json stuff improved

qgroundcontrol.pro

@@ -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/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 +514,11 @@ 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/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 +550,7 @@ 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.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>
 
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
-typedef ROSBridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
-namespace MsgGroups = ROSBridge::MessageGroups;
+typedef ros_bridge::GenericMessages::GeographicMsgs::GeoPoint ROSGeoPoint;
+namespace MsgGroups = ros_bridge::MessageGroups;
 class GeoPoint3D : public QObject, public ROSGeoPoint
 {
     Q_OBJECT

src/Wima/Geometry/Polygon2D.h

@@ -8,14 +8,14 @@
 #include "ros_bridge/include/MessageBaseClass.h"
 #include "ros_bridge/include/JsonMethodes.h"
 
-namespace MsgGroupsNS = ROSBridge::MessageGroups;
-namespace PolyStampedNS = ROSBridge::JsonMethodes::GeometryMsgs::PolygonStamped;
+namespace MsgGroupsNS = ros_bridge::MessageGroups;
+namespace PolyStampedNS = ros_bridge::JsonMethodes::GeometryMsgs::PolygonStamped;
 
-typedef ROSBridge::MessageBaseClass ROSMsg;
+typedef ros_bridge::MessageBaseClass ROSMsg;
 
 template <class PointType = QPointF, template <class, class...> class ContainerType = QVector>
 class Polygon2DTemplate : public ROSMsg{ //
-    typedef ROSBridge::GenericMessages::GeometryMsgs::GenericPolygon<PointType, ContainerType> Poly;
+    typedef ros_bridge::GenericMessages::GeometryMsgs::GenericPolygon<PointType, ContainerType> Poly;
 public:
     typedef MsgGroupsNS::PolygonStampedGroup Group; // has no header
 

src/Wima/Geometry/PolygonArray.h

@@ -4,7 +4,7 @@
 
 #include "ros_bridge/include/MessageBaseClass.h"
 
-typedef ROSBridge::MessageBaseClass ROSMsgBase;
+typedef ros_bridge::MessageBaseClass ROSMsgBase;
 template <class PolygonType, template <class,class...> class ContainerType >
 class PolygonArray : public ROSMsgBase, public ContainerType<PolygonType> {
 public:

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);
-    }
-
     class QmlObjectListModel *QmlObjectListModel(){
         if (_dirty)
             _updateObjects();

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_msgs = ros_bridge::messages::nemo_msgs;
+typedef nemo_msgs::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

@@ -4,5 +4,4 @@
 #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.cc

 #include "WimaController.h"
+
 #include "utilities.h"
-#include "ros_bridge/include/JsonMethodes.h"
+
 #include "ros_bridge/rapidjson/include/rapidjson/document.h"
 #include "ros_bridge/rapidjson/include/rapidjson/writer.h"
 #include "ros_bridge/rapidjson/include/rapidjson/ostreamwrapper.h"
-#include "ros_bridge/include/CasePacker.h"
+#include "ros_bridge/include/messages/geographic_msgs/geopoint.h"
+#include "ros_bridge/include/messages/jsk_recognition_msgs/polygon_array.h"
+#include "ros_bridge/include/messages/nemo_msgs/progress.h"
+#include "ros_bridge/include/messages/nemo_msgs/heartbeat.h"
 
 #include "Snake/QtROSJsonFactory.h"
 #include "Snake/QtROSTypeFactory.h"
@@ -94,11 +98,11 @@ WimaController::WimaController(QObject *parent)
     auto connectionStringFact       = wimaSettings->rosbridgeConnectionString();
     auto setConnectionString = [connectionStringFact, this]{
         auto connectionString = connectionStringFact->rawValue().toString();
-        if ( ROSBridge::isValidConnectionString(connectionString.toLocal8Bit().data()) ){
-            this->_pRosBridge.reset(new ROSBridge::ROSBridge(connectionString.toLocal8Bit().data()));
+        if ( ros_bridge::isValidConnectionString(connectionString.toLocal8Bit().data()) ){
+            this->_pRosBridge.reset(new ros_bridge::ROSBridge(connectionString.toLocal8Bit().data()));
         } else {
             qgcApp()->showMessage("ROS Bridge connection string invalid: " + connectionString);
-            this->_pRosBridge.reset(new ROSBridge::ROSBridge("localhost:9090"));
+            this->_pRosBridge.reset(new ros_bridge::ROSBridge("localhost:9090"));
         }
     };
     setConnectionString();
@@ -939,22 +943,40 @@ void WimaController::_switchSnakeManager(QVariant variant)
 
