Merge branch 'improve_json' into phil

qgroundcontrol.pro

@@ -28,11 +28,11 @@ QGCROOT  = $$PWD
 DebugBuild {
     DESTDIR  = $${OUT_PWD}/debug
     DEFINES += DEBUG
-    #DEFINES += ROS_BRIDGE_CLIENT_DEBUG
+    #DEFINES += ROS_BRIDGE_DEBUG
 }
 else {
     DESTDIR  = $${OUT_PWD}/release
-    #DEFINES += DEBUG
+    #DEFINES += ROS_BRIDGE_DEBUG
     DEFINES += NDEBUG
 }
 
@@ -437,8 +437,7 @@ HEADERS += \
     src/Wima/Geometry/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 \
@@ -483,17 +482,21 @@ 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/Server.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/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 \
@@ -511,13 +514,20 @@ 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/RosBridgeClient.cpp \
-    src/comm/ros_bridge/include/Server.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/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 \
@@ -549,7 +559,7 @@ 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/Wima/Geometry/GeoPoint3D.cpp

@@ -19,11 +19,6 @@ GeoPoint3D::GeoPoint3D(const QGeoCoordinate &p, QObject *parent)
     : QObject(parent), ROSGeoPoint(p.latitude(), p.longitude(), p.altitude())
 {}
 
-GeoPoint3D *GeoPoint3D::Clone() const
-{
-    return new GeoPoint3D(*this);
-}
-
 GeoPoint3D &GeoPoint3D::operator=(const GeoPoint3D &p)
 {
     this->setLatitude(p.latitude());

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;
+typedef ros_bridge::messages::geographic_msgs::geo_point::GeoPoint ROSGeoPoint;
 class GeoPoint3D : public QObject, public ROSGeoPoint
 {
     Q_OBJECT
 public:
-    typedef MsgGroups::GeoPointGroup Group;
 
     GeoPoint3D(QObject *parent = nullptr);
     GeoPoint3D(double latitude,
@@ -29,7 +24,6 @@ public:
     GeoPoint3D(const QGeoCoordinate& p,
                QObject *parent = nullptr);
 
-    virtual GeoPoint3D *Clone() const override;
     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(){
@@ -45,9 +37,9 @@ 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/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/Snake/SnakeTilesLocal.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> SnakeTilesLocal;
+typedef WimaPolygonArray<Polygon2D, QVector> SnakeTilesLocal;

src/Wima/WimaController.h

@@ -35,12 +35,13 @@
 #include "Snake/QNemoProgress.h"
 #include "Snake/QNemoHeartbeat.h"
 
-#include "ros_bridge/include/ROSBridge.h"
-#include "ros_bridge/include/CasePacker.h"
+#include "ros_bridge/include/ros_bridge.h"
 
 #include "WaypointManager/DefaultManager.h"
 #include "WaypointManager/RTLManager.h"
 
+#include "utilities.h"
+
 #include <map>
 
 
@@ -54,7 +55,7 @@ class WimaController : public QObject
 
     enum FileType {WimaFile, PlanFile};
 
-    typedef QScopedPointer<ROSBridge::ROSBridge> ROSBridgePtr;
+    typedef QScopedPointer<ros_bridge::ROSBridge> ROSBridgePtr;
 
 public:
 
@@ -336,7 +337,7 @@ private slots:
     void _snakeStoreWorkerResults            ();
     void _initStartSnakeWorker               ();
     void _switchSnakeManager                 (QVariant variant);
-    void _setupTopicService                     ();
+    bool _doTopicServiceSetup();
     // Periodic tasks.
     void _eventTimerHandler                  (void);
     // Waypoint manager handling.
@@ -344,7 +345,6 @@ private slots:
 
 private:
     using StatusMap = std::map<int, QString>;
-    using CasePacker = ROSBridge::CasePacker;
 
     // Controllers.
     PlanMasterController   *_masterController;
@@ -407,6 +407,7 @@ private:
     int                     _fallbackStatus;
     ROSBridgePtr            _pRosBridge;
     static StatusMap        _nemoStatusMap;
+    bool                    _topicServiceSetupDone;
 
     // Periodic tasks.
     QTimer      _eventTimer;

