ServiceStructure.h

Go to the documentation of this file.

 
#pragma once
 
#include "RobotRaconteur/RobotRaconteurNode.h"
#include "RobotRaconteur/DataTypes.h"
#include "RobotRaconteur/ServiceFactory.h"
#include "RobotRaconteur/ServiceDefinition.h"
 
namespace RobotRaconteur
{
 
// struct
 
class ROBOTRACONTEUR_CORE_API StructureStub
{
  public:
    virtual RR_INTRUSIVE_PTR<MessageElementNestedElementList> PackStructure(const RR_INTRUSIVE_PTR<RRValue>& s) = 0;
 
    virtual RR_INTRUSIVE_PTR<RRStructure> UnpackStructure(
        const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& m) = 0;
 
    StructureStub(const RR_SHARED_PTR<RobotRaconteurNode>& node);
 
    RR_SHARED_PTR<RobotRaconteurNode> GetNode();
    RR_SHARED_PTR<RobotRaconteurNode> RRGetNode() { return GetNode(); }
    RR_WEAK_PTR<RobotRaconteurNode> RRGetNodeWeak() { return node; }
 
    virtual ~StructureStub() {}
 
  protected:
    RR_WEAK_PTR<RobotRaconteurNode> node;
};
 
// pod
 
template <typename T>
class PodStub
{
    BOOST_STATIC_ASSERT(sizeof(T) == -1);
};
 
template <typename T, size_t N, bool varlength>
class pod_field_array : public boost::array<T, N>
{
  private:
    size_t len;
 
  public:
    pod_field_array() : len(0) {}
    pod_field_array(size_t n) : len(0) { resize(n); }
    typename boost::array<T, N>::iterator end() { return boost::array<T, N>::elems + len; }
    typename boost::array<T, N>::const_iterator end() const { return boost::array<T, N>::elems + len; }
    typename boost::array<T, N>::const_iterator cend() const { return boost::array<T, N>::elems + len; }
    void resize(size_t n)
    {
        if (n > N)
        {
            throw std::out_of_range("requested size exceeds array max size");
        }
        len = n;
    }
    void clear() { resize(0); }
    size_t size() const { return len; }
    size_t max_size() const { return N; }
    typename boost::array<T, N>::reference at(size_t i) { return rangecheck(i), boost::array<T, N>::elems[i]; }
    typename boost::array<T, N>::const_reference at(size_t i) const
    {
        return rangecheck(i), boost::array<T, N>::elems[i];
    }
    typename boost::array<T, N>::reference back() { return at(size() - 1); }
    typename boost::array<T, N>::const_reference back() const { return at(size() - 1); }
    template <typename T2>
    pod_field_array<T, N, varlength>& operator=(const pod_field_array<T2, N, varlength>& rhs)
    {
        std::copy(rhs.begin(), rhs.end(), boost::array<T, N>::begin());
        this->len = rhs->len;
        return *this;
    }
    bool rangecheck(size_t i) const
    {
        return i > size() ? boost::throw_exception(std::out_of_range("array<>: index out of range")), true : true;
    }
};
 
template <typename T, size_t N>
class pod_field_array<T, N, false> : public boost::array<T, N>
{
  public:
    void resize(size_t n)
    {
        if (n != N)
            throw std::out_of_range("requested size does not match fixed array size");
    }
    size_t max_size() { return N; }
};
 
template <typename T, size_t N, bool varlength>
RR_INTRUSIVE_PTR<RRArray<T> > pod_field_array_ToRRArray(const pod_field_array<T, N, varlength>& i)
{
    return AttachRRArrayCopy<T>(&i[0], i.size());
}
 
template <typename T, size_t N, bool varlength>
void RRArrayTo_pod_field_array(pod_field_array<T, N, varlength>& v, const RR_INTRUSIVE_PTR<RRArray<T> >& i)
{
    if (!i)
        throw NullValueException("Pod array must not be null");
    v.resize(i->size());
    memcpy(&v[0], i->data(), sizeof(T) * i->size());
}
 
