Add JSON<->ROS message serialization/deserialization.

3rdparty/rapidjson/cursorstreamwrapper.h

@@ -0,0 +1,78 @@
+// Tencent is pleased to support the open source community by making RapidJSON available.
+//
+// Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip.
+//
+// Licensed under the MIT License (the "License"); you may not use this file except
+// in compliance with the License. You may obtain a copy of the License at
+//
+// http://opensource.org/licenses/MIT
+//
+// Unless required by applicable law or agreed to in writing, software distributed
+// under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
+// CONDITIONS OF ANY KIND, either express or implied. See the License for the
+// specific language governing permissions and limitations under the License.
+
+#ifndef RAPIDJSON_CURSORSTREAMWRAPPER_H_
+#define RAPIDJSON_CURSORSTREAMWRAPPER_H_
+
+#include "stream.h"
+
+#if defined(__GNUC__)
+RAPIDJSON_DIAG_PUSH
+RAPIDJSON_DIAG_OFF(effc++)
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER <= 1800
+RAPIDJSON_DIAG_PUSH
+RAPIDJSON_DIAG_OFF(4702)  // unreachable code
+RAPIDJSON_DIAG_OFF(4512)  // assignment operator could not be generated
+#endif
+
+RAPIDJSON_NAMESPACE_BEGIN
+
+
+//! Cursor stream wrapper for counting line and column number if error exists.
+/*!
+    \tparam InputStream     Any stream that implements Stream Concept
+*/
+template <typename InputStream, typename Encoding = UTF8<> >
+class CursorStreamWrapper : public GenericStreamWrapper<InputStream, Encoding> {
+public:
+    typedef typename Encoding::Ch Ch;
+
+    CursorStreamWrapper(InputStream& is):
+        GenericStreamWrapper<InputStream, Encoding>(is), line_(1), col_(0) {}
+
+    // counting line and column number
+    Ch Take() {
+        Ch ch = this->is_.Take();
+        if(ch == '\n') {
+            line_ ++;
+            col_ = 0;
+        } else {
+            col_ ++;
+        }
+        return ch;
+    }
+
+    //! Get the error line number, if error exists.
+    size_t GetLine() const { return line_; }
+    //! Get the error column number, if error exists.
+    size_t GetColumn() const { return col_; }
+
+private:
+    size_t line_;   //!< Current Line
+    size_t col_;    //!< Current Column
+};
+
+#if defined(_MSC_VER) && _MSC_VER <= 1800
+RAPIDJSON_DIAG_POP
+#endif
+
+#if defined(__GNUC__)
+RAPIDJSON_DIAG_POP
+#endif
+
+RAPIDJSON_NAMESPACE_END
+
+#endif // RAPIDJSON_CURSORSTREAMWRAPPER_H_