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;
-
-    }
-
-    template<class U>
-    rapidjson::Document *_createPolygonStamped(const U &msg, Int2Type<0>){// U has no member header(), generate one on the fly.
-        using namespace ROSBridge;
-        GenericMessages::StdMsgs::Header header(HeaderPolicy::header(msg));
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::GeometryMsgs::PolygonStamped::toJson(msg.polygon(), header, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // PolygonArrayGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::PolygonArrayGroup>){
-        using namespace ROSBridge;
-        using namespace ROSBridge::traits;
-        typedef HasMemberHeader<U> HasHeader;
-
-        return _createPolygonArray(msg, Int2Type<HasHeader::value>());
-    }
-
-    template<class U, int k>
-    rapidjson::Document *_createPolygonArray(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::JSKRecognitionMsgs::PolygonArray::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-
-    }
-
-    template<class U>
-    rapidjson::Document *_createPolygonArray(const U &msg, Int2Type<0>){// U has no member header(), generate one on the fly.
-        using namespace ROSBridge;
-        GenericMessages::StdMsgs::Header header(HeaderPolicy::header(msg));
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::JSKRecognitionMsgs::PolygonArray::toJson(msg, header, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // ProgressGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::ProgressGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::NemoMsgs::Progress::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-
-    // ===========================================================================
-    // HeartbeatGroup
-    // ===========================================================================
-    template<class U>
-    rapidjson::Document *_create(const U &msg, Type2Type<MessageGroups::HeartbeatGroup>){
-        using namespace ROSBridge;
-        rapidjson::Document *doc = new rapidjson::Document(rapidjson::kObjectType);
-        bool ret = JsonMethodes::NemoMsgs::Heartbeat::toJson(msg, *doc, doc->GetAllocator());
-        assert(ret);
-        (void)ret;
-
-        return doc;
-    }
-};
-
-class StdHeaderPolicy
-{
-    typedef ROSBridge::GenericMessages::StdMsgs::Header Header;
-    typedef ROSBridge::GenericMessages::StdMsgs::Time Time;
-public:
-    StdHeaderPolicy():_seq(-1){}
-
-    //!
-    //! \brief header Returns the header belonging to msg.
-    //! \return Returns the header belonging to msg.
-    template<class T>
-    Header header(const T &msg) {
-        return Header(std::uint32_t(++_seq), time(msg), "/map");
-    }
-
-
-    //!
-    //! \brief time Returns the current time.
-    //! \return Returns the current time.    
-    template<class T>
-    Time time(const T &msg) {
-        (void)msg;
-        return Time(0,0);
-    }
-
-private:
-    long _seq;
-};
-
-typedef GenericJsonFactory<> JsonFactory;
-
-} // end namespace ros_bridge
-
-

src/comm/ros_bridge/include/MessageBaseClass.h

-#pragma once
-
-#include "MessageGroups.h"
-
-namespace ROSBridge {
-
-//! @brief Abstract base class for all ROS Messages Types.
-//!
-//! Abstract base class for all ROS Messages Types. This class defines a basic interface
-//! every class must fullfill if it takes advantages of the \class ROSJsonFactory.
-//! Every class must define the public typedef Group, which associates it to a message Group (\see MessageGroups). The Group type
-//! is used by the \class ROSJsonFactory to determine the type of the message it creates. The
-//! MessageBaseClass belongs to the \struct EmptyGroup. Passing a class belonging to the \struct EmptyGroup to the
-//! \class ROSJsonFactory will yield an error.
-class MessageBaseClass{
-public:
-    typedef MessageGroups::EmptyGroup Group;
-
-    MessageBaseClass() {};
-    virtual ~MessageBaseClass() {};
-    // Avoid sliceing (copy with ROSMessage::Clone or define subclass operator=)!
-    MessageBaseClass(const MessageBaseClass &) = delete;
-    MessageBaseClass& operator=(const MessageBaseClass &) = delete;
-
-    virtual MessageBaseClass* Clone() const = 0;
-};
-typedef MessageBaseClass MsgBase;
-} // namespace ROSBridge
-
-