 void WimaController::_setupTopicService()
 {
+    using namespace ros_bridge::messages;
     if ( _snakeTilesLocal.polygons().size() > 0){
-        _pRosBridge->publish(_snakeOrigin, "/snake/origin");
-        _pRosBridge->publish(_snakeTilesLocal, "/snake/tiles");
+        // Publish snake origin.
+        JsonDocUPtr jOrigin(rapidjson::kObjectType);
+        Q_ASSERT(geographic_msgs::geo_point::toJson(
+                     _snakeOrigin, *jOrigin, jOrigin->GetAllocator()));
+        _pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+        // Publish snake tiles.
+        JsonDocUPtr jSnakeTiles(rapidjson::kObjectType);
+        Q_ASSERT(jsk_recognition_msgs::polygon_array::toJson(
+                     _snakeTilesLocal, *jSnakeTiles, jSnakeTiles->GetAllocator()));
+        _pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
     }
+    // Subscribe nemo progress.
     _pRosBridge->subscribe("/nemo/progress",
                            /* callback */ [this](JsonDocUPtr pDoc){
         int requiredSize = this->_snakeTilesLocal.polygons().size();
-        auto& progress = this->_nemoProgress;
-        if ( !this->_pRosBridge->casePacker()->unpack(pDoc, progress)
-             || progress.progress().size() != requiredSize ) { // Some error occured.
+        auto& progress_msg = this->_nemoProgress;
+        if ( !nemo_msgs::progress::fromJson(*pDoc, progress_msg)
+             || progress_msg.progress().size() != requiredSize ) { // Some error occured.
             // Set progress to default.
-            progress.progress().fill(0, requiredSize);
-            // Publish origin and tiles again.
+            progress_msg.progress().fill(0, requiredSize);
+            // Publish origin and tiles again, if valid.
             if ( this->_snakeTilesLocal.polygons().size() > 0){
-                this->_pRosBridge->publish(this->_snakeOrigin, "/snake/origin");
-                this->_pRosBridge->publish(this->_snakeTilesLocal, "/snake/tiles");
+                // Publish snake origin.
+                JsonDocUPtr jOrigin(rapidjson::kObjectType);
+                Q_ASSERT(geographic_msgs::geo_point::toJson(
+                             this->_snakeOrigin, *jOrigin, jOrigin->GetAllocator()));
+                this->_pRosBridge->publish(std::move(jOrigin), "/snake/origin");
+                // Publish snake tiles.
+                JsonDocUPtr jSnakeTiles(rapidjson::kObjectType);
+                Q_ASSERT(jsk_recognition_msgs::polygon_array::toJson(
+                             this->_snakeTilesLocal, *jSnakeTiles, jSnakeTiles->GetAllocator()));
+                this->_pRosBridge->publish(std::move(jSnakeTiles), "/snake/tiles");
             }
         }
 
@@ -962,10 +984,11 @@ void WimaController::_setupTopicService()
     });
     _pRosBridge->subscribe("/nemo/heartbeat",
                            /* callback */ [this](JsonDocUPtr pDoc){
-        if ( !this->_pRosBridge->casePacker()->unpack(pDoc, this->_nemoHeartbeat) ) {
-            if ( this->_nemoHeartbeat.status() == this->_fallbackStatus )
+        auto &heartbeat_msg = this->_nemoHeartbeat;
+        if ( !nemo_msgs::heartbeat(*pDoc, heartbeat_msg) ) {
+            if ( heartbeat_msg.status() == this->_fallbackStatus )
                 return;
-            this->_nemoHeartbeat.setStatus(this->_fallbackStatus);
+            heartbeat_msg.setStatus(this->_fallbackStatus);
         }
 
         this->_nemoTimeoutTicker.reset();
@@ -975,30 +998,29 @@ void WimaController::_setupTopicService()
     });
 
