niklas/rmw_cyclonedds
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update to allow talker/listener demos to run

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This commit adds stubs for the missing functions and fixes a few bugs in
the serialisation code and topic creation.  With these changes, the
talker and listener demos of ROS2 Crystal Clemmys work.
This commit is contained in:
Erik Boasson 2019-05-03 17:12:51 +08:00
parent c9a23a9b8a
commit 315d39a2ec
4 changed files with 182 additions and 36 deletions
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10
rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/serdes.hpp
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@ -45,7 +45,7 @@ public:
if ((off % sizeof (T)) != 0) { \
off += sizeof (T) - (off % sizeof (T)); \
} \
reserve (off + sizeof (T)); \
resize (off + sizeof (T)); \
*(T *) (data () + off) = x; \
off += sizeof (T); \
}
@ -68,7 +68,7 @@ public:
{
size_t sz = strlen (x) + 1;
serialize (static_cast<uint32_t> (sz));
reserve (off + sz);
resize (off + sz);
memcpy (data () + off, x, sz);
off += sz;
}
@ -76,7 +76,7 @@ public:
{
size_t sz = x.size () + 1;
serialize (static_cast<uint32_t> (sz));
reserve (off + sz);
resize (off + sz);
memcpy (data () + off, x.data (), sz - 1);
*(data () + off + sz - 1) = 0;
}
@ -85,7 +85,7 @@ public:
if ((off % sizeof (T)) != 0) { \
off += sizeof (T) - (off % sizeof (T)); \
} \
reserve (off + cnt * sizeof (T)); \
resize (off + cnt * sizeof (T)); \
memcpy (data () + off, (void *) x, cnt * sizeof (T)); \
off += cnt * sizeof (T); \
}
@ -121,7 +121,7 @@ public:
}
private:
inline void reserve (size_t n) { dst.reserve (n + 4); }
inline void resize (size_t n) { dst.resize (n + 4); }
inline unsigned char *data () { return dst.data () + 4; }
std::vector<unsigned char>& dst;