src/comm/ros_bridge/include/MessageGroups.h

-#pragma once
-
-#include <string>
-
-namespace ROSBridge {
-
-namespace MessageGroups {
-
-typedef std::string StringType;
-
-template<typename Group, typename SubGroup, typename...MoreSubGroups>
-struct MessageGroup {
-    static StringType messageType() {return _full<Group, SubGroup, MoreSubGroups...>();}
-
-    template<typename G, typename SubG, typename...MoreSubG>
-    static StringType _full() {return G::label()+ "/" + _full<SubG, MoreSubG...>(); }
-    template<typename G>
-    static StringType _full() {return G::label(); }
-
-
-    static StringType messageTypeLast() {return _last<Group, SubGroup, MoreSubGroups...>();}
-
-    template<typename G, typename SubG, typename...MoreSubG>
-    static StringType _last() {return _last<SubG, MoreSubG...>(); }
-    template<typename G>
-    static StringType _last() {return G::label(); }
-};
-
-//!
-//! \note Each class belonging to a ROS message group must derive from \class MessageBaseClass.
-
-namespace detail {
-
-//!
-//! \brief The EmptyGroup struct is used by the \class MessageBaseClass base class.
-//!
-//! The EmptyGroup struct is used by the \class MessageBaseClass base class. Passing a class using this
-//! group will to the \class JsonFactory will lead to a compile-time error.
-struct EmptyGroup        {
-    static StringType label() {return "";}
-};
-}
-
-
-struct GeometryMsgs {
-
-    static StringType label() {return "geometry_msgs";}
-    //!
-    //! \brief The Point32Group struct is used the mark a class as a ROS Point32 message.
-    //!
-    //! The Point32Group struct is used the mark a class as a ROS Point32 message.
-    struct Point32Group {
-        static StringType label() {return "Point32";}
-    };
-
-    //!
-    //! \brief The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message.
-    //!
-    //! The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message.
-    struct GeoPointGroup {
-        static StringType label() {return "GeoPoint";}
-    };
-
-
-    //!
-    //! \brief The PolygonGroup struct is used the mark a class as a ROS Polygon message.
-    //!
-    //! The PolygonGroup struct is used the mark a class as a ROS Polygon message.
-    struct PolygonGroup {
-        static StringType label() {return "Polygon";}
-    };
-
-    //!
-    //! \brief The PolygonStampedGroup struct is used the mark a class as a ROS PolygonStamped message.
-    //!
-    //! The PolygonStampedGroup struct is used the mark a class as a ROS PolygonStamped message.
-    struct PolygonStampedGroup {
-        static StringType label() {return "PolygonStamped";}
-    };
-};
-
-struct GeographicMsgs {
-
-    static StringType label() {return "geographic_msgs";}
-
-    //!
-    //! \brief The GeoPointGroup struct is used the mark a class as a ROS geographic_msgs/GeoPoint message.
-    struct GeoPointGroup {
-        static StringType label() {return "GeoPoint";}
-    };
-};
-
-struct JSKRecognitionMsgs {
-
-    static StringType label() {return "jsk_recognition_msgs";}
-
-    //!
-    //! \brief The PolygonArrayGroup struct is used the mark a class as a ROS jsk_recognition_msgs/PolygonArray message.
-    //!
-    //! The PolygonArrayGroup struct is used the mark a class as a ROS jsk_recognition_msgs/PolygonArray message.
-    struct PolygonArrayGroup {
-        static StringType label() {return "PolygonArray";}
-    };
-};
-
-struct NemoMsgs {
-
-    static StringType label() {return "nemo_msgs";}
-
-    //!
-    //! \brief The ProgressGroup struct is used the mark a class as a ROS nemo_msgs/Progress message.
-    struct ProgressGroup {
-        static StringType label() {return "Progress";}
-    };
-
-    //!
-    //! \brief The HeartbeatGroup struct is used the mark a class as a ROS nemo_msgs/Heartbeat message.
-    struct HeartbeatGroup {
-        static StringType label() {return "Heartbeat";}
-    };
-};
-
-
-typedef MessageGroup<detail::EmptyGroup,
-                     detail::EmptyGroup>
-        EmptyGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeometryMsgs,
-                                    MessageGroups::GeometryMsgs::Point32Group>
-        Point32Group;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeographicMsgs,
-                                    MessageGroups::GeographicMsgs::GeoPointGroup>
-        GeoPointGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeometryMsgs,
-                                    MessageGroups::GeometryMsgs::PolygonGroup>
-        PolygonGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::GeometryMsgs,
-                                    MessageGroups::GeometryMsgs::PolygonStampedGroup>
-        PolygonStampedGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::JSKRecognitionMsgs,
-                                    MessageGroups::JSKRecognitionMsgs::PolygonArrayGroup>
-        PolygonArrayGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::NemoMsgs,
-                                    MessageGroups::NemoMsgs::ProgressGroup>
-        ProgressGroup;
-
-typedef MessageGroups::MessageGroup<MessageGroups::NemoMsgs,
-                                    MessageGroups::NemoMsgs::HeartbeatGroup>
-        HeartbeatGroup;
-
-} // end namespace MessageGroups
-
-} // end namespace ros_bridge

src/comm/ros_bridge/include/MessageTag.cpp

-#include "MessageTag.h"
-
-MessageTag::MessageTag()
-{
-
-}
-
-MessageTag::MessageTag(const std::string &topic, const std::string &messageType) :
-    _topic(topic)
-  , _messagType(messageType)
-{
-
-}
-
-const std::string &MessageTag::topic() const
-{
-    return _topic;
-}
-
-const std::string &MessageTag::messageType() const
-{
-    return _messagType;
-}
-
-std::string &MessageTag::topic()
-{
-    return _topic;
-}
-
-std::string &MessageTag::messageType()
-{
-    return _messagType;
-}
-
-void MessageTag::setTopic(const std::string &topic)
-{
-    _topic = topic;
-}
-
-void MessageTag::setMessageType(const std::string &messageType)
-{
-    _messagType = messageType;
-}

src/comm/ros_bridge/include/MessageTag.h

-#pragma once
-
-#include <string>
-
-
-class MessageTag {
-public:
-    MessageTag();
-    MessageTag(const std::string &topic, const std::string &messageType);
-
-    const std::string &topic() const;
-    const std::string &messageType() const;
-
-    std::string &topic();
-    std::string &messageType();
-
-    void setTopic(const std::string &topic);
-    void setMessageType(const std::string &messageType);
-
-private:
-   std::string _topic;
-   std::string _messagType;
-};
-typedef MessageTag Tag;

src/comm/ros_bridge/include/ThreadSafeQueue.h

-#pragma once
-
-#include <queue>
-#include <mutex>
-#include <condition_variable>
-
-namespace ROSBridge {
-
-template <class T>
-class ThreadSafeQueue
-{
-public:
-    ThreadSafeQueue();
-    ~ThreadSafeQueue();
-
-    T pop_front();
-
-    void push_back(const T& item);
-    void push_back(T&& item);
-
-    int size();
-    bool empty();
-
-private:
-    std::deque<T> _queue;
-    std::mutex _mutex;
-    std::condition_variable _cond;
-};
-
-template <typename T>
-ThreadSafeQueue<T>::ThreadSafeQueue(){}
-
-template <typename T>
-ThreadSafeQueue<T>::~ThreadSafeQueue(){}
-
-template <typename T>
-T ThreadSafeQueue<T>::pop_front()
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    while (_queue.empty())
-    {
-        _cond.wait(mlock);
-    }
-    T t = std::move(_queue.front());
-    _queue.pop_front();
-    return t;
-}
-
-template <typename T>
-void ThreadSafeQueue<T>::push_back(const T& item)
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    _queue.push_back(item);
-    mlock.unlock();     // unlock before notificiation to minimize mutex con
-    _cond.notify_one(); // notify one waiting thread
-
-}
-
-template <typename T>
-void ThreadSafeQueue<T>::push_back(T&& item)
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    _queue.push_back(std::move(item));
-    mlock.unlock();     // unlock before notificiation to minimize mutex con
-    _cond.notify_one(); // notify one waiting thread
-
-}
-
-template <typename T>
-int ThreadSafeQueue<T>::size()
-{
-    std::unique_lock<std::mutex> mlock(_mutex);
-    int size = _queue.size();
-    mlock.unlock();
-    return size;
-}
-
-} // namespace
-

