Uncrustify and fix issues reported by cpplint
Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson
eboasson
parent
130d6ea10e
commit
5e137205f2
7 changed files with 2664 additions and 2204 deletions
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@ -111,21 +111,27 @@ template<typename MembersType>
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class TypeSupport
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{
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public:
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bool serializeROSmessage(const void * ros_message, cycser & ser, std::function<void(cycser&)> prefix = nullptr);
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bool deserializeROSmessage(cycdeser & deser, void * ros_message, std::function<void(cycdeser&)> prefix = nullptr);
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std::string getName ();
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bool serializeROSmessage(
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const void * ros_message, cycser & ser,
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std::function<void(cycser &)> prefix = nullptr);
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bool deserializeROSmessage(
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cycdeser & deser, void * ros_message,
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std::function<void(cycdeser &)> prefix = nullptr);
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std::string getName();
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protected:
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TypeSupport();
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void setName(const std::string& name);
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void setName(const std::string & name);
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const MembersType * members_;
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std::string name;
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private:
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bool serializeROSmessage(cycser & ser, const MembersType * members, const void * ros_message);
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bool deserializeROSmessage(cycdeser & deser, const MembersType * members, void * ros_message, bool call_new);
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bool deserializeROSmessage(
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cycdeser & deser, const MembersType * members, void * ros_message,
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bool call_new);
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};
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} // namespace rmw_cyclonedds_cpp
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@ -109,13 +109,13 @@ rosidl_generator_c__void__Sequence__fini(rosidl_generator_c__void__Sequence * se
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template<typename MembersType>
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TypeSupport<MembersType>::TypeSupport()
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{
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name = "";
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name = "";
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}
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template<typename MembersType>
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void TypeSupport<MembersType>::setName(const std::string& name)
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void TypeSupport<MembersType>::setName(const std::string & name)
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{
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this->name = std::string(name);
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this->name = std::string(name);
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}
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static inline void *
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@ -502,7 +502,9 @@ inline void deserialize_field<std::string>(
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deser >> cpp_string_vector;
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auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
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if (!rosidl_generator_c__String__Sequence__init(&string_array_field, cpp_string_vector.size())) {
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if (!rosidl_generator_c__String__Sequence__init(&string_array_field,
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cpp_string_vector.size()))
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{
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throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
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}
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@ -649,7 +651,7 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
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template<typename MembersType>
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bool TypeSupport<MembersType>::serializeROSmessage(
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const void * ros_message, cycser & ser,
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std::function<void(cycser&)> prefix)
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std::function<void(cycser &)> prefix)
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{
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assert(ros_message);
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@ -669,7 +671,7 @@ bool TypeSupport<MembersType>::serializeROSmessage(
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template<typename MembersType>
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bool TypeSupport<MembersType>::deserializeROSmessage(
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cycdeser & deser, void * ros_message,
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std::function<void(cycdeser&)> prefix)
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std::function<void(cycdeser &)> prefix)
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{
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assert(ros_message);
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@ -689,7 +691,7 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
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}
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template<typename MembersType>
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std::string TypeSupport<MembersType>::getName ()
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std::string TypeSupport<MembersType>::getName()
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{
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return name;
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}
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@ -11,47 +11,65 @@
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef SERDATA_HPP
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#define SERDATA_HPP
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#ifndef RMW_CYCLONEDDS_CPP__SERDATA_HPP_
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#define RMW_CYCLONEDDS_CPP__SERDATA_HPP_
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#include <string>
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#include <vector>
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#include "dds/ddsi/ddsi_sertopic.h"
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#include "dds/ddsi/ddsi_serdata.h"
