merged with phil

deploy/AppImageCommitHash

-bd79747292138b2ea0

deploy/appImageCommand.txt

-./create_linux_appimage.sh /home/valentin/Desktop/drones/qgroundcontrol/ /home/valentin/Desktop/drones/build-qgroundcontrol-Desktop_Qt_5_11_3_GCC_64bit-Release/release/
+./create_linux_appimage.sh ~/Desktop/drones/qgroundcontrol ~/Desktop/drones/build-qgroundcontrol-Desktop_Qt_5_11_3_GCC_64bit-Release/release

deploy/create_linux_appimage.sh

@@ -66,19 +66,19 @@ dpkg -x libts-0.0-0_1.0-11_amd64.deb libts
 cp -L libts/usr/lib/x86_64-linux-gnu/libts-0.0.so.0 ${APPDIR}/usr/lib/x86_64-linux-gnu/
 
 # copy libortools.so, etc...
-cp -L ${QGC_SRC}/libs/or-tools-src-ubuntu/lib/* ${APPDIR}/usr/lib/x86_64-linux-gnu/
+cp -L ${QGC_SRC}/libs/or-tools-src-ubuntu/lib/* ${APPDIR}/usr/lib/x86_64-linux-gnu/ || { echo "libortools.so not found"; exit  1; }
 
-# copy libGeographic.so
-cp -L /usr/lib/x86_64-linux-gnu/libGeographic.so ${APPDIR}/usr/lib/x86_64-linux-gnu/
+# copy libGeographic.so.17
+cp -L /usr/lib/x86_64-linux-gnu/libGeographic.so.17 ${APPDIR}/usr/lib/x86_64-linux-gnu/ || { echo "libGeographic.so.17 not found"; exit  1; }
 
 # copy boost
-cp -L /usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1 ${APPDIR}/usr/lib/x86_64-linux-gnu/
+cp -L /usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1 ${APPDIR}/usr/lib/x86_64-linux-gnu/ || { echo "libboost_system.so.1.65.1 not found"; exit  1; }
 
 # copy libcrypto
-cp -L /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 ${APPDIR}/usr/lib/x86_64-linux-gnu/
+cp -L /usr/lib/x86_64-linux-gnu/libcrypto.so.1.1 ${APPDIR}/usr/lib/x86_64-linux-gnu/ || { echo "libcrypto.so.1.1 not found"; exit  1; }
 
 # copy libSDL2
-cp -L /usr/lib/x86_64-linux-gnu/libSDL2-2.0.so.0 ${APPDIR}/usr/lib/x86_64-linux-gnu/
+cp -L /usr/lib/x86_64-linux-gnu/libSDL2-2.0.so.0 ${APPDIR}/usr/lib/x86_64-linux-gnu/ || { echo "libSDL2-2.0.so.0 not found"; exit  1; }
 
 
 # copy QGroundControl release into appimage

qgroundcontrol.pro

@@ -27,11 +27,12 @@ QGCROOT  = $$PWD
 
 DebugBuild {
     DESTDIR  = $${OUT_PWD}/debug
-    #DEFINES += DEBUG
-    #DEFINES += ROS_BRIDGE_CLIENT_DEBUG
+    DEFINES += DEBUG
+    #DEFINES += ROS_BRIDGE_DEBUG
 }
 else {
     DESTDIR  = $${OUT_PWD}/release
+    #DEFINES += ROS_BRIDGE_DEBUG
     DEFINES += NDEBUG
 }
 