src/comm/ros_bridge/include/TopicPublisher.cpp

-#include "TopicPublisher.h"
-
-#include <unordered_map>
-
-ROSBridge::ComPrivate::TopicPublisher::TopicPublisher(CasePacker &casePacker,
-                                                      RosbridgeWsClient &rbc) :
-      _stopped(std::make_shared<std::atomic_bool>(true))
-    , _casePacker(casePacker)
-    , _rbc(rbc)
-{
-
-}
-
-ROSBridge::ComPrivate::TopicPublisher::~TopicPublisher()
-{
-    this->reset();
-}
-
-void ROSBridge::ComPrivate::TopicPublisher::start()
-{
-    if ( !_stopped->load() )  // start called while thread running.
-        return;
-    _stopped->store(false);
-    _pThread = std::make_unique<std::thread>([this]{
-        // Init.
-        std::unordered_map<std::string, std::string> topicMap;
-        // Main Loop.
-        while( !this->_stopped->load() ){
-            JsonDocUPtr pJsonDoc;
-            {
-                std::unique_lock<std::mutex> lk(this->_mutex);
-                // Check if new data available, wait if not.
-                if (this->_queue.empty()){
-                    if ( _stopped->load() ) // Check condition again while holding the lock.
-                        break;
-                    this->_cv.wait(lk); // Wait for condition, spurious wakeups don't matter in this case.
-                    continue;
-                }
-                // Pop message from queue.
-                pJsonDoc = std::move(this->_queue.front());
-                this->_queue.pop_front();
-            }
-
-            // Get tag from Json message and remove it.
-            Tag tag;
-            bool ret = this->_casePacker.getTag(pJsonDoc, tag);
-            assert(ret); // Json message does not contain a tag;
-            (void)ret;
-            this->_casePacker.removeTag(pJsonDoc);
-
-            // Check if topic must be advertised.
-            // Advertised topics are stored in advertisedTopicsHashList as
-            // a hash.
-            std::string clientName = ROSBridge::ComPrivate::_topicAdvertiserKey
-                                   + tag.topic();
-            auto it =  topicMap.find(clientName);
-            if ( it ==  topicMap.end()) { // Need to advertise topic?
-                 topicMap.insert(std::make_pair(clientName, tag.topic()));
-                 this->_rbc.addClient(clientName);
-                 this->_rbc.advertise(clientName,
-                                   tag.topic(),
-                                   tag.messageType() );
-                 this->_rbc.waitForTopic(tag.topic(), [this]{
-                     return this->_stopped->load();
-                 }); // Wait until topic is advertised.
-            }
-
-            // Publish Json message.
-            if ( !this->_stopped->load() )
-                this->_rbc.publish(tag.topic(), *pJsonDoc.get());
-        } // while loop
-
-        // Tidy up.
-        for (auto& it :  topicMap){
-            this->_rbc.unadvertise(it.second);
-            this->_rbc.removeClient(it.first);
-        }
-
-        std::cout << "TopicPublisher: publisher thread terminated." << std::endl;
-    });
-}
-
-void ROSBridge::ComPrivate::TopicPublisher::reset()
-{
-    if ( _stopped->load() )  // stop called while thread not running.
-        return;
-    {
-        std::lock_guard<std::mutex> lk(_mutex);
-        std::cout << "TopicPublisher: _stopped->store(true)." << std::endl;
-        _stopped->store(true);
-        std::cout << "TopicPublisher: ask publisher thread to stop." << std::endl;
-        _cv.notify_one(); // Wake publisher thread.
-    }
-    if ( !_pThread )
-        return;
-    _pThread->join();
-    std::cout << "TopicPublisher: publisher thread joined." << std::endl;
-    {
-        _queue.clear();
-        std::cout << "TopicPublisher: queue cleard." << std::endl;
-    }
-}
-

