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replace FastCDR and serialise straight into a serdata to avoid an extra copy

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This commit is contained in:
Erik Boasson 2018-07-19 16:37:12 +02:00
parent e6b6ede709
commit 40a042c6dc
12 changed files with 391 additions and 210 deletions
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4
rmw_cyclonedds_cpp/CMakeLists.txt
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@ -32,7 +32,6 @@ find_package(ament_cmake_ros REQUIRED)
find_package(rcutils REQUIRED)
find_package(cyclonedds_cmake_module REQUIRED)
find_package(fastcdr REQUIRED CONFIG)
find_package(CycloneDDS REQUIRED CONFIG)
find_package(rmw REQUIRED)
@ -53,11 +52,12 @@ include_directories(include)
add_library(rmw_cyclonedds_cpp
src/namespace_prefix.cpp
src/rmw_node.cpp
src/serdes.cpp
)
idlc_generate(rmw_cyclonedds_topic_lib src/rmw_cyclonedds_topic.idl)
target_link_libraries(rmw_cyclonedds_cpp
fastcdr rmw_cyclonedds_topic_lib CycloneDDS::ddsc)
rmw_cyclonedds_topic_lib CycloneDDS::ddsc)
ament_target_dependencies(rmw_cyclonedds_cpp
"rcutils"