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struct CddsTypeSupport {
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void *type_support_;
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const char *typesupport_identifier_;
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struct CddsTypeSupport
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{
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void * type_support_;
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const char * typesupport_identifier_;
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};
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struct sertopic_rmw : ddsi_sertopic {
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CddsTypeSupport type_support;
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bool is_request_header;
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std::string cpp_name;
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std::string cpp_type_name;
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std::string cpp_name_type_name;
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struct sertopic_rmw : ddsi_sertopic
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{
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CddsTypeSupport type_support;
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bool is_request_header;
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std::string cpp_name;
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std::string cpp_type_name;
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std::string cpp_name_type_name;
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};
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struct serdata_rmw : ddsi_serdata {
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/* first two bytes of data is CDR encoding
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second two bytes are encoding options */
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std::vector<unsigned char> data;
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struct serdata_rmw : ddsi_serdata
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{
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/* first two bytes of data is CDR encoding
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second two bytes are encoding options */
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std::vector<unsigned char> data;
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};
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typedef struct cdds_request_header {
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uint64_t guid;
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int64_t seq;
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typedef struct cdds_request_header
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{
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uint64_t guid;
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int64_t seq;
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} cdds_request_header_t;
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typedef struct cdds_request_wrapper {
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cdds_request_header_t header;
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void *data;
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typedef struct cdds_request_wrapper
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{
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cdds_request_header_t header;
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void * data;
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} cdds_request_wrapper_t;
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void *create_message_type_support (const void *untyped_members, const char *typesupport_identifier);
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void *create_request_type_support (const void *untyped_members, const char *typesupport_identifier);
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void *create_response_type_support (const void *untyped_members, const char *typesupport_identifier);
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void * create_message_type_support(
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const void * untyped_members,
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const char * typesupport_identifier);
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void * create_request_type_support(
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const void * untyped_members,
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const char * typesupport_identifier);
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void * create_response_type_support(
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const void * untyped_members,
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const char * typesupport_identifier);
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struct sertopic_rmw *create_sertopic (const char *topicname, const char *type_support_identifier, void *type_support, bool is_request_header);
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struct sertopic_rmw * create_sertopic(
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const char * topicname, const char * type_support_identifier,
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void * type_support, bool is_request_header);
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struct ddsi_serdata *serdata_rmw_from_serialized_message (const struct ddsi_sertopic *topiccmn, const void *raw, size_t size);
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struct ddsi_serdata * serdata_rmw_from_serialized_message(
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const struct ddsi_sertopic * topiccmn,
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const void * raw, size_t size);
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#endif
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#endif // RMW_CYCLONEDDS_CPP__SERDATA_HPP_
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@ -1,4 +1,4 @@
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// Copyright 2018 ADLINK Technology
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// Copyright 2018 to 2019 ADLINK Technology
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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@ -12,238 +12,263 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef SERDES_HPP
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#define SERDES_HPP
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#ifndef RMW_CYCLONEDDS_CPP__SERDES_HPP_
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#define RMW_CYCLONEDDS_CPP__SERDES_HPP_
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#include <string.h>
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#include <array>
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#include <string>
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#include <vector>
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#include <string.h>
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#include <type_traits>
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class cycser {
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class cycser
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{
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public:
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cycser (std::vector<unsigned char>& dst_);
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cycser () = delete;
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explicit cycser(std::vector<unsigned char> & dst_);