src/comm/ros_bridge/include/TypeFactory.h

-#pragma once
-
-#include "ros_bridge/rapidjson/include/rapidjson/document.h"
-#include "ros_bridge/include/JsonMethodes.h"
-#include "ros_bridge/include/MessageBaseClass.h"
-#include "utilities.h"
-#include "ros_bridge/include/MessageTraits.h"
-
-#include "ros_bridge/include/MessageGroups.h"
-
-#include "boost/type_traits.hpp"
-#include "boost/type_traits/is_base_of.hpp"
-
-namespace ROSBridge {
-
-//!
-//! \brief The TypeFactory class is used to create C++ representatives of ROS messages.
-//!
-//! The TypeFactory class is used to create C++ representatives of ROS messages
-//! (classes derived from \class MessageBaseClass) from a \class rapidjson::Document document.
-class TypeFactory
-{
-    typedef MessageBaseClass ROSMsg;
-public:
-
-    TypeFactory(){}
-
-    //!
-    //! \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>
-    bool create(const rapidjson::Document &doc, T &type){
-        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)");
-        return _create(doc, type, Type2Type<typename T::Group>());
-    }
-
-private:
-
-    // ===========================================================================
-    // EmptyGroup and not implemented Groups
-    // ===========================================================================
-    template<class U, class V>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<V>){
-        (void)type;
-        (void)doc;
-        assert(false); // Implementation missing for group U::Group!
-        return false;
-    }
-
-    // ===========================================================================
-    // Point32Group
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::Point32Group>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeometryMsgs::Point32::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // GeoPointGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::GeoPointGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeographicMsgs::GeoPoint::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // PolygonGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::PolygonGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeometryMsgs::Polygon::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // PolygonStampedGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::PolygonStampedGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::GeometryMsgs::PolygonStamped::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // PolygonArrayGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::PolygonArrayGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::JSKRecognitionMsgs::PolygonArray::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // ProgressGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::ProgressGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::NemoMsgs::Progress::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-    // ===========================================================================
-    // HeartbeatGroup
-    // ===========================================================================
-    template<class U>
-    bool _create(const rapidjson::Document &doc, U &type, Type2Type<MessageGroups::HeartbeatGroup>){
-        using namespace ROSBridge;
-        bool ret = JsonMethodes::NemoMsgs::Heartbeat::fromJson(doc, type);
-        assert(ret);
-        return ret;
-    }
-
-
-};
-
-} // end namespace ros_bridge

src/comm/ros_bridge/include/com_private.cpp

+#include "ros_bridge/include/com_private.h"
+
+#include "ros_bridge/rapidjson/include/rapidjson/writer.h"
+
+#include <functional>
+#include <iostream>
+
+std::size_t ros_bridge::com_private::getHash(const std::string &str)
+{
+    std::hash<std::string> hash;
+    return hash(str);
+}
+
+std::size_t ros_bridge::com_private::getHash(const char *str)
+{
+    return ros_bridge::com_private::getHash(std::string(str));
+}
+
+bool ros_bridge::com_private::getTopic(const ros_bridge::com_private::JsonDoc &doc, std::string &topic)
+{
+    if ( doc.HasMember("topic") && doc["topic"].IsString() ){
+        topic = doc["topic"].GetString();
+        return true;
+    } else
+        return false;
+}
+
+bool ros_bridge::com_private::removeTopic(ros_bridge::com_private::JsonDoc &doc)
+{
+    if ( doc.HasMember("topic") && doc["topic"].IsString() ){
+        doc.RemoveMember("topic");
+        return true;
+    } else
+        return false;
+}
+
+bool ros_bridge::com_private::getType(const ros_bridge::com_private::JsonDoc &doc, std::string &type)
+{
+    if ( doc.HasMember("type") && doc["type"].IsString() ){
+        type = doc["type"].GetString();
+        return true;
+    } else
+        return false;
+}
+
+bool ros_bridge::com_private::removeType(ros_bridge::com_private::JsonDoc &doc)
+{
+    if ( doc.HasMember("type") && doc["type"].IsString() ){
+        doc.RemoveMember("type");
+        return true;
+    } else
+        return false;
+}

src/comm/ros_bridge/include/ComPrivateInclude.h → src/comm/ros_bridge/include/com_private.h

 #pragma once
 
-#include "ros_bridge/include/MessageTag.h"
 #include "ros_bridge/rapidjson/include/rapidjson/document.h"
 
 #include <memory>
 #include <deque>
 #include <unordered_map>
 
-namespace ROSBridge {
-namespace ComPrivate {
+namespace ros_bridge {
+namespace com_private {
 
-typedef MessageTag Tag;
 typedef rapidjson::Document JsonDoc;
 typedef std::unique_ptr<JsonDoc> JsonDocUPtr;
 typedef std::deque<JsonDocUPtr> JsonQueue;
@@ -26,5 +24,11 @@ static const char* _topicSubscriberKey = "topic_subscriber";
 std::size_t getHash(const std::string &str);
 std::size_t getHash(const char *str);
 
+bool getTopic(const JsonDoc &doc, std::string &topic);
+bool getType(const JsonDoc &doc, std::string &type);
+
+bool removeTopic(JsonDoc &doc);
+bool removeType(JsonDoc &doc);
+
 }
 }

src/comm/ros_bridge/include/MessageTraits.h → src/comm/ros_bridge/include/message_traits.h

