at compile time, which encoding family applies (raw bytes, Protobuf, FlatBuffers, FastDDS CDR, standard-layout POD, etc.) and dispatches serialize() / deserialize() to the appropriate code path with zero runtime cost.

Application code rarely calls these helpers directly; Publisher, Subscriber, Client, Server, Setter, and Getter call them internally as part of their publish() / listen() / invoke() / set() / get() implementations.

Codec Table – Serializer::Type Enum

Constant	C++ criterion	Trait	Notes
kBytesType	T is Bytes	is_bytes_type	Pass-through.
kDynamicType	Has is_vlink_dynamic_data()	is_dynamic_type	Dynamic data.
kCdrType	FastDDS IDL or ROS 2 type	is_cdr_type	CDR bytes.
kProtoType	Protobuf-like value	is_proto_type	Protobuf value.
kProtoPtrType	Protobuf-like pointer	is_proto_ptr_type	Caller-owned.
kFlatTableType	FlatBuffers NativeTable	is_flat_table_type	Object API.
kFlatPtrType	Pointer to flatbuffers::Table	is_flat_ptr_type	Zero-copy view.
kFlatBuilderType	Has fbb_ and Finish()	is_flat_builder_type	Builder.
kCustomType	Has operator>>/<<(Bytes&)	is_custom_type	Custom codec.
kStringType	T is std::string	is_string_type	Byte string.
kCharsType	Character pointer or array	is_chars_type	Serialise only.
kStreamType	Supports std::stringstream	is_stream_type	Fallback.
kStandardType	Trivial standard-layout value	is_standard_type	Byte copy.
kStandardPtrType	Pointer to trivial standard type	is_standard_ptr_type	Zero-copy pointer.

Most value-like detectors unwrap std::shared_ptr<T> before matching (e.g. Protobuf values, CDR values, FlatBuffers native tables, custom codecs, strings, stream types, and standard-layout values).

Detection Precedence Flow

*   get_type_of<T>() probes traits in this fixed order; first match wins:
*
*     Bytes  --(no)-->  Dynamic  --(no)-->  CDR  --(no)-->  Proto
*                                                              |
*                                                              v (no)
*     FlatPtr  <--(no)--  FlatTable  <--(no)--  ProtoPtr  <--(no)--+
*         |
*         v (no)
*     FlatBuilder  --(no)-->  Custom  --(no)-->  String  --(no)-->  Chars
*                                                                      |
*                                                                      v (no)
*     Stream  <--(no)--  StandardPtr  <--(no)--  Standard  <--(no)----+
*                                                                      |
*                                                                      v (no)
*                                                                kUnknownType
* 

Type Detection Example

constexpr auto t = vlink::Serializer::get_type_of<MyProto>();   // -> kProtoType
static_assert(vlink::Serializer::is_supported(t));
 
constexpr auto u = vlink::Serializer::get_type_of<int>();       // -> kStandardType (POD)
constexpr auto v = vlink::Serializer::get_type_of<std::string>(); // -> kStringType
constexpr auto w = vlink::Serializer::get_type_of<const char*>(); // -> kCharsType

Serialise and Deserialise

MyProto msg;
vlink::Bytes bytes;
vlink::Serializer::serialize(msg, bytes);
 
MyProto out;
vlink::Serializer::deserialize(bytes, out);

Custom Codec

struct MyCustomMsg {
  int x;
  void operator>>(vlink::Bytes& out) const { ... }   // serialise
  void operator<<(const vlink::Bytes& in)        { ... }  // deserialise
};
// vlink::Serializer::get_type_of<MyCustomMsg>() == vlink::Serializer::kCustomType

Explicit Codec Selection

CDR serialization produces a byte stream containing the 4-byte DDS encapsulation header. Use the explicit overload when the codec cannot be inferred from T:

vlink::Serializer::serialize<vlink::Serializer::kCdrType>(msg, bytes, vlink::TransportType::kDds);

注解

Most entry points are header-defined templates; a few non-template overloads are declared static or inline where appropriate.

参见

base/bytes.h, impl/types.h