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cycser() = delete;
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inline cycser& operator<< (bool x) { serialize (x); return *this; }
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inline cycser& operator<< (char x) { serialize (x); return *this; }
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inline cycser& operator<< (int8_t x) { serialize (x); return *this; }
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inline cycser& operator<< (uint8_t x) { serialize (x); return *this; }
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inline cycser& operator<< (int16_t x) { serialize (x); return *this; }
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inline cycser& operator<< (uint16_t x) { serialize (x); return *this; }
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inline cycser& operator<< (int32_t x) { serialize (x); return *this; }
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inline cycser& operator<< (uint32_t x) { serialize (x); return *this; }
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inline cycser& operator<< (int64_t x) { serialize (x); return *this; }
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inline cycser& operator<< (uint64_t x) { serialize (x); return *this; }
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inline cycser& operator<< (float x) { serialize (x); return *this; }
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inline cycser& operator<< (double x) { serialize (x); return *this; }
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inline cycser& operator<< (const char *x) { serialize (x); return *this; }
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inline cycser& operator<< (const std::string& x) { serialize (x); return *this; }
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template<class T> inline cycser& operator<< (const std::vector<T>& x) { serialize (x); return *this; }
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template<class T, size_t S> inline cycser& operator<< (const std::array<T, S>& x) { serialize (x); return *this; }
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inline cycser & operator<<(bool x) {serialize(x); return *this;}
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inline cycser & operator<<(char x) {serialize(x); return *this;}
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inline cycser & operator<<(int8_t x) {serialize(x); return *this;}
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inline cycser & operator<<(uint8_t x) {serialize(x); return *this;}
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inline cycser & operator<<(int16_t x) {serialize(x); return *this;}
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inline cycser & operator<<(uint16_t x) {serialize(x); return *this;}
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inline cycser & operator<<(int32_t x) {serialize(x); return *this;}
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inline cycser & operator<<(uint32_t x) {serialize(x); return *this;}
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inline cycser & operator<<(int64_t x) {serialize(x); return *this;}
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inline cycser & operator<<(uint64_t x) {serialize(x); return *this;}
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inline cycser & operator<<(float x) {serialize(x); return *this;}
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inline cycser & operator<<(double x) {serialize(x); return *this;}
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inline cycser & operator<<(const char * x) {serialize(x); return *this;}
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inline cycser & operator<<(const std::string & x) {serialize(x); return *this;}
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template<class T>
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inline cycser & operator<<(const std::vector<T> & x) {serialize(x); return *this;}
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template<class T, size_t S>
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inline cycser & operator<<(const std::array<T, S> & x) {serialize(x); return *this;}
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#define SIMPLE(T) inline void serialize (T x) { \
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if ((off % sizeof (T)) != 0) { \
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off += sizeof (T) - (off % sizeof (T)); \
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} \
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resize (off + sizeof (T)); \
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*(T *) (data () + off) = x; \
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off += sizeof (T); \
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}
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SIMPLE (char);
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SIMPLE (int8_t);
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SIMPLE (uint8_t);
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SIMPLE (int16_t);
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SIMPLE (uint16_t);
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SIMPLE (int32_t);
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SIMPLE (uint32_t);
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SIMPLE (int64_t);
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SIMPLE (uint64_t);
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SIMPLE (float);
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SIMPLE (double);
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#define SIMPLE(T) inline void serialize(T x) { \
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if ((off % sizeof(T)) != 0) { \
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off += sizeof(T) - (off % sizeof(T)); \
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} \
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resize(off + sizeof(T)); \
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*(reinterpret_cast<T *>(data() + off)) = x; \
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off += sizeof(T); \
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}
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SIMPLE(char);
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SIMPLE(int8_t);
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SIMPLE(uint8_t);
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SIMPLE(int16_t);
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SIMPLE(uint16_t);
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SIMPLE(int32_t);
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SIMPLE(uint32_t);
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SIMPLE(int64_t);
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SIMPLE(uint64_t);
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SIMPLE(float);
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SIMPLE(double);
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#undef SIMPLE
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inline void serialize (bool x) {
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serialize (static_cast<unsigned char> (x));
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}
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inline void serialize (const char *x)
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{
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size_t sz = strlen (x) + 1;
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serialize (static_cast<uint32_t> (sz));
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resize (off + sz);