// NOLINTBEGIN(bugprone-macro-parentheses)
#define RRPodStubNumberType(type)                                                                                      \
    template <>                                                                                                        \
    class PodStub<type>                                                                                                \
    {                                                                                                                  \
      public:                                                                                                          \
        template <typename U>                                                                                          \
        static void PackField(const type& v, MessageStringRef name, U& out)                                            \
        {                                                                                                              \
            out.push_back(CreateMessageElement(name, ScalarToRRArray<type>(v)));                                       \
        }                                                                                                              \
                                                                                                                       \
        template <typename U>                                                                                          \
        static void UnpackField(type& v, MessageStringRef name, U& in)                                                 \
        {                                                                                                              \
            v = RRArrayToScalar<type>(MessageElement::FindElement(in, name)->template CastData<RRArray<type> >());     \
        }                                                                                                              \
    };                                                                                                                 \
                                                                                                                       \
    template <size_t N, bool varlength>                                                                                \
    class PodStub<pod_field_array<type, N, varlength> >                                                                \
    {                                                                                                                  \
      public:                                                                                                          \
        template <typename U>                                                                                          \
        static void PackField(const pod_field_array<type, N, varlength>& v, MessageStringRef name, U& out)             \
        {                                                                                                              \
            out.push_back(CreateMessageElement(name, pod_field_array_ToRRArray(v)));                                   \
        }                                                                                                              \
                                                                                                                       \
        template <typename U>                                                                                          \
        static void UnpackField(pod_field_array<type, N, varlength>& v, MessageStringRef name, U& in)                  \
        {                                                                                                              \
            RR_INTRUSIVE_PTR<RRArray<type> > a =                                                                       \
                MessageElement::FindElement(in, name)->template CastData<RRArray<type> >();                            \
            RRArrayTo_pod_field_array(v, a);                                                                           \
        }                                                                                                              \
    };
// NOLINTEND(bugprone-macro-parentheses)
 
RRPodStubNumberType(double);
RRPodStubNumberType(float);
RRPodStubNumberType(int8_t);
RRPodStubNumberType(uint8_t);
RRPodStubNumberType(int16_t);
RRPodStubNumberType(uint16_t);
RRPodStubNumberType(int32_t);
RRPodStubNumberType(uint32_t);
RRPodStubNumberType(int64_t);
RRPodStubNumberType(uint64_t);
 
template <typename T, size_t N, bool varlength>
RR_INTRUSIVE_PTR<RRNamedArray<T> > pod_field_array_ToRRNamedArray(const pod_field_array<T, N, varlength>& i)
{
    typedef typename RRPrimUtil<T>::ElementArrayType element_type;
    typename RR_INTRUSIVE_PTR<RRArray<element_type> > a = AttachRRArrayCopy<element_type>(
        reinterpret_cast<const element_type*>(&i[0]), i.size() * RRPrimUtil<T>::GetElementArrayCount());
    return new RRNamedArray<T>(a); // NOLINT(cppcoreguidelines-owning-memory)
}
 
template <typename T, size_t N, bool varlength>
void RRNamedArrayTo_pod_field_array(pod_field_array<T, N, varlength>& v, const RR_INTRUSIVE_PTR<RRNamedArray<T> >& i)
{
    if (!i)
        throw NullValueException("Pod array must not be null");
    v.resize(i->size());
    memcpy(&v[0], i->GetNumericArray()->data(), sizeof(T) * i->size());
}
 