@@ -438,13 +439,15 @@ HEADERS += \
     src/Wima/Snake/PolygonArray.h \
     src/Wima/Snake/QNemoHeartbeat.h \
     src/Wima/Snake/QNemoProgress.h \
-    src/Wima/Snake/QtROSJsonFactory.h \
-    src/Wima/Snake/QtROSTypeFactory.h \
+    src/Wima/Snake/QNemoProgress.h \
+    src/Wima/Snake/SnakeTiles.h \
+    src/Wima/Snake/SnakeTilesLocal.h \
     src/Wima/Snake/SnakeWorker.h \
     src/Wima/WaypointManager/AreaInterface.h \
     src/Wima/WaypointManager/DefaultManager.h \
     src/Wima/WaypointManager/GenericWaypointManager.h \
     src/Wima/Geometry/WimaPolygonArray.h \
+    src/Wima/Snake/snaketile.h \
     src/Wima/WaypointManager/RTLManager.h \
     src/Wima/WaypointManager/Settings.h \
     src/Wima/WaypointManager/Slicer.h \
@@ -481,18 +484,21 @@ HEADERS += \
     src/Wima/Geometry/testplanimetrycalculus.h \
     src/Settings/WimaSettings.h \
     src/QmlControls/QmlObjectVectorModel.h \
-    src/comm/ros_bridge/include/CasePacker.h \
-    src/comm/ros_bridge/include/ComPrivateInclude.h \
-    src/comm/ros_bridge/include/GenericMessages.h \
-    src/comm/ros_bridge/include/JsonMethodes.h \
-    src/comm/ros_bridge/include/MessageTag.h \
-    src/comm/ros_bridge/include/MessageTraits.h \
     src/comm/ros_bridge/include/RosBridgeClient.h \
-    src/comm/ros_bridge/include/ThreadSafeQueue.h \
-    src/comm/ros_bridge/include/TopicPublisher.h \
-    src/comm/ros_bridge/include/TopicSubscriber.h \
-    src/comm/ros_bridge/include/TypeFactory.h \
-    src/comm/ros_bridge/src/PackageBuffer.h \
+    src/comm/ros_bridge/include/com_private.h \
+    src/comm/ros_bridge/include/message_traits.h \
+    src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.h \
+    src/comm/ros_bridge/include/messages/geometry_msgs/point32.h \
+    src/comm/ros_bridge/include/messages/geometry_msgs/polygon.h \
+    src/comm/ros_bridge/include/messages/geometry_msgs/polygon_stamped.h \
+    src/comm/ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h \
+    src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h \
+    src/comm/ros_bridge/include/messages/nemo_msgs/progress.h \
+    src/comm/ros_bridge/include/messages/std_msgs/header.h \
+    src/comm/ros_bridge/include/server.h \
+    src/comm/ros_bridge/include/messages/std_msgs/time.h \
+    src/comm/ros_bridge/include/topic_publisher.h \
+    src/comm/ros_bridge/include/topic_subscriber.h \
     src/comm/utilities.h
 SOURCES += \
     src/Snake/clipper/clipper.cpp \
@@ -510,11 +516,21 @@ SOURCES += \
     src/Wima/WaypointManager/Slicer.cpp \
     src/Wima/WaypointManager/Utils.cpp \
     src/Wima/WimaBridge.cc \
-    src/comm/ros_bridge/include/ComPrivateInclude.cpp \
-    src/comm/ros_bridge/include/MessageTag.cpp \
-    src/comm/ros_bridge/include/TopicPublisher.cpp \
-    src/comm/ros_bridge/include/TopicSubscriber.cpp \
-    src/comm/ros_bridge/src/CasePacker.cpp \
+    src/comm/ros_bridge/include/RosBridgeClient.cpp \
+    src/comm/ros_bridge/include/com_private.cpp \
+    src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.cpp \
+    src/comm/ros_bridge/include/messages/geometry_msgs/point32.cpp \
+    src/comm/ros_bridge/include/messages/geometry_msgs/polygon.cpp \
+    src/comm/ros_bridge/include/messages/geometry_msgs/polygon_stamped.cpp \
+    src/comm/ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.cpp \
+    src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.cpp \
+    src/comm/ros_bridge/include/messages/nemo_msgs/progress.cpp \
+    src/comm/ros_bridge/include/messages/std_msgs/header.cpp \
+    src/comm/ros_bridge/include/messages/std_msgs/time.cpp \
+    src/comm/ros_bridge/include/server.cpp \
+    src/comm/ros_bridge/include/topic_publisher.cpp \
+    src/comm/ros_bridge/include/topic_subscriber.cpp \
+    src/Wima/Snake/snaketile.cpp \
     src/api/QGCCorePlugin.cc \
     src/api/QGCOptions.cc \
     src/api/QGCSettings.cc \
@@ -545,7 +561,7 @@ SOURCES += \
     src/Wima/Geometry/testplanimetrycalculus.cpp \
     src/Settings/WimaSettings.cc \
     src/QmlControls/QmlObjectVectorModel.cc \
-    src/comm/ros_bridge/src/ROSBridge.cpp
+    src/comm/ros_bridge/src/ros_bridge.cpp
 