 #pragma once
 
-namespace ROSBridge {
+namespace ros_bridge {
 namespace traits {
 
 
@@ -182,5 +182,19 @@ struct Select<0, T, U> {typedef U Result;};
 struct HasComponents {};
 struct Has3Components : public HasComponents {};
 struct Has2Components : public HasComponents {};
+
+
+
+template <typename T>
+struct Type2Type{
+    typedef T OriginalType;
+};
+
+
+template <int k>
+struct Int2Type{
+    enum {value = k};
+};
+
 }
 }

src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.cpp

+#include "geopoint.h"
+
+std::string ros_bridge::messages::geographic_msgs::geo_point::messageType(){
+    return "geographic_msgs/GeoPoint";
+}

src/comm/ros_bridge/include/messages/geographic_msgs/geopoint.h

+#pragma once
+
+#include <string>
+
+#include "ros_bridge/include/message_traits.h"
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geographic_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/GeoPoint message generation.
+namespace geo_point {
+
+std::string messageType();
+
+//! @brief C++ representation of geographic_msgs/GeoPoint.
+template<class FloatType = _Float64, class OStream = std::ostream>
+class GenericGeoPoint{
+public:
+    GenericGeoPoint()
+        : _latitude(0)
+        , _longitude(0)
+        , _altitude(0)
+    {}
+    GenericGeoPoint(const GenericGeoPoint &other)
+        : _latitude(other.latitude())
+        , _longitude(other.longitude())
+        , _altitude(other.altitude())
+    {}
+    GenericGeoPoint(FloatType latitude, FloatType longitude, FloatType altitude)
+        : _latitude(latitude)
+        , _longitude(longitude)
+        , _altitude(altitude)
+    {}
+
+    FloatType latitude()     const {return _latitude;}
+    FloatType longitude()    const {return _longitude;}
+    FloatType altitude()     const {return _altitude;}
+
+    void setLatitude    (FloatType latitude)    {_latitude  = latitude;}
+    void setLongitude   (FloatType longitude)   {_longitude = longitude;}
+    void setAltitude    (FloatType altitude)    {_altitude  = altitude;}
+
+    bool operator==(const GenericGeoPoint &p1) {
+        return (   p1._latitude == this->_latitude
+                && p1._longitude == this->_longitude
+                && p1._altitude == this->_altitude);
+    }
+
+    bool operator!=(const GenericGeoPoint &p1) {
+        return !this->operator==(p1);
+    }
+
+    friend OStream& operator<<(OStream& os, const GenericGeoPoint& p)
+    {
+        os << "lat: " << p._latitude << " lon: " << p._longitude<< " alt: " << p._altitude;
+        return os;
+    }
+
+private:
+    FloatType _latitude;
+    FloatType _longitude;
+    FloatType _altitude;
+};
+typedef GenericGeoPoint<> GeoPoint;
+
+namespace detail {
+
+    template <class T>
+    auto getAltitude(const T &p, traits::Type2Type<traits::Has3Components>)
+    {
+        return p.altitude();
+    }
+
+    template <class T>
+    auto getAltitude(const T &p, traits::Type2Type<traits::Has2Components>)
+    {
+        (void)p;
+        return 0.0;
+    }
+
+    template <class T>
+    void setAltitude(const rapidjson::Value &doc, T &p, traits::Type2Type<traits::Has3Components>)
+    {
+        p.setAltitude(doc.GetFloat());
+    }
+
+    template <class T>
+    void setAltitude(const rapidjson::Value &doc, T &p, traits::Type2Type<traits::Has2Components>)
+    {
+        (void)doc;
+        (void)p;
+    }
+} // namespace detail
+
+template <class T>
+bool toJson(const T&p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    value.AddMember("latitude", rapidjson::Value().SetFloat((_Float64)p.latitude()), allocator);
+    value.AddMember("longitude", rapidjson::Value().SetFloat((_Float64)p.longitude()), allocator);
+
+    typedef typename traits::Select<
+            traits::HasMemberAltitude<T>::value,
+            traits::Has3Components,
+            traits::Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    auto altitude = detail::getAltitude(p, traits::Type2Type<Components>()); // If T has no member altitude() replace it by 0.0;
+
+    value.AddMember("altitude", rapidjson::Value().SetFloat((_Float64)altitude), allocator);
+    return true;
+}
+
+
+
+template <class PointType>
+bool fromJson(const rapidjson::Value &value,
+              PointType &p)     {
+    if (!value.HasMember("latitude") || !value["latitude"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("longitude") || !value["longitude"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("altitude") || !value["altitude"].IsFloat()){
+        assert(false);
+        return false;
+    }
+
+    p.setLatitude(value["latitude"].GetFloat());
+    p.setLongitude(value["longitude"].GetFloat());
+    typedef typename traits::Select<
+            traits::HasMemberSetAltitude<PointType>::value,
+            traits::Has3Components,
+            traits::Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    detail::setAltitude(value["altitude"], p,  traits::Type2Type<Components>()); // If T has no member altitude() discard doc["altitude"];
+
+    return true;
+} // namespace detail
+
+
+} // namespace geopoint
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/geometry_msgs/point32.cpp