// NOLINTBEGIN(bugprone-macro-parentheses)
#define RRPodStubNamedArrayType(type)                                                                                  \
    template <>                                                                                                        \
    class PodStub<type>                                                                                                \
    {                                                                                                                  \
      public:                                                                                                          \
        template <typename U>                                                                                          \
        static void PackField(const type& v, MessageStringRef name, U& out)                                            \
        {                                                                                                              \
            std::vector<RR_INTRUSIVE_PTR<MessageElement> > v1;                                                         \
            v1.push_back(CreateMessageElement("array", ScalarToRRNamedArray<type>(v)->GetNumericArray()));             \
            out.push_back(CreateMessageElement(                                                                        \
                name, CreateMessageElementNestedElementList(DataTypes_namedarray_array_t,                              \
                                                            RRPrimUtil<type>::GetElementTypeString(), RR_MOVE(v1))));  \
        }                                                                                                              \
                                                                                                                       \
        template <typename U>                                                                                          \
        static void UnpackField(type& v, MessageStringRef name, U& in)                                                 \
        {                                                                                                              \
            typedef typename RRPrimUtil<type>::ElementArrayType element_type;                                          \
            RR_INTRUSIVE_PTR<MessageElementNestedElementList> m =                                                      \
                MessageElement::FindElement(in, name)->CastDataToNestedList(DataTypes_namedarray_array_t);             \
            if (m->TypeName != RRPrimUtil<type>::GetElementTypeString())                                               \
                throw DataTypeException("Invalid namedarray");                                                         \
            RR_INTRUSIVE_PTR<RRArray<element_type> > a =                                                               \
                MessageElement::FindElement(m->Elements, "array")->CastData<RRArray<element_type> >();                 \
            if (a->size() != RRPrimUtil<type>::GetElementArrayCount())                                                 \
                throw DataTypeException("Invalid namedarray");                                                         \
            memcpy(&v, a->void_ptr(), sizeof(v));                                                                      \
        }                                                                                                              \
    };                                                                                                                 \
                                                                                                                       \
    template <size_t N, bool varlength>                                                                                \
    class PodStub<pod_field_array<type, N, varlength> >                                                                \
    {                                                                                                                  \
      public:                                                                                                          \
        template <typename U>                                                                                          \
        static void PackField(const pod_field_array<type, N, varlength>& v, MessageStringRef name, U& out)             \
        {                                                                                                              \
            RR_INTRUSIVE_PTR<RRNamedArray<type> > a = pod_field_array_ToRRNamedArray(v);                               \
            std::vector<RR_INTRUSIVE_PTR<MessageElement> > a1;                                                         \
            a1.push_back(CreateMessageElement("array", a->GetNumericArray()));                                         \
            out.push_back(CreateMessageElement(                                                                        \
                name, CreateMessageElementNestedElementList(DataTypes_namedarray_array_t,                              \
                                                            RRPrimUtil<type>::GetElementTypeString(), RR_MOVE(a1))));  \
        }                                                                                                              \
                                                                                                                       \
        template <typename U>                                                                                          \
        static void UnpackField(pod_field_array<type, N, varlength>& v, MessageStringRef name, U& in)                  \
        {                                                                                                              \
            typedef RRPrimUtil<type>::ElementArrayType element_type;                                                   \
            RR_INTRUSIVE_PTR<MessageElementNestedElementList> a =                                                      \
                MessageElement::FindElement(in, name)->CastDataToNestedList(DataTypes_namedarray_array_t);             \
            RR_INTRUSIVE_PTR<RRArray<element_type> > a1 =                                                              \
                MessageElement::FindElement(a->Elements, "array")->template CastData<RRArray<element_type> >();        \
            v.resize(a1->size() / RRPrimUtil<type>::GetElementArrayCount());                                           \
            memcpy(&v, a1->data(), a1->size() * sizeof(element_type));                                                 \
        }                                                                                                              \
    };
// NOLINTEND(bugprone-macro-parentheses)
template <typename T, size_t N, bool varlength>
class PodStub<pod_field_array<T, N, varlength> >
{
  public:
    template <typename U>
    static void PackField(const pod_field_array<T, N, varlength>& v, MessageStringRef name, U& out)
    {
        std::vector<RR_INTRUSIVE_PTR<MessageElement> > o;
        o.reserve(v.size());
        for (size_t j = 0; j < v.size(); j++)
        {
            RR_INTRUSIVE_PTR<MessageElement> m =
                CreateMessageElement(boost::numeric_cast<int32_t>(j), PodStub<T>::PackToMessageElementPod(v[j]));
            o.push_back(m);
        }
        out.push_back(
            CreateMessageElement(name, CreateMessageElementNestedElementList(
                                           DataTypes_pod_array_t, RRPrimUtil<T>::GetElementTypeString(), RR_MOVE(o))));
    }
 