 #
 # Unit Test specific configuration goes here (requires full debug build with all plugins)

src/Settings/Wima.SettingsGroup.json

@@ -18,5 +18,11 @@
     "type":             "uint64",
     "units":            "s",
     "defaultValue":     15
+},
+{
+    "name":             "rosbridgeConnectionString",
+    "shortDescription": "Ros Bridge Connection String (host:port).",
+    "type":             "string",
+    "defaultValue":     "localhost:9090"
 }
 ]

src/Settings/WimaSettings.cc

@@ -11,3 +11,4 @@ DECLARE_SETTINGGROUP(Wima, "Wima")
 DECLARE_SETTINGSFACT(WimaSettings, lowBatteryThreshold)
 DECLARE_SETTINGSFACT(WimaSettings, enableLowBatteryHandling)
 DECLARE_SETTINGSFACT(WimaSettings, minimalRemainingMissionTime)
+DECLARE_SETTINGSFACT(WimaSettings, rosbridgeConnectionString)

src/Settings/WimaSettings.h

@@ -13,4 +13,5 @@ public:
     DEFINE_SETTINGFACT(lowBatteryThreshold)
     DEFINE_SETTINGFACT(enableLowBatteryHandling)
     DEFINE_SETTINGFACT(minimalRemainingMissionTime)
+    DEFINE_SETTINGFACT(rosbridgeConnectionString)
 };

src/Wima/Geometry/GeoPoint3D.cpp

 #include "GeoPoint3D.h"
 
-GeoPoint::GeoPoint(QObject *parent)
+GeoPoint3D::GeoPoint3D(QObject *parent)
     : QObject(parent), ROSGeoPoint() {}
 
-GeoPoint::GeoPoint(double latitude, double longitude, double altitude, QObject *parent)
+GeoPoint3D::GeoPoint3D(double latitude, double longitude, double altitude, QObject *parent)
     : QObject(parent), ROSGeoPoint(latitude, longitude, altitude)
 {}
 
-GeoPoint::GeoPoint(const GeoPoint &p, QObject *parent)
+GeoPoint3D::GeoPoint3D(const GeoPoint3D &p, QObject *parent)
     : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
 {}
 
-GeoPoint::GeoPoint(const ROSGeoPoint &p, QObject *parent)
+GeoPoint3D::GeoPoint3D(const ROSGeoPoint &p, QObject *parent)
     : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
 {}
 
-GeoPoint::GeoPoint(const QGeoCoordinate &p, QObject *parent)
+GeoPoint3D::GeoPoint3D(const QGeoCoordinate &p, QObject *parent)
     : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
 {}
 
-GeoPoint *GeoPoint::Clone() const
-{
-    return new GeoPoint(*this);
-}
-
-GeoPoint &GeoPoint::operator=(const GeoPoint &p)
+GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
 {
     this->setLatitude(p.latitude());
     this->setLongitude(p.longitude());
@@ -32,7 +27,7 @@ GeoPoint &GeoPoint::operator=(const GeoPoint &p)
 
     return *this;
 }
-GeoPoint &GeoPoint::operator=(const QGeoCoordinate &p)
+GeoPoint3D &GeoPoint3D::operator=(const QGeoCoordinate &p)
 {
     this->setLatitude(p.latitude());
     this->setLongitude(p.longitude());

src/Wima/Geometry/GeoPoint3D.h

 #pragma once
 
-#include "ros_bridge/include/JsonMethodes.h"
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/GenericMessages.h"
-
 #include <QGeoCoordinate>
 #include <QObject>
 