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memcpy (data () + off, x, sz);
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off += sz;
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}
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inline void serialize (const std::string& x)
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{
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size_t sz = x.size () + 1;
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serialize (static_cast<uint32_t> (sz));
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resize (off + sz);
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memcpy (data () + off, x.c_str (), sz);
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off += sz;
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}
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inline void serialize(bool x)
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{
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serialize(static_cast<unsigned char>(x));
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}
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inline void serialize(const char * x)
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{
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size_t sz = strlen(x) + 1;
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serialize(static_cast<uint32_t>(sz));
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resize(off + sz);
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memcpy(data() + off, x, sz);
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off += sz;
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}
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inline void serialize(const std::string & x)
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{
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size_t sz = x.size() + 1;
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serialize(static_cast<uint32_t>(sz));
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resize(off + sz);
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memcpy(data() + off, x.c_str(), sz);
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off += sz;
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}
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#define SIMPLEA(T) inline void serializeA (const T *x, size_t cnt) { \
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if (cnt > 0) { \
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if ((off % sizeof (T)) != 0) { \
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off += sizeof (T) - (off % sizeof (T)); \
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} \
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resize (off + cnt * sizeof (T)); \
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memcpy (data () + off, (void *) x, cnt * sizeof (T)); \
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off += cnt * sizeof (T); \
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} \
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}
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SIMPLEA (char);
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SIMPLEA (int8_t);
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SIMPLEA (uint8_t);
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SIMPLEA (int16_t);
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SIMPLEA (uint16_t);
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SIMPLEA (int32_t);
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SIMPLEA (uint32_t);
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SIMPLEA (int64_t);
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SIMPLEA (uint64_t);
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SIMPLEA (float);
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SIMPLEA (double);
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#define SIMPLEA(T) inline void serializeA(const T * x, size_t cnt) { \
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if (cnt > 0) { \
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if ((off % sizeof(T)) != 0) { \
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off += sizeof(T) - (off % sizeof(T)); \
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} \
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resize(off + cnt * sizeof(T)); \
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memcpy(data() + off, reinterpret_cast<const void *>(x), cnt * sizeof(T)); \
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off += cnt * sizeof(T); \
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} \
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}
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SIMPLEA(char);
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SIMPLEA(int8_t);
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SIMPLEA(uint8_t);
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SIMPLEA(int16_t);
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SIMPLEA(uint16_t);
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SIMPLEA(int32_t);
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SIMPLEA(uint32_t);
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SIMPLEA(int64_t);
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SIMPLEA(uint64_t);
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SIMPLEA(float);
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SIMPLEA(double);
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#undef SIMPLEA
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template<class T> inline void serializeA (const T *x, size_t cnt) {
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for (size_t i = 0; i < cnt; i++) serialize (x[i]);
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}
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template<class T>
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inline void serializeA(const T * x, size_t cnt)
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{
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for (size_t i = 0; i < cnt; i++) {serialize(x[i]);}
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}
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template<class T> inline void serialize (const std::vector<T>& x)
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{
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serialize (static_cast<uint32_t> (x.size ()));
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serializeA (x.data (), x.size ());
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}
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inline void serialize (const std::vector<bool>& x) {
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serialize (static_cast<uint32_t> (x.size ()));
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for (auto&& i : x) serialize (i);
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}
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template<class T>
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inline void serialize(const std::vector<T> & x)
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{
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serialize(static_cast<uint32_t>(x.size()));
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serializeA(x.data(), x.size());
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}
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inline void serialize(const std::vector<bool> & x)
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{
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serialize(static_cast<uint32_t>(x.size()));
