Add MsgPack class

LibCarla/source/carla/Buffer.h

@@ -82,6 +82,10 @@ namespace carla {
       copy_from(source);
     }
 
+    Buffer(const value_type *data, size_type size) {
+      copy_from(data, size);
+    }
+
     Buffer(const Buffer &) = delete;
 
     Buffer(Buffer &&rhs) noexcept

LibCarla/source/carla/MsgPack.h

@@ -6,4 +6,34 @@
 
 #pragma once
 
+#include "carla/Buffer.h"
+
 #include <rpc/msgpack.hpp>
+
+namespace carla {
+
+  class MsgPack {
+  public:
+
+    template <typename T>
+    static Buffer Pack(const T &obj) {
+      namespace mp = ::clmdep_msgpack;
+      mp::sbuffer sbuf;
+      mp::pack(sbuf, obj);
+      return Buffer(reinterpret_cast<const unsigned char *>(sbuf.data()), sbuf.size());
+    }
+
+    template <typename T>
+    static T UnPack(const Buffer &buffer) {
+      namespace mp = ::clmdep_msgpack;
+      return mp::unpack(reinterpret_cast<const char *>(buffer.data()), buffer.size()).template as<T>();
+    }
+
+    template <typename T>
+    static T UnPack(const unsigned char *data, size_t size) {
+      namespace mp = ::clmdep_msgpack;
+      return mp::unpack(reinterpret_cast<const char *>(data), size).template as<T>();
+    }
+  };
+
+} // namespace carla

LibCarla/source/test/test_rpc.cpp

@@ -7,6 +7,7 @@
 #include "test.h"
 
 #include <carla/ThreadGroup.h>
+#include <carla/rpc/Actor.h>
 #include <carla/rpc/Client.h>
 #include <carla/rpc/Server.h>
 
@@ -56,3 +57,21 @@ TEST(rpc, server_bind_sync_run_on_game_thread) {
   std::cout << "game thread: run " << i << " slices.\n";
   ASSERT_TRUE(done);
 }
+
+TEST(rpc, msgpack) {
+  namespace c = carla;
+  namespace cg = carla::geom;
+  Actor actor;
+  actor.id = 42u;
+  actor.description.uid = 2u;
+  actor.description.id = "actor.random.whatever";
+  actor.bounding_box = cg::BoundingBox{cg::Vector3D{1.0f, 2.0f, 3.0f}};
+
+  auto buffer = c::MsgPack::Pack(actor);
+  auto result = c::MsgPack::UnPack<Actor>(buffer);
+
+  ASSERT_EQ(result.id, actor.id);
+  ASSERT_EQ(result.description.uid, actor.description.uid);
+  ASSERT_EQ(result.description.id, actor.description.id);
+  ASSERT_EQ(result.bounding_box, actor.bounding_box);
+}