+#include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
+
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
-typedef ROSBridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
-namespace MsgGroups = ROSBridge::MessageGroups;
-class GeoPoint : public QObject, public ROSGeoPoint
+typedef ros_bridge::messages::geographic_msgs::geo_point::GeoPoint ROSGeoPoint;
+class GeoPoint3D : public QObject, public ROSGeoPoint
 {
     Q_OBJECT
 public:
-    typedef MsgGroups::GeoPointGroup Group;
 
-    GeoPoint(QObject *parent = nullptr);
-    GeoPoint(double latitude,
+    GeoPoint3D(QObject *parent = nullptr);
+    GeoPoint3D(double latitude,
                double longitude,
                double altitude,
                QObject *parent = nullptr);
-    GeoPoint(const GeoPoint& p,
+    GeoPoint3D(const GeoPoint3D& p,
                QObject *parent = nullptr);
-    GeoPoint(const ROSGeoPoint& p,
+    GeoPoint3D(const ROSGeoPoint& p,
                QObject *parent = nullptr);
-    GeoPoint(const QGeoCoordinate& p,
+    GeoPoint3D(const QGeoCoordinate& p,
                QObject *parent = nullptr);
 
-    virtual GeoPoint *Clone() const override;
-    GeoPoint &operator=(const GeoPoint&p);
-    GeoPoint &operator=(const QGeoCoordinate&p);
+    GeoPoint3D &operator=(const GeoPoint3D&p);
+    GeoPoint3D &operator=(const QGeoCoordinate&p);
 
 };
 

src/Wima/Geometry/Polygon2D.h

@@ -3,41 +3,30 @@
 #include <QPolygonF>
 #include <QPointF>
 
-#include "ros_bridge/include/MessageGroups.h"
-#include "ros_bridge/include/GenericMessages.h"
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/JsonMethodes.h"
+#include "ros_bridge/include/messages/geometry_msgs/polygon_stamped.h"
 
-namespace MsgGroupsNS = ROSBridge::MessageGroups;
-namespace PolyStampedNS = ROSBridge::JsonMethodes::GeometryMsgs::PolygonStamped;
-
-typedef ROSBridge::MessageBaseClass ROSMsg;
+namespace polygon_stamped = ros_bridge::messages::geometry_msgs::polygon_stamped;
 
 template <class PointType = QPointF, template <class, class...> class ContainerType = QVector>
-class Polygon2DTemplate : public ROSMsg{ //
-    typedef ROSBridge::GenericMessages::GeometryMsgs::GenericPolygon<PointType, ContainerType> Poly;
+class Polygon2DTemplate{ //
+    typedef ros_bridge::messages::geometry_msgs::polygon::GenericPolygon<PointType, ContainerType> Polygon;
 public:
-    typedef MsgGroupsNS::PolygonStampedGroup Group; // has no header
-
     Polygon2DTemplate(){}
-    Polygon2DTemplate(const Polygon2DTemplate &other) : ROSMsg(), _polygon(other._polygon){}
+    Polygon2DTemplate(const Polygon2DTemplate &other) : _polygon(other._polygon){}
 
     Polygon2DTemplate& operator=(const Polygon2DTemplate& other) {
         this->_polygon = other._polygon;
         return *this;
     }
 
-    const Poly &polygon() const {return _polygon;}
-          Poly &polygon()       {return _polygon;}
+    const Polygon &polygon() const {return _polygon;}
+          Polygon &polygon()       {return _polygon;}
 
   const ContainerType<PointType> &path() const {return _polygon.points();}
         ContainerType<PointType> &path()       {return _polygon.points();}
 
-    virtual Polygon2DTemplate*Clone() const { // ROSMsg
-        return new Polygon2DTemplate(*this);
-    }
 private:
-    Poly _polygon;
+    Polygon _polygon;
 
 };
 

src/Wima/Geometry/PolygonArray.h

 #pragma once
 
-#include <QObject>
+#include <QString>
 
-#include "ros_bridge/include/MessageBaseClass.h"
-
-typedef ROSBridge::MessageBaseClass ROSMsgBase;
 template <class PolygonType, template <class,class...> class ContainerType >
-class PolygonArray : public ROSMsgBase, public ContainerType<PolygonType> {
+class PolygonArray : public ContainerType<PolygonType> {
 public:
-    explicit PolygonArray() : ROSMsgBase(), ContainerType<PolygonType>() {}
+    explicit PolygonArray() : ContainerType<PolygonType>() {}
     PolygonArray(const PolygonArray &other) : ContainerType<PolygonType>(other) {}
 