    template <typename U>
    static void UnpackField(pod_field_array<T, N, varlength>& v, MessageStringRef name, U& in)
    {
        RR_INTRUSIVE_PTR<MessageElementNestedElementList> a =
            MessageElement::FindElement(in, name)->CastDataToNestedList(DataTypes_pod_array_t);
        if (!a)
            throw NullValueException("Unexpected null array");
        if (a->TypeName != RRPrimUtil<T>::GetElementTypeString())
            throw DataTypeException("Pod data type mismatch");
        // if (a->Elements.size() > N) throw OutOfRangeException("Array is too large for static vector size");
        v.resize(a->Elements.size());
        for (int32_t i = 0; i < boost::numeric_cast<int32_t>(a->Elements.size()); i++)
        {
            RR_INTRUSIVE_PTR<MessageElement> m = a->Elements.at(i);
            int32_t key = 0;
            if (!MessageElement_GetElementNumber(m, key))
            {
                throw DataTypeException("Invalid pod array format");
            }
 
            if (key != i)
                throw DataTypeException("Invalid pod array format");
 
            PodStub<T>::UnpackFromMessageElementPod(v[i], m->CastDataToNestedList());
        }
    }
};
 
template <typename T, typename U>
void PodStub_PackField(const T& v, MessageStringRef name, U& out)
{
    PodStub<T>::PackField(v, name, out);
}
 
template <typename T, typename U>
void PodStub_UnpackField(T& v, MessageStringRef name, U& out)
{
    PodStub<T>::UnpackField(v, name, out);
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElementNestedElementList> PodStub_PackPodToArray(const T& v)
{
    std::vector<RR_INTRUSIVE_PTR<MessageElement> > o;
 
    RR_INTRUSIVE_PTR<MessageElement> m = CreateMessageElement(0, PodStub<T>::PackToMessageElementPod(v));
    o.push_back(m);
 
    return CreateMessageElementNestedElementList(DataTypes_pod_array_t, RRPrimUtil<T>::GetElementTypeString(),
                                                 RR_MOVE(o));
}
 
template <typename T>
void PodStub_UnpackPodFromArray(T& v, const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& a)
{
    if (!a)
        throw DataTypeException("Pod scalar array must not be null");
    if (a->GetTypeID() != DataTypes_pod_array_t)
        throw DataTypeMismatchException("Expected a pod array");
    if (a->TypeName != RRPrimUtil<T>::GetElementTypeString())
        throw DataTypeException("Pod data type mismatch");
    if (a->Elements.size() != 1)
        throw DataTypeException("Invalid pod scalar array format");
 
    RR_INTRUSIVE_PTR<MessageElement> m = a->Elements.at(0);
    int32_t key = 0;
    if (!MessageElement_GetElementNumber(m, key))
    {
        throw DataTypeException("Invalid pod scalar array format");
    }
 
    if (key != 0)
        throw DataTypeException("Invalid pod scalar array format");
 
