niklas/rmw_cyclonedds
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update to match ROS2 Dashing interface

Browse source 
passes a decent subset of the tests ...

fixes:
* sequences of simple types: remove accidental alignment
* trigger graph guard on any built-in topic
* create a participant for each node, with node name/namespace in user data

It is still only a proof-of-concept, but it might now actually be usable ...
This commit is contained in:
Erik Boasson 2019-05-12 13:52:26 +02:00
parent e520cb4d63
commit 24726b4685
4 changed files with 328 additions and 67 deletions
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15
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/MessageTypeSupport_impl.hpp
View file

@ -17,6 +17,8 @@
#include <cassert>
#include <memory>
#include <regex>
#include <sstream>
#include <string>
#include "rmw_cyclonedds_cpp/MessageTypeSupport.hpp"
@ -31,9 +33,16 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
assert(members);
this->members_ = members;
std::string name = std::string(members->package_name_) + "::msg::dds_::" +
members->message_name_ + "_";
this->setName(name.c_str());
std::ostringstream ss;
std::string message_namespace(this->members_->message_namespace_);
std::string message_name(this->members_->message_name_);
if (!message_namespace.empty()) {
// Find and replace C namespace separator with C++, in case this is using C typesupport
message_namespace = std::regex_replace(message_namespace, std::regex("__"), "::");
ss << message_namespace << "::";
}
ss << "dds_::" << message_name << "_";
this->setName(ss.str().c_str());
}
} // namespace rmw_cyclonedds_cpp

29
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/ServiceTypeSupport_impl.hpp
View file

@ -16,6 +16,8 @@
#define RMW_CYCLONEDDS_CPP__SERVICETYPESUPPORT_IMPL_HPP_
#include <cassert>
#include <regex>
#include <sstream>
#include <string>
#include "rmw_cyclonedds_cpp/ServiceTypeSupport.hpp"
@ -36,9 +38,16 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
assert(members);
this->members_ = members->request_members_;
std::string name = std::string(members->package_name_) + "::srv::dds_::" +
members->service_name_ + "_Request_";
this->setName(name.c_str());
std::ostringstream ss;
std::string service_namespace(members->service_namespace_);
std::string service_name(members->service_name_);
if (!service_namespace.empty()) {
// Find and replace C namespace separator with C++, in case this is using C typesupport
service_namespace = std::regex_replace(service_namespace, std::regex("__"), "::");
ss << service_namespace << "::";
}
ss << "dds_::" << service_name << "_Request_";
this->setName(ss.str().c_str());
}
template<typename ServiceMembersType, typename MessageMembersType>
@ -48,9 +57,17 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
assert(members);
this->members_ = members->response_members_;
std::string name = std::string(members->package_name_) + "::srv::dds_::" +
members->service_name_ + "_Response_";
this->setName(name.c_str());
std::ostringstream ss;
std::string service_namespace(members->service_namespace_);
std::string service_name(members->service_name_);
if (!service_namespace.empty()) {
// Find and replace C namespace separator with C++, in case this is using C typesupport
service_namespace = std::regex_replace(service_namespace, std::regex("__"), "::");
ss << service_namespace << "::";
}
ss << "dds_::" << service_name << "_Response_";
this->setName(ss.str().c_str());
}
} // namespace rmw_cyclonedds_cpp

26
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp
View file

@ -85,12 +85,14 @@ public:
}
#define SIMPLEA(T) inline void serializeA (const T *x, size_t cnt) { \
if ((off % sizeof (T)) != 0) { \
off += sizeof (T) - (off % sizeof (T)); \
if (cnt > 0) { \
if ((off % sizeof (T)) != 0) { \
off += sizeof (T) - (off % sizeof (T)); \
} \
resize (off + cnt * sizeof (T)); \
memcpy (data () + off, (void *) x, cnt * sizeof (T)); \
off += cnt * sizeof (T); \
} \
resize (off + cnt * sizeof (T)); \
memcpy (data () + off, (void *) x, cnt * sizeof (T)); \
off += cnt * sizeof (T); \
}
SIMPLEA (char);
SIMPLEA (int8_t);
@ -111,7 +113,7 @@ public:
template<class T> inline void serialize (const std::vector<T>& x)
{
serialize (static_cast<uint32_t> (x.size ()));
if (x.size () > 0) serializeA (x.data (), x.size ());
serializeA (x.data (), x.size ());
}
inline void serialize (const std::vector<bool>& x) {
serialize (static_cast<uint32_t> (x.size ()));
@ -121,7 +123,7 @@ public:
template<class T> inline void serializeS (const T *x, size_t cnt)
{
serialize (static_cast<uint32_t> (cnt));
if (cnt > 0) serializeA (x, cnt);
serializeA (x, cnt);
}
private:
@ -192,9 +194,11 @@ public:
}
#define SIMPLEA(T) inline void deserializeA (T *x, size_t cnt) { \
align (sizeof (T)); \
memcpy ((void *) x, (void *) (data + pos), (cnt) * sizeof (T)); \
pos += (cnt) * sizeof (T); \
if (cnt > 0) { \
align (sizeof (T)); \
memcpy ((void *) x, (void *) (data + pos), (cnt) * sizeof (T)); \
pos += (cnt) * sizeof (T); \
} \
}
SIMPLEA (char);
SIMPLEA (int8_t);
@ -215,7 +219,7 @@ public:
template<class T> inline void deserialize (std::vector<T>& x) {
const uint32_t sz = deserialize32 ();
x.resize (sz);
if (sz > 0) deserializeA (x.data (), sz);
deserializeA (x.data (), sz);
}
inline void deserialize (std::vector<bool>& x) {
const uint32_t sz = deserialize32 ();