     QString type() const override {return "PolygonArray";}

src/Wima/Geometry/WimaPolygonArray.h

 #pragma once
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/MessageGroups.h"
 
 #include "QmlObjectListModel.h"
 
 #include <QVector>
 #include <QString>
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
-namespace MsgGroups = ROSBridge::MessageGroups;
-typedef MsgGroups::EmptyGroup EmptyGroup;
-template <class PolygonType, template <class, class...> class ContainerType = QVector, typename GroupType = EmptyGroup>
-class WimaPolygonArray : public ROSMsg
+template <class PolygonType, template <class, class...> class ContainerType = QVector>
+class WimaPolygonArray
 {
 public:
-    typedef GroupType Group;
     WimaPolygonArray() {}
     WimaPolygonArray(const WimaPolygonArray &other) :
-        ROSMsg()
-      , _polygons(other._polygons), _dirty(true)
+        _polygons(other._polygons), _dirty(true)
     {}
-
-    virtual WimaPolygonArray *Clone() const override{
-        return new WimaPolygonArray(*this);
+    ~WimaPolygonArray(){
+        _objs.clearAndDeleteContents();
     }
 
     class QmlObjectListModel *QmlObjectListModel(){
@@ -51,9 +43,9 @@ public:
 
 private:
     void _updateObjects(void){
-        _objs.clear();
+        _objs.clearAndDeleteContents();
         for (long i=0; i<_polygons.size(); ++i){
-            _objs.append(&_polygons[i]);
+            _objs.append(new PolygonType(_polygons[i]));
         }
     }
 

src/Wima/Snake/PolygonArray.h

 #pragma once
 
-#include "ros_bridge/include/MessageGroups.h"
 #include "Wima/Geometry/Polygon2D.h"
 #include "Wima/Geometry/WimaPolygonArray.h"
 
-namespace  MsgGroups = ROSBridge::MessageGroups;
-typedef WimaPolygonArray<Polygon2D, QVector, MsgGroups::PolygonArrayGroup> PolygonArray;
+typedef WimaPolygonArray<Polygon2D, QVector> SnakeTilesLocal;

src/Wima/Snake/QNemoHeartbeat.h

 #pragma once
 
-#include "ros_bridge/include/GenericMessages.h"
+#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
 
-using QNemoHeartbeat = ROSBridge::GenericMessages::NemoMsgs::Heartbeat;
+using QNemoHeartbeat = ros_bridge::messages::nemo_msgs::heartbeat::Heartbeat;

src/Wima/Snake/QNemoProgress.h

 #pragma once
-#include <QVector>
-#include <QObject>
-
-#include "ros_bridge/include/GenericMessages.h"
 
-namespace NemoMsgs = ROSBridge::GenericMessages::NemoMsgs;
-typedef NemoMsgs::GenericProgress<int, QVector> QNemoProgress;
+#include <QVector>
 
+#include "ros_bridge/include/messages/nemo_msgs/progress.h"
 
+namespace nemo = ros_bridge::messages::nemo_msgs;
+typedef nemo::progress::GenericProgress<int, QVector> QNemoProgress;

src/Wima/Snake/QtROSJsonFactory.h

-#pragma once
-#include "ros_bridge/include/JsonFactory.h"
-#include <QString>
-
-typedef ROSBridge::GenericJsonFactory<> QtROSJsonFactory;

src/Wima/Snake/QtROSTypeFactory.h

-#pragma once
-#include "ros_bridge/include/TypeFactory.h"
-#include <QString>
-
-typedef ROSBridge::TypeFactory QtROSTypeFactory;

src/Wima/WimaController.h

@@ -35,18 +35,14 @@
 #include "Snake/QNemoProgress.h"
 #include "Snake/QNemoHeartbeat.h"
 