    PodStub<T>::UnpackFromMessageElementPod(v, m->CastDataToNestedList());
}
 
template <typename T>
T PodStub_UnpackPodFromArray(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& a)
{
    T v;
    PodStub_UnpackPodFromArray<T>(v, a);
    return v;
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElementNestedElementList> PodStub_PackPodArray(const RR_INTRUSIVE_PTR<RRPodArray<T> >& a)
{
    if (!a)
        return RR_INTRUSIVE_PTR<MessageElementNestedElementList>();
    std::vector<RR_INTRUSIVE_PTR<MessageElement> > o;
    o.reserve(a->size());
    for (size_t i = 0; i < a->size(); i++)
    {
        RR_INTRUSIVE_PTR<MessageElement> m =
            CreateMessageElement(boost::numeric_cast<int32_t>(i), PodStub<T>::PackToMessageElementPod(a->at(i)));
        o.push_back(m);
    }
    return CreateMessageElementNestedElementList(DataTypes_pod_array_t, RRPrimUtil<T>::GetElementTypeString(),
                                                 RR_MOVE(o));
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRPodArray<T> > PodStub_UnpackPodArray(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& a)
{
    if (!a)
        return RR_INTRUSIVE_PTR<RRPodArray<T> >();
    if (a->GetTypeID() != DataTypes_pod_array_t)
        throw DataTypeMismatchException("Expected pod array");
 
    RR_INTRUSIVE_PTR<RRPodArray<T> > o = AllocateEmptyRRPodArray<T>(a->Elements.size());
    for (size_t i = 0; i < a->Elements.size(); i++)
    {
        RR_INTRUSIVE_PTR<MessageElement> m = a->Elements.at(i);
        int32_t key = 0;
        if (!MessageElement_GetElementNumber(m, key))
        {
            throw DataTypeException("Invalid pod array format");
        }
 
        if (key != i)
            throw DataTypeException("Invalid pod array format");
        PodStub<T>::UnpackFromMessageElementPod(o->at(i), m->CastDataToNestedList());
    }
 
    return o;
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElementNestedElementList> PodStub_PackPodMultiDimArray(
    const RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> >& a)
{
    if (!a)
        return RR_INTRUSIVE_PTR<MessageElementNestedElementList>();
 
    std::vector<RR_INTRUSIVE_PTR<MessageElement> > m;
    m.reserve(2);
    m.push_back(CreateMessageElement("dims", a->Dims));
    if (!a->PodArray)
        throw NullValueException("Multidimarray array must not be null");
    m.push_back(CreateMessageElement("array", PodStub_PackPodArray(a->PodArray)));
    return CreateMessageElementNestedElementList(DataTypes_pod_multidimarray_t, RRPrimUtil<T>::GetElementTypeString(),
                                                 RR_MOVE(m));
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> > PodStub_UnpackPodMultiDimArray(
    const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& m)
{
    if (!m)
        return RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> >();
    if (m->GetTypeID() != DataTypes_pod_multidimarray_t)
        throw DataTypeMismatchException("Expected pod multidimarray message");
 
    RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> > o = AllocateEmptyRRPodMultiDimArray<T>();
    o->Dims = (MessageElement::FindElement(m->Elements, "dims")->CastData<RRArray<uint32_t> >());
    o->PodArray = PodStub_UnpackPodArray<T>(
        MessageElement::FindElement(m->Elements, "array")->CastDataToNestedList(DataTypes_pod_array_t));
    if (!o->PodArray)
        throw NullValueException("Multidimarray array must not be null");
    return o;
}
 
// MessageElement pack helper functions for pod
template <typename T>
RR_INTRUSIVE_PTR<MessageElement> MessageElement_PackPodToArrayElement(MessageStringRef elementname, const T& s)
{
    return CreateMessageElement(elementname, PodStub_PackPodToArray(s));
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElement> MessageElement_PackPodArrayElement(MessageStringRef elementname,
                                                                    const RR_INTRUSIVE_PTR<RRPodArray<T> >& s)
{
    if (!s)
        throw NullValueException("Arrays must not be null");
    return CreateMessageElement(elementname, PodStub_PackPodArray(s));
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElement> MessageElement_PackPodMultiDimArrayElement(
    MessageStringRef elementname, const RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> >& s)
{
    if (!s)
        throw NullValueException("Arrays must not be null");
    return CreateMessageElement(elementname, PodStub_PackPodMultiDimArray(s));
}
 
