* Add a flag to indicate signed integral values and one to indicate
floating-point values
* Set these flags in the output of idlc
* Use them when printing sample contents to the trace
By encoding the information as flags in reserved bits the actual
serialization and deserialization is unaffected.
Signed-off-by: Erik Boasson <eb@ilities.com>
Installing Cyclone DDS for multiple architectures with the same
installation prefix gave problems because the CMake configuration files
ended up overwriting each other. This brings it in line with the
recommended locations. Thanks to @hansfn.
Signed-off-by: Erik Boasson <eb@ilities.com>
This allows you to express a dependency on it as `find_package(CycloneDDS REQUIRED COMPONENTS idlc)`
Also added a warning if CycloneDDS was built with IDLC but IDLC is not requested.
Signed-off-by: Dan Rose <dan@digilabs.io>
CMAKE_PROJECT_NAME refers to the top-level project name, not the most recent project. So any CMake project that pulls this in as a dependency was in for a nasty surprise.
https://cmake.org/cmake/help/latest/variable/CMAKE_PROJECT_NAME.html
Signed-off-by: Dan Rose <dan@digilabs.io>
* Move the project top-level CMakeLists.txt to the root of the project;
this allows building Cyclone as part of ROS2 without any special
tricks;
* Clean up the build options:
ENABLE_SSL: whether to check for and include OpenSSL support if a
library can be found (default = ON); this used to be
called DDSC_ENABLE_OPENSSL, the old name is deprecated
but still works
BUILD_DOCS: whether to build docs (default = OFF)
BUILD_TESTING: whether to build test (default = OFF)
* Collect all documentation into top-level "docs" directory;
* Move the examples to the top-level directory;
* Remove the unused and somewhat misleading pseudo-default
cyclonedds.xml;
* Remove unused cmake files
Signed-off-by: Erik Boasson <eb@ilities.com>
The CDR deserializer failed to check it was staying within the bounds of
the received data, and it turns out it also was inconsistent in its
interpretation of the (undocumented) serializer instructions. This
commit adds some information on the instruction format obtained by
reverse engineering the code and studying the output of the IDL
preprocessor, and furthermore changes a lot of the types used in the
(de)serializer code to have some more compiler support. The IDL
preprocessor is untouched and the generated instructinos do exactly the
same thing (except where change was needed).
The bulk of this commit replaces the implementation of the
(de)serializer. It is still rather ugly, but at least the very long
functions with several levels of nested conditions and switch statements
have been split out into multiple functions. Most of these have single
call-sites, so the compiler hopefully inlines them nicely.
The other important thing is that it adds a "normalize" function that
validates the structure of the CDR and performs byteswapping if
necessary. This means the deserializer can now assume a well-formed
input in native byte-order. Checks and conditional byteswaps have been
removed accordingly.
It changes some types to make a compile-time distinction between
read-only, native-endianness input, a native-endianness output, and a
big-endian output for dealing with key hashes. This should reduce the
risk of accidentally mixing endianness or modifying an input stream.
The preprocessor has been modified to indicate the presence of unions in
a topic type in the descriptor flags. If a union is present, any
memory allocated in a sample is freed first and the sample is zero'd out
prior to deserializing the new value. This is to prevent reading
garbage pointers for strings and sequences when switching union cases.
The test tool has been included in the commit but it does not get run by
itself. Firstly, it requires the presence of OpenSplice DDS as an
alternative implementation to check the CDR processing against.
Secondly, it takes quite a while to run and is of no interest unless one
changes something in the (de)serialization.
Finally, I have no idea why there was a "CDR stream" interface among the
public functions. The existing interfaces are fundamentally broken by
the removal of arbitrary-endianness streams, and the interfaces were
already incapable of proper error notification. So, they have been
removed.
Signed-off-by: Erik Boasson <eb@ilities.com>
- Replace os_result by dds_retcode_t and move DDS return code defines down.
Eliminates the need to convert between different return code types.
- Move dds_time_t down and remove os_time.
Eliminates the need to convert between different time representations and
reduces code duplication.
- Remove use of Microsoft source-code annotation language (SAL).
SAL annotations are Microsoft specific and not very well documented. This
makes it very difficult for contributers to write.
- Rearrange the abstraction layer to be feature-based. The previous layout
falsely assumed that the operating system dictates which implementation is
best suited. For general purpose operating systems this is mostly true, but
embedded targets require a slightly different approach and may not even offer
all features. The new layout makes it possible to mix-and-match feature
implementations and allows for features to not be implemented at all.
- Replace the os prefix by ddsrt to avoid name collisions.
- Remove various portions of unused and unwanted code.
- Export thread names on all supported platforms.
- Return native thread identifier on POSIX compatible platforms.
- Add timed wait for condition variables that takes an absolute time.
- Remove system abstraction for errno. The os_getErrno and os_setErrno were
incorrect. Functions that might fail now simply return a DDS return code
instead.
- Remove thread-specific memory abstraction. os_threadMemGet and accompanying
functions were a mess and their use has been eliminated by other changes in
this commit.
- Replace attribute (re)defines by ddsrt_ prefixed equivalents to avoid name
collisions and problems with faulty __nonnull__ attributes.
Signed-off-by: Jeroen Koekkoek <jeroen@koekkoek.nl>