-#include "ros_bridge/include/ROSBridge.h"
+#include "ros_bridge/include/ros_bridge.h"
 
 #include "WaypointManager/DefaultManager.h"
 #include "WaypointManager/RTLManager.h"
 
-#include <map>
+#include "utilities.h"
 
-#define CHECK_BATTERY_INTERVAL 1000 // ms
-#define SMART_RTL_MAX_ATTEMPTS 3 // times
-#define SMART_RTL_ATTEMPT_INTERVAL 200 // ms
-#define EVENT_TIMER_INTERVAL 50 // ms
-#define SNAKE_EVENT_LOOP_INTERVAL 1000 // ms
+#include <map>
 
 
 using namespace snake;
@@ -59,7 +55,7 @@ class WimaController : public QObject
 
     enum FileType {WimaFile, PlanFile};
 
-    typedef QScopedPointer<ROSBridge::ROSBridge> ROSBridgePtr;
+    typedef QScopedPointer<ros_bridge::ROSBridge> ROSBridgePtr;
 
 public:
 
@@ -338,9 +334,10 @@ private slots:
     void    _smartRTLCleanUp                    (bool flying);
     // Snake.
     void _setSnakeCalcInProgress             (bool inProgress);
-    void _updateSnakeData                    ();
+    void _snakeStoreWorkerResults            ();
     void _initStartSnakeWorker               ();
     void _switchSnakeManager                 (QVariant variant);
+    bool _doTopicServiceSetup();
     // Periodic tasks.
     void _eventTimerHandler                  (void);
     // Waypoint manager handling.
@@ -396,8 +393,6 @@ private:
 
     // Waypoint statistics.
     double                       _measurementPathLength; // the lenght of the phase in meters
-//    double                       _phaseDistance; // the lenth in meters of the current phase
-//    double                       _phaseDuration; // the phase duration in seconds
 
     // Snake
     bool                    _snakeCalcInProgress;
@@ -410,11 +405,14 @@ private:
     QNemoHeartbeat          _nemoHeartbeat; // measurement progress
     int                     _fallbackStatus;
     ROSBridgePtr            _pRosBridge;
-    bool                    _bridgeSetupDone;
     static StatusMap        _nemoStatusMap;
+    bool                    _topicServiceSetupDone;
 
     // Periodic tasks.
-    QTimer                  _eventTimer;
+    QTimer      _eventTimer;
+    EventTicker _batteryLevelTicker;
+    EventTicker _snakeTicker;
+    EventTicker _nemoTimeoutTicker;
 
 };
 

src/comm/ros_bridge/include/CasePacker.h

-#pragma once
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "ros_bridge/include/MessageTag.h"
-#include "ros_bridge/include/TypeFactory.h"
-#include "ros_bridge/include/JsonFactory.h"
-
-#include <memory>
-#include "rapidjson/include/rapidjson/document.h"
-
-namespace ROSBridge {
-
-class CasePacker
-{
-    typedef MessageTag Tag;
-    typedef rapidjson::Document JsonDoc;
-    typedef std::unique_ptr<JsonDoc> JsonDocUPtr;
-public:
-    CasePacker() = delete;
-    CasePacker(TypeFactory *typeFactory, JsonFactory *jsonFactory);
-
-    template<class T>
-    JsonDocUPtr pack(const T &msg, const std::string &topic) const
-    {
-        JsonDocUPtr docPt(_jsonFactory->create(msg));
-        std::string messageType = T::Group::messageType();
-        addTag(docPt, topic, messageType.c_str());
-        return docPt;
-    }
-
-    template<class T>
-    bool unpack(JsonDocUPtr &pDoc, T &msg) const {
-        removeTag(pDoc);
-        return _typeFactory->create(*pDoc.get(), msg);
-    }
-
-
-    bool getTag(const JsonDocUPtr &pDoc, Tag &tag) const;
-    void addTag        (JsonDocUPtr &doc,
-                         const std::string &topic,
-                         const std::string &messageType) const;
-    void addTag        (JsonDocUPtr &doc, const Tag &tag) const;
-    void removeTag     (JsonDocUPtr &pDoc) const;
-    bool getTopic      (const JsonDocUPtr &pDoc, std::string &topic) const;
-    bool getMessageType(const JsonDocUPtr &pDoc, std::string &messageType) const;
-
-    static const char* topicKey;
-    static const char* messageTypeKey;
-
-private:
-    TypeFactory *_typeFactory;
-    JsonFactory *_jsonFactory;
-};
-}
-