// MessageElement unpack helper functions for pod
template <typename T>
T MessageElement_UnpackPodFromArray(const RR_INTRUSIVE_PTR<MessageElement>& m)
{
    return RobotRaconteur::PodStub_UnpackPodFromArray<T>(m->CastDataToNestedList(DataTypes_pod_array_t));
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRPodArray<T> > MessageElement_UnpackPodArray(const RR_INTRUSIVE_PTR<MessageElement>& m)
{
    RR_INTRUSIVE_PTR<RRPodArray<T> > a =
        RobotRaconteur::PodStub_UnpackPodArray<T>(m->CastDataToNestedList(DataTypes_pod_array_t));
    if (!a)
        throw NullValueException("Arrays must not be null");
    return a;
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> > MessageElement_UnpackPodMultiDimArray(
    const RR_INTRUSIVE_PTR<MessageElement>& m)
{
    RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> > a =
        RobotRaconteur::PodStub_UnpackPodMultiDimArray<T>(m->CastDataToNestedList(DataTypes_pod_multidimarray_t));
    if (!a)
        throw NullValueException("Arrays must not be null");
    return a;
}
 
template <typename T>
static RR_INTRUSIVE_PTR<RRPodArray<T> > VerifyRRArrayLength(const RR_INTRUSIVE_PTR<RRPodArray<T> >& a, size_t len,
                                                            bool varlength)
{
    if (!a)
        throw NullValueException("Arrays must not be null");
    if (len != 0)
    {
        if (varlength && (a->size() > len))
        {
            throw DataTypeException("Array dimension mismatch");
        }
        if (!varlength && (a->size() != len))
        {
            throw DataTypeException("Array dimension mismatch");
        }
    }
    return a;
}
 
template <size_t Ndims, typename T>
static RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> > VerifyRRMultiDimArrayLength(
    const RR_INTRUSIVE_PTR<RRPodMultiDimArray<T> >& a, size_t n_elems, boost::array<uint32_t, Ndims> dims)
{
    if (!a)
        throw NullValueException("Arrays must not be null");
 
    if (a->Dims->size() != Ndims)
    {
        throw DataTypeException("Array dimension mismatch");
    }
 
    if (a->PodArray->size() != n_elems)
    {
        throw DataTypeException("Array dimension mismatch");
    }
 
    for (size_t i = 0; i < Ndims; i++)
    {
        if ((*a->Dims)[i] != dims[i])
        {
            throw DataTypeException("Array dimension mismatch");
        }
    }
 
    return a;
}
 
// namedarray
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElementNestedElementList> NamedArrayStub_PackNamedArrayToArray(const T& v)
{
    typedef typename RRPrimUtil<T>::ElementArrayType element_type;
    RR_INTRUSIVE_PTR<RRArray<element_type> > a = AllocateRRArray<element_type>(RRPrimUtil<T>::GetElementArrayCount());
    memcpy(a->void_ptr(), &v, sizeof(T));
    std::vector<RR_INTRUSIVE_PTR<MessageElement> > a1;
    a1.push_back(CreateMessageElement("array", a));
    return CreateMessageElementNestedElementList(DataTypes_namedarray_array_t, RRPrimUtil<T>::GetElementTypeString(),
                                                 RR_MOVE(a1));
}
 
