Description

Appends CDR-encoded data to a caller-owned byte vector.

The writer appends starting at the vector's current size; existing contents are preserved (this lets a frame header or other prefix precede the body).

#include <ChROSCdr.h>

Public Member Functions
	CdrWriter (std::vector< uint8_t > &out, bool with_encapsulation=true)

void	WriteBool (bool v)

void	WriteUInt8 (uint8_t v)

void	WriteInt8 (int8_t v)

void	WriteUInt16 (uint16_t v)

void	WriteInt16 (int16_t v)

void	WriteUInt32 (uint32_t v)

void	WriteInt32 (int32_t v)

void	WriteUInt64 (uint64_t v)

void	WriteInt64 (int64_t v)

void	WriteFloat32 (float v)

void	WriteFloat64 (double v)

void	WriteString (const std::string &v)
	CDR string: aligned uint32 length (strlen + 1 for NUL) + bytes + NUL. More...

void	WriteBytes (const void *data, size_t size)
	Raw bytes, no alignment, no length prefix. More...

void	WriteBlob (const void *data, size_t size)
	Length-prefixed byte blob (uint32 size + raw bytes). More...

void	Align (size_t alignment)
	Insert zero padding so the next write lands on the given alignment (1, 2, 4 or 8) relative to the encapsulation origin.

size_t	BytesWritten () const
	Bytes written by this writer so far (excluding pre-existing contents).

Constructor & Destructor Documentation

◆ CdrWriter()

chrono::ros::core::CdrWriter::CdrWriter	(	std::vector< uint8_t > &	out,
		bool	with_encapsulation = `true`
	)

explicit

Parameters

out	buffer to append to (not owned; must outlive the writer)
with_encapsulation	if true, the 4-byte CDR_LE encapsulation header is written first and alignment is computed after it (the ROS 2 wire format). If false, alignment starts at the writer's first byte (used for the bridge's internal control payloads).

Member Function Documentation

◆ WriteBlob()

void chrono::ros::core::CdrWriter::WriteBlob	(	const void *	data,
		size_t	size
	)

Length-prefixed byte blob (uint32 size + raw bytes).

Convenience for control payloads carrying opaque data (schema blobs, CDR samples).

◆ WriteBytes()

void chrono::ros::core::CdrWriter::WriteBytes	(	const void *	data,
		size_t	size
	)

Raw bytes, no alignment, no length prefix.

Used for pre-packed little-endian primitive arrays (bulk sensor payloads) after the caller has aligned for the element type, and for nested pre-encoded blobs.

◆ WriteString()

void chrono::ros::core::CdrWriter::WriteString ( const std::string & v )

CDR string: aligned uint32 length (strlen + 1 for NUL) + bytes + NUL.

Embedded NUL characters are rejected (ROS strings are NUL-terminated on the wire; embedded NULs would be silently truncated by consumers).

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_ros/core/ChROSCdr.h
/builds/uwsbel/chrono/src/chrono_ros/core/ChROSCdr.cpp