src/comm/ros_bridge/include/ComPrivateInclude.cpp

-#include "ros_bridge/include/ComPrivateInclude.h"
-#include <functional>
-
-std::size_t ROSBridge::ComPrivate::getHash(const std::string &str)
-{
-    std::hash<std::string> hash;
-    return hash(str);
-}
-
-std::size_t ROSBridge::ComPrivate::getHash(const char *str)
-{
-    return ROSBridge::ComPrivate::getHash(std::string(str));
-}

src/comm/ros_bridge/include/JsonFactory.h

-#pragma once
-
-#include "ros_bridge/rapidjson/include/rapidjson/document.h"
-#include "ros_bridge/include/JsonMethodes.h"
-#include "MessageBaseClass.h"
-#include "utilities.h"
-
-#include "ros_bridge/include/MessageTraits.h"
-#include "ros_bridge/include/MessageGroups.h"
-#include "ros_bridge/include/GenericMessages.h"
-
-#include "boost/type_traits.hpp"
-#include "boost/type_traits/is_base_of.hpp"
-
-namespace ROSBridge {
-
-class StdHeaderPolicy;
-
-//!
-//! \brief The JsonFactory class is used to create ROS messages.
-//!
-//! The JsonFactory class is used to create \class rapidjson::Document documents containing ROS messages
-//! from classes derived from \class MessageBaseClass. Each class has a group mark (typedef ... Group) which allows the
-//! JsonFactory to determine the ROS message type it will create.
-template <class HeaderPolicy = StdHeaderPolicy>
-class GenericJsonFactory : public HeaderPolicy
-{
-    typedef MessageBaseClass ROSMsg;
-public:
-
-    GenericJsonFactory() : HeaderPolicy() {}
-
-    //!
-    //! \brief Creates a \class rapidjson::Document document containing a ROS mesage from \p msg.
-    //!
-    //! Creates a \class rapidjson::Document document containing a ROS message from \p msg.
-    //! A compile-time error will occur, if \p msg belongs to the \struct EmptyGroup or is
-    //! not derived from \class MessageBaseClass.
-    //! \param msg Instance of a \class MessageBaseClass subclass belonging to a ROSMessageGroup.
-    //! \return rapidjson::Document document containing a ROS message.
-    template <class T>
-    rapidjson::Document *create(const T &msg){
-        static_assert(boost::is_base_of<ROSMsg, T>::value, "Type of msg must be derived from MessageBaseClass.");
-        static_assert(!::boost::is_same<typename T::Group, MessageGroups::EmptyGroup>::value,
-                "msg belongs to group EmptyGroup (not allowed). Please specify Group (typedef MessageGroup Group)");
-        //cout << T::Group::label() << endl;
-        return _create(msg, Type2Type<typename T::Group>());
-    }
-
-private:
-
-    // ===========================================================================
-    // EmptyGroup and not implemented Groups
-    // ===========================================================================
-    template<class U, class V>
-    rapidjson::Document *_create(const U &msg, Type2Type<V>){
-        (void)msg;
-        assert(false); // Implementation missing for group U::Group!
-        return nullptr;
-    }
-
-    // ===========================================================================
-    // Point32Group
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::Point32Group>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::Point32::toJson<_Float32>(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // GeoPointGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::GeoPointGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeographicMsgs::GeoPoint::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // PolygonGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::PolygonGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::Polygon::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // PolygonStampedGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::PolygonStampedGroup>){
-        using namespace ROSBridge;
-        using namespace ROSBridge::traits;
-        typedef HasMemberHeader<U> HasHeader;
-
-        return _createPolygonStamped(msg, Int2Type<HasHeader::value>());
-    }
-
-    template<class U, int k>
-    rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type<k>){ // U has member header(), use integraded header.
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::PolygonStamped::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-