template <typename T>
void NamedArrayStub_UnpackNamedArrayFromArray(T& v, const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& a)
{
    typedef typename RRPrimUtil<T>::ElementArrayType element_type;
    if (!a)
        throw DataTypeException("NamedArray scalar array must not be null");
    if (a->GetTypeID() != DataTypes_namedarray_array_t)
        throw DataTypeMismatchException("Expected namedarray array message");
    if (a->TypeName != RRPrimUtil<T>::GetElementTypeString())
        throw DataTypeException("NamedArray data type mismatch");
    if (a->Elements.size() != 1)
        throw DataTypeException("Invalid namedarray array format");
    typename RR_INTRUSIVE_PTR<RRArray<element_type> > a1 =
        MessageElement::FindElement(a->Elements, "array")->template CastData<RRArray<element_type> >();
    if (a1->size() != sizeof(T) / sizeof(element_type))
        throw DataTypeException("Invalid scalar namedarray array format");
 
    v = *(static_cast<T*>(a1->void_ptr()));
}
 
template <typename T>
T NamedArrayStub_UnpackNamedArrayFromArray(const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& a)
{
    T o; // NOLINT(cppcoreguidelines-pro-type-member-init)
    NamedArrayStub_UnpackNamedArrayFromArray(o, a);
    return o;
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElementNestedElementList> NamedArrayStub_PackNamedArray(
    const RR_INTRUSIVE_PTR<RRNamedArray<T> >& a)
{
    if (!a)
        return RR_INTRUSIVE_PTR<MessageElementNestedElementList>();
    std::vector<RR_INTRUSIVE_PTR<MessageElement> > a1;
    a1.push_back(CreateMessageElement("array", a->GetNumericArray()));
    return CreateMessageElementNestedElementList(DataTypes_namedarray_array_t, RRPrimUtil<T>::GetElementTypeString(),
                                                 RR_MOVE(a1));
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRNamedArray<T> > NamedArrayStub_UnpackNamedArray(
    const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& a)
{
    typedef typename RRPrimUtil<T>::ElementArrayType element_type;
    if (!a)
        return RR_INTRUSIVE_PTR<RRNamedArray<T> >();
    if (a->GetTypeID() != DataTypes_namedarray_array_t)
        throw DataTypeMismatchException("Expected namedarray array message");
    if (a->TypeName != RRPrimUtil<T>::GetElementTypeString())
        throw DataTypeException("Invalid namedarray type");
    typename RR_INTRUSIVE_PTR<RRArray<element_type> > a2 =
        MessageElement::FindElement(a->Elements, "array")->CastData<RRArray<element_type> >();
    return new RRNamedArray<T>(a2); // NOLINT(cppcoreguidelines-owning-memory)
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElementNestedElementList> NamedArrayStub_PackNamedMultiDimArray(
    const RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> >& a)
{
    if (!a)
        return RR_INTRUSIVE_PTR<MessageElementNestedElementList>();
 
    std::vector<RR_INTRUSIVE_PTR<MessageElement> > m;
    m.reserve(2);
    m.push_back(CreateMessageElement("dims", a->Dims));
    if (!a->NamedArray)
        throw NullValueException("Multidimarray array must not be null");
    m.push_back(CreateMessageElement("array", NamedArrayStub_PackNamedArray(a->NamedArray)));
    return CreateMessageElementNestedElementList(DataTypes_namedarray_multidimarray_t,
                                                 RRPrimUtil<T>::GetElementTypeString(), RR_MOVE(m));
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> > NamedArrayStub_UnpackNamedMultiDimArray(
    const RR_INTRUSIVE_PTR<MessageElementNestedElementList>& m)
{
    if (!m)
        return RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> >();
    if (m->GetTypeID() != DataTypes_namedarray_multidimarray_t)
        throw DataTypeMismatchException("Expected namedarray multidimarray message");
 
    typename RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> > o = AllocateEmptyRRNamedMultiDimArray<T>();
    o->Dims = (MessageElement::FindElement(m->Elements, "dims")->CastData<RRArray<uint32_t> >());
    o->NamedArray = NamedArrayStub_UnpackNamedArray<T>(
        MessageElement::FindElement(m->Elements, "array")->CastDataToNestedList(DataTypes_namedarray_array_t));
    if (!o->NamedArray)
        throw NullValueException("Multidimarray array must not be null");
    return o;
}
 