     _pRosBridge->advertiseService("/snake/get_origin", "snake_msgs/GetOrigin",
-                                  [this](JsonDocUPtr) -> JsonDocUPtr {
-        JsonDocUPtr pDoc;
+                                  [this](JsonDocUPtr) -> JsonDocUPtr
+    {
+        JsonDocUPtr pDoc(std::make_unique(rapidjson::kObjectType));
+        rapidjson::Value jOrigin(rapidjson::kObjectType);
         if ( this->_snakeTilesLocal.polygons().size() > 0){
-            pDoc = this->_pRosBridge->casePacker()->pack(this->_snakeOrigin, "");
+            geometry_msg::geo_point::toJson(
+                        this->_snakeOrigin, jOrigin, pDoc->GetAllocator());
         } else {
-            pDoc = this->_pRosBridge->casePacker()->pack(::GeoPoint3D(0,0,0), "");
+            geometry_msg::geo_point::polygon_array::toJson(
+                        ::GeoPoint3D(0,0,0), jOrigin, pDoc->GetAllocator());
         }
-        this->_pRosBridge->casePacker()->removeTag(pDoc);
-        rapidjson::Document value(rapidjson::kObjectType);
-        JsonDocUPtr         pReturn(new rapidjson::Document(rapidjson::kObjectType));
-        value.CopyFrom(*pDoc, pReturn->GetAllocator());
-        pReturn->AddMember("origin", value, pReturn->GetAllocator());
-
-        return pReturn;
+        pDoc->AddMember("origin", jOrigin, pDoc->GetAllocator());
+        return pDoc;
     });
 
     _pRosBridge->advertiseService("/snake/get_tiles", "snake_msgs/GetTiles",
-                                  [this](JsonDocUPtr) -> JsonDocUPtr {
-        JsonDocUPtr pDoc = this->_pRosBridge->casePacker()->pack(this->_snakeTilesLocal, "");
-        this->_pRosBridge->casePacker()->removeTag(pDoc);
-        rapidjson::Document value(rapidjson::kObjectType);
-        JsonDocUPtr         pReturn(new rapidjson::Document(rapidjson::kObjectType));
-        value.CopyFrom(*pDoc, pReturn->GetAllocator());
-        pReturn->AddMember("tiles", value, pReturn->GetAllocator());
-        return pReturn;
+                                  [this](JsonDocUPtr) -> JsonDocUPtr
+    {
+        JsonDocUPtr pDoc(std::make_unique(rapidjson::kObjectType));
+        rapidjson::Value jSnakeTiles(rapidjson::kObjectType);
+        jsk_recognition_msgs::polygon_array::toJson(
+                    this->_snakeTilesLocal, jSnakeTiles, pDoc->GetAllocator());
+        pDoc->AddMember("tiles", jSnakeTiles, pDoc->GetAllocator());
+        return pDoc;
     });
 }

src/Wima/WimaController.h

@@ -35,8 +35,7 @@
 #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"
@@ -54,7 +53,7 @@ class WimaController : public QObject
 
     enum FileType {WimaFile, PlanFile};
 
-    typedef QScopedPointer<ROSBridge::ROSBridge> ROSBridgePtr;
+    typedef QScopedPointer<ros_bridge::ROSBridge> ROSBridgePtr;
 
 public:
 
@@ -344,7 +343,7 @@ private slots:
 
 private:
     using StatusMap = std::map<int, QString>;
-    using CasePacker = ROSBridge::CasePacker;
+    using CasePacker = ros_bridge::CasePacker;
 
     // Controllers.
     PlanMasterController   *_masterController;

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 {