Hi,
we have a communication middleware framework in place (quite similar to ROS
- with publish / subscribe patterns) and would like to integrate Capnproto
for message descriptions.
For Pub / Sub itself we have classes that can send and receive binary data
(to / from a std::string), so I'd like to build on that.
The idea is to have:
// Initialize a Publisher
Publisher<AddressBook> pub("address_book");
AddressBook::Builder addressBook = pub.getBuilder();
//manipulate the addressBook
auto people = addressBook.initPeople(2);
//...
// Send out the data
pub.Send();
So far, so good, I can send and receive data without problem.
The ecosystem, like ROS, also has recording possibilities. To be able to
interpret data on the fly and later on, I need the capnproto reflection
capabilities. So what I really need is to register the AddressBook (Binary)
Schema with the framework when a publisher is created.
But from the examples I really don't understand how this can be done. My
framework let's me store and retrieve reflection information as a
std::string. So I feel that I have to "serialize" the Schema information
into a string somehow, and rebuild it from a string. Since a schema also a
.capnp description it feels like this is something that can be done, but I
don't seem to grasp how it can be done.
So what I need is basically to implement these two functions:
template <typename T>
std::string getSchemaAsString<T>();
and
DynamicStruct::Reader getReader(const std::string& schema_string);
What I tried:
// This gives me the Schema. But is there a builder underneath?
auto schema = capnp::Schema::from<AddressBook>();
or do I need a SchemaLoader
capnp::SchemaLoader loader;
loader.loadCompiledTypeAndDependencies<AddressBook>();
And the other question, does it make sense to work with a `
MallocMessageBuilder` when I will later send out the data in a std::string
object, or does it make sense to Implement a `StdStringMessageBuilder`?
Any hints will be highly appreciated.
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