// MessageElement pack helper functions for namedarray
template <typename T>
RR_INTRUSIVE_PTR<MessageElement> MessageElement_PackNamedArrayToArrayElement(MessageStringRef elementname, const T& s)
{
    return CreateMessageElement(elementname, NamedArrayStub_PackNamedArrayToArray(s));
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElement> MessageElement_PackNamedArrayElement(MessageStringRef elementname,
                                                                      const RR_INTRUSIVE_PTR<RRNamedArray<T> >& s)
{
    if (!s)
        throw NullValueException("Arrays must not be null");
    return CreateMessageElement(elementname, NamedArrayStub_PackNamedArray(s));
}
 
template <typename T>
RR_INTRUSIVE_PTR<MessageElement> MessageElement_PackNamedMultiDimArrayElement(
    MessageStringRef elementname, const RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> >& s)
{
    if (!s)
        throw NullValueException("Arrays must not be null");
    return CreateMessageElement(elementname, NamedArrayStub_PackNamedMultiDimArray(s));
}
 
// MessageElement unpack helper functions for namedarray
template <typename T>
T MessageElement_UnpackNamedArrayFromArray(const RR_INTRUSIVE_PTR<MessageElement>& m)
{
    return RobotRaconteur::NamedArrayStub_UnpackNamedArrayFromArray<T>(
        m->CastDataToNestedList(DataTypes_namedarray_array_t));
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRNamedArray<T> > MessageElement_UnpackNamedArray(const RR_INTRUSIVE_PTR<MessageElement>& m)
{
    RR_INTRUSIVE_PTR<RRNamedArray<T> > a =
        RobotRaconteur::NamedArrayStub_UnpackNamedArray<T>(m->CastDataToNestedList(DataTypes_namedarray_array_t));
    if (!a)
        throw NullValueException("Arrays must not be null");
    return a;
}
 
template <typename T>
RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> > MessageElement_UnpackNamedMultiDimArray(
    const RR_INTRUSIVE_PTR<MessageElement>& m)
{
    RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> > a = RobotRaconteur::NamedArrayStub_UnpackNamedMultiDimArray<T>(
        m->CastDataToNestedList(DataTypes_namedarray_multidimarray_t));
    if (!a)
        throw NullValueException("Arrays must not be null");
    return a;
}
 
template <typename T>
static RR_INTRUSIVE_PTR<RRNamedArray<T> > VerifyRRArrayLength(const RR_INTRUSIVE_PTR<RRNamedArray<T> >& a, size_t len,
                                                              bool varlength)
{
    if (!a)
        throw NullValueException("Arrays must not be null");
    if (len != 0)
    {
        if (varlength && (a->size() > len))
        {
            throw DataTypeException("Array dimension mismatch");
        }
        if (!varlength && (a->size() != len))
        {
            throw DataTypeException("Array dimension mismatch");
        }
    }
    return a;
}
 
template <size_t Ndims, typename T>
static RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> > VerifyRRMultiDimArrayLength(
    const RR_INTRUSIVE_PTR<RRNamedMultiDimArray<T> >& a, size_t n_elems, boost::array<uint32_t, Ndims> dims)
{
    if (!a)
        throw NullValueException("Arrays must not be null");
 
    if (a->Dims->size() != Ndims)
    {
        throw DataTypeException("Array dimension mismatch");
    }
 
    if (a->NamedArray->size() != n_elems)
    {
        throw DataTypeException("Array dimension mismatch");
    }
 
    for (size_t i = 0; i < Ndims; i++)
    {
        if ((*a->Dims)[i] != dims[i])
        {
            throw DataTypeException("Array dimension mismatch");
        }
    }
 
    return a;
}
 
} // namespace RobotRaconteur