+#include "point32.h"
+
+std::string ros_bridge::messages::geometry_msgs::point32::messageType(){
+    return "geometry_msgs/Point32";
+}
+

src/comm/ros_bridge/include/messages/geometry_msgs/point32.h

+#pragma once
+
+#include "ros_bridge/include/message_traits.h"
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geometry_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/Point32 message generation.
+namespace point32 {
+
+
+std::string messageType();
+
+namespace detail {
+using namespace ros_bridge::traits;
+
+template <class T>
+auto getZ(const T &p, Type2Type<Has3Components>)
+{
+    return p.z();
+}
+
+template <class T>
+auto getZ(const T &p, Type2Type<Has2Components>)
+{
+    (void)p;
+    return 0.0; // p has no member z() -> add 0.
+}
+
+template <class T, typename V>
+bool setZ(const rapidjson::Value &doc, const T &p, Type2Type<V>)
+{
+    p.setZ(doc["z"].GetFloat());
+    return true;
+}
+
+template <class T>
+bool setZ(const rapidjson::Value &doc, const T &p, Type2Type<Has2Components>)
+{
+    (void)doc;
+    (void)p;
+    return true;
+}
+
+} // namespace detail
+
+//! @brief C++ representation of a geometry_msgs/Point/Point32
+template<typename FloatType = _Float64, class OStream = std::ostream>
+class GenericPoint {
+public:
+    GenericPoint(FloatType x, FloatType y, FloatType z) : _x(x), _y(y), _z(z){}
+
+    FloatType x() const {return _x;}
+    FloatType y() const {return _y;}
+    FloatType z() const {return _z;}
+
+    void setX(FloatType x) {_x = x;}
+    void setY(FloatType y) {_y = y;}
+    void setZ(FloatType z) {_z = z;}
+
+
+
+    bool operator==(const GenericPoint &p1) {
+        return (p1._x == this->_x
+                && p1._y == this->_y
+                && p1._z == this->_z);
+    }
+
+    bool operator!=(const GenericPoint &p1) {
+        return !this->operator==(p1);
+    }
+
+    friend OStream& operator<<(OStream& os, const GenericPoint& p)
+    {
+        os << "x: " << p._x << " y: " << p._y<< " z: " << p._z;
+        return os;
+    }
+
+private:
+    FloatType _x;
+    FloatType _y;
+    FloatType _z;
+};
+
+typedef GenericPoint<> Point;
+typedef GenericPoint<_Float32> Point32;
+
+
+
+template <class T>
+bool toJson(const T&p, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    using namespace ros_bridge::traits;
+
+    value.AddMember("x", rapidjson::Value().SetFloat(p.x()), allocator);
+    value.AddMember("y", rapidjson::Value().SetFloat(p.y()), allocator);
+
+    typedef typename Select<HasMemberZ<T>::value, Has3Components, Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    auto z = detail::getZ(p, Type2Type<Components>()); // If T has no member z() replace it by 0.
+
+    value.AddMember("z", rapidjson::Value().SetFloat(z), allocator);
+    return true;
+}
+
+template <class PointType>
+bool fromJson(const rapidjson::Value &value,
+              PointType &p)     {
+    using namespace ros_bridge::traits;
+
+    if (!value.HasMember("x") || !value["x"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("y") || !value["y"].IsFloat()){
+        assert(false);
+        return false;
+    }
+    if (!value.HasMember("z") || !value["z"].IsFloat()){
+        assert(false);
+        return false;
+    }
+
+    p.setX(value["x"].GetFloat());
+    p.setY(value["y"].GetFloat());
+    typedef typename Select<HasMemberSetZ<PointType>::value, Has3Components, Has2Components>::Result
+            Components; // Check if PointType has 2 or 3 dimensions.
+    (void)detail::setZ(value["z"], p,  Type2Type<Components>()); // If PointType has no member z() discard doc["z"].
+
+    return true;
+}
+
+} // namespace point32
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/geometry_msgs/polygon.cpp

+#include "polygon.h"
+
+std::string ros_bridge::messages::geometry_msgs::polygon::messageType(){
+    return "geometry_msgs/Polygon";
+}
+

src/comm/ros_bridge/include/messages/geometry_msgs/polygon.h

+#pragma once
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+#include "ros_bridge/include/messages/geometry_msgs/point32.h"
+
+#include <type_traits>
+#include <vector>
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace geometry_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/Polygon message generation.
+namespace polygon {
+
+
+std::string messageType();
+
+//! @brief C++ representation of geometry_msgs/Polygon
+template <class PointTypeCVR,
+          template <class, class...> class ContainerType = std::vector>
+class GenericPolygon {
+    typedef typename std::remove_cv_t<typename std::remove_reference_t<PointTypeCVR>> PointType;
+public:
+    GenericPolygon() {}
+    GenericPolygon(const GenericPolygon &poly) : _points(poly.points()){}
+
+
+    const ContainerType<PointType> &points() const {return _points;}
+          ContainerType<PointType> &points()       {return _points;}
+
+          GenericPolygon &operator=(const GenericPolygon &other) {
+              this->_points = other._points;
+              return *this;
+          }
+
+private:
+    ContainerType<PointType> _points;
+};
+typedef GenericPolygon<geometry_msgs::point32::Point> Polygon;
+
+
+template <class PolygonType>
+bool toJson(const PolygonType &poly, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    using namespace geometry_msgs::point32;
+
+    rapidjson::Value points(rapidjson::kArrayType);
+
+    for(unsigned long i=0; i < std::uint64_t(poly.points().size()); ++i) {
+        rapidjson::Document point(rapidjson::kObjectType);
+        if ( !point32::toJson(poly.points()[i], point, allocator) ){
+            assert(false);
+            return false;
+        }
+        points.PushBack(point, allocator);
+    }
+
+    value.AddMember("points", points, allocator);
+    return true;
+}
+
+template <class PolygonType>
+bool fromJson(const rapidjson::Value &value, PolygonType &poly)
+{
+    using namespace geometry_msgs::point32;
+
+    if (!value.HasMember("points") || !value["points"].IsArray()){
+        assert(false);
+        return false;
+    }
+    const auto &jsonArray = value["points"].GetArray();
+    poly.points().clear();
+    poly.points().reserve(jsonArray.Size());
+    typedef decltype (poly.points()[0]) PointTypeCVR;
+    typedef typename std::remove_cv_t<typename std::remove_reference_t<PointTypeCVR>> PointType;
+    for (long i=0; i < jsonArray.Size(); ++i){
+        PointType pt;
+        if ( !point32::fromJson(jsonArray[i], pt) ){
+            assert(false);
+            return false;
+        }
+        poly.points().push_back(std::move(pt));
+    }
+    return true;
+}
+
+} // namespace polygon
+} // namespace geometry_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/geometry_msgs/polygon_stamped.cpp

+#include "polygon_stamped.h"
+
+std::string ros_bridge::messages::geometry_msgs::polygon_stamped::messageType(){
+    return "geometry_msgs/PolygonStamped";
+}
+

src/comm/ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.cpp

+#include "polygon_array.h"
+
+std::string ros_bridge::messages::jsk_recognition_msgs::polygon_array::messageType(){
+    return "jsk_recognition_msgs/PolygonArray";
+}
+

src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.cpp

+#include "heartbeat.h"
+
+std::string ros_bridge::messages::nemo_msgs::heartbeat::messageType(){
+    return "nemo_msgs/Heartbeat";
+}
+

src/comm/ros_bridge/include/messages/nemo_msgs/heartbeat.h

+#pragma once
+
+#include "ros_bridge/rapidjson/include/rapidjson/document.h"
+
+namespace ros_bridge {
+//! @brief Namespace containing classes and methodes ros message generation.
+namespace messages {
+//! @brief Namespace containing classes and methodes for geometry_msgs generation.
+namespace nemo_msgs {
+//! @brief Namespace containing methodes for geometry_msgs/GeoPoint message generation.
+namespace heartbeat {
+
+
+std::string messageType();
+
+
+//! @brief C++ representation of nemo_msgs/Heartbeat message
+class Heartbeat{
+public:
+    Heartbeat(){}
+    Heartbeat(int status) :_status(status){}
+    Heartbeat(const Heartbeat &heartbeat) : _status(heartbeat.status()){}
+
+    virtual int     status      (void)const    {return _status;}
+    virtual void    setStatus   (int status)    {_status = status;}
+protected:
+    int _status;
+};
+
+
+template <class HeartbeatType>
+bool toJson(const HeartbeatType &heartbeat, rapidjson::Value &value, rapidjson::Document::AllocatorType &allocator)
+{
+    value.AddMember("status", std::int32_t(heartbeat.status()), allocator);
+    return true;
+}
+
+template <class HeartbeatType>
+bool fromJson(const rapidjson::Value &value, HeartbeatType &heartbeat)
+{
+    if (!value.HasMember("status") || !value["status"].IsInt()){
+        assert(false);
+        return false;
+    }
+
+    heartbeat.setStatus(value["status"].GetInt());
+    return true;
+}
+
+} // namespace heartbeat
+} // namespace nemo_msgs
+} // namespace messages
+} // namespace ros_bridge

src/comm/ros_bridge/include/messages/nemo_msgs/progress.cpp

+#include "progress.h"
+
+std::string ros_bridge::messages::nemo_msgs::progress::messageType(){
+    return "nemo_msgs/Progress";
+}
+

src/comm/ros_bridge/include/messages/std_msgs/time.cpp

+#include "time.h"
+
+std::string ros_bridge::messages::std_msgs::time::messageType(){
+    return "std_msgs/Time";
+}

src/comm/ros_bridge/include/Server.h → src/comm/ros_bridge/include/server.h

 #pragma once
 
-#include "ros_bridge/include/ComPrivateInclude.h"
+#include "ros_bridge/include/com_private.h"
 #include "ros_bridge/include/RosBridgeClient.h"
-#include "ros_bridge/include/TypeFactory.h"
-#include "ros_bridge/include/CasePacker.h"
 
 #include <unordered_map>
 
-namespace ROSBridge {
-namespace ComPrivate {
+namespace ros_bridge {
+namespace com_private {
 
 class Server
 {
@@ -18,7 +16,7 @@ public:
 
 
     Server() = delete;
-    Server(CasePacker &casePacker, RosbridgeWsClient &rbc);
+    Server(RosbridgeWsClient &rbc);
     ~Server();
 
     //! @brief Starts the subscriber.
@@ -34,7 +32,6 @@ public:
 private:
 
     RosbridgeWsClient  &_rbc;
-    CasePacker         &_casePacker;
     ServiceMap         _serviceMap;
     std::shared_ptr<std::atomic_bool> _stopped;
 };

src/comm/utilities.h

@@ -73,15 +73,4 @@ private:
     bool            _isInitialized;
 };
 
-template <typename T>
-struct Type2Type{
-    typedef T OriginalType;
-};
-
-
-template <int k>
-struct Int2Type{
-    enum {value = k};
-};
-
 #endif // UTILITIES_H