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for (auto && i : x) {serialize(i);}
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}
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template<class T> inline void serializeS (const T *x, size_t cnt)
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{
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serialize (static_cast<uint32_t> (cnt));
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serializeA (x, cnt);
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}
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template<class T>
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inline void serializeS(const T * x, size_t cnt)
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{
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serialize(static_cast<uint32_t>(cnt));
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serializeA(x, cnt);
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}
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private:
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inline void resize (size_t n) { dst.resize (n + 4); }
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inline unsigned char *data () { return dst.data () + 4; }
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inline void resize(size_t n) {dst.resize(n + 4);}
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inline unsigned char * data() {return dst.data() + 4;}
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std::vector<unsigned char>& dst;
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size_t off;
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std::vector<unsigned char> & dst;
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size_t off;
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};
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class cycdeser {
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class cycdeser
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{
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public:
|
||||
// FIXME: byteswapping
|
||||
cycdeser (const void *data, size_t size);
|
||||
cycdeser () = delete;
|
||||
// FIXME: byteswapping
|
||||
cycdeser(const void * data, size_t size);
|
||||
cycdeser() = delete;
|
||||
|
||||
inline cycdeser& operator>> (bool& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (char& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (int8_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (uint8_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (int16_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (uint16_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (int32_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (uint32_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (int64_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (uint64_t& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (float& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (double& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (char *& x) { deserialize (x); return *this; }
|
||||
inline cycdeser& operator>> (std::string& x) { deserialize (x); return *this; }
|
||||
template<class T> inline cycdeser& operator>> (std::vector<T>& x) { deserialize (x); return *this; }
|
||||
template<class T, size_t S> inline cycdeser& operator>> (std::array<T, S>& x) { deserialize (x); return *this; }
|
||||
inline cycdeser & operator>>(bool & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(char & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(int8_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(uint8_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(int16_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(uint16_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(int32_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(uint32_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(int64_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(uint64_t & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(float & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(double & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(char * & x) {deserialize(x); return *this;}
|
||||
inline cycdeser & operator>>(std::string & x) {deserialize(x); return *this;}
|
||||
template<class T>
|
||||
inline cycdeser & operator>>(std::vector<T> & x) {deserialize(x); return *this;}
|
||||
template<class T, size_t S>
|
||||
inline cycdeser & operator>>(std::array<T, S> & x) {deserialize(x); return *this;}
|
||||
|
||||
#define SIMPLE(T) inline void deserialize (T& x) { \
|
||||
align (sizeof (x)); \
|
||||
x = *reinterpret_cast<const T *> (data + pos); \
|
||||
pos += sizeof (x); \
|
||||
}
|
||||
SIMPLE (char);
|
||||
SIMPLE (int8_t);
|
||||
SIMPLE (uint8_t);
|
||||
SIMPLE (int16_t);
|
||||
SIMPLE (uint16_t);
|
||||
SIMPLE (int32_t);
|
||||
SIMPLE (uint32_t);
|
||||
SIMPLE (int64_t);
|
||||
SIMPLE (uint64_t);
|
||||
SIMPLE (float);
|
||||
SIMPLE (double);
|
||||
#define SIMPLE(T) inline void deserialize(T & x) { \
|
||||
align(sizeof(x)); \
|
||||
x = *reinterpret_cast<const T *>(data + pos); \
|
||||
pos += sizeof(x); \
|
||||
}
|
||||
SIMPLE(char);
|
||||
SIMPLE(int8_t);
|
||||
SIMPLE(uint8_t);
|
||||
SIMPLE(int16_t);
|
||||
SIMPLE(uint16_t);
|
||||
SIMPLE(int32_t);
|
||||
SIMPLE(uint32_t);
|
||||
SIMPLE(int64_t);
|
||||
SIMPLE(uint64_t);
|
||||
SIMPLE(float);
|
||||
SIMPLE(double);
|
||||
#undef SIMPLE
|
||||
|
||||
inline void deserialize (bool& x) {
|
||||
unsigned char z; deserialize (z); x = (z != 0);
|
||||
}
|
||||
inline uint32_t deserialize32 () {
|
||||
uint32_t sz; deserialize (sz); return sz;
|
||||
}
|
||||
inline void deserialize (char *& x) {
|
||||
const uint32_t sz = deserialize32 ();
|
||||
x = (char *) malloc (sz);
|
||||
memcpy (x, data + pos, sz);
|
||||
pos += sz;
|
||||
}
|
||||
inline void deserialize (std::string& x) {
|
||||
const uint32_t sz = deserialize32 ();
|
||||
x = std::string (data + pos, sz-1);
|
||||
pos += sz;
|
||||
}
|
||||
inline void deserialize(bool & x)
|
||||
{
|
||||
unsigned char z; deserialize(z); x = (z != 0);
|
||||
}
|
||||
inline uint32_t deserialize32()
|
||||
{
|
||||
uint32_t sz; deserialize(sz); return sz;
|
||||
}
|
||||
inline void deserialize(char * & x)
|
||||
{
|
||||
const uint32_t sz = deserialize32();
|
||||
x = reinterpret_cast<char *>(malloc(sz));
|
||||
memcpy(x, data + pos, sz);
|
||||
pos += sz;
|
||||
}
|
||||
inline void deserialize(std::string & x)
|
||||
{
|
||||
const uint32_t sz = deserialize32();
|
||||
x = std::string(data + pos, sz - 1);
|
||||
pos += sz;
|
||||
}
|
||||
|
||||
#define SIMPLEA(T) inline void deserializeA (T *x, size_t cnt) { \
|
||||
if (cnt > 0) { \
|
||||
align (sizeof (T)); \
|
||||
memcpy ((void *) x, (void *) (data + pos), (cnt) * sizeof (T)); \
|
||||
pos += (cnt) * sizeof (T); \
|
||||
} \
|
||||
}
|
||||
SIMPLEA (char);
|
||||
SIMPLEA (int8_t);
|
||||
SIMPLEA (uint8_t);
|
||||
SIMPLEA (int16_t);
|
||||
SIMPLEA (uint16_t);
|
||||
SIMPLEA (int32_t);
|
||||
SIMPLEA (uint32_t);
|
||||
SIMPLEA (int64_t);
|
||||
SIMPLEA (uint64_t);
|
||||
SIMPLEA (float);
|
||||
SIMPLEA (double);
|
||||
#define SIMPLEA(T) inline void deserializeA(T * x, size_t cnt) { \
|
||||
if (cnt > 0) { \
|
||||
align(sizeof(T)); \
|
||||
memcpy(reinterpret_cast<void *>(x), reinterpret_cast<const void *>(data + pos), \
|
||||
(cnt) * sizeof(T)); \
|
||||
pos += (cnt) * sizeof(T); \
|
||||
} \
|
||||
}
|
||||
SIMPLEA(char);
|
||||
SIMPLEA(int8_t);
|
||||
SIMPLEA(uint8_t);
|
||||
SIMPLEA(int16_t);
|
||||
SIMPLEA(uint16_t);
|
||||
SIMPLEA(int32_t);
|
||||
SIMPLEA(uint32_t);
|
||||
SIMPLEA(int64_t);
|
||||
SIMPLEA(uint64_t);
|
||||
SIMPLEA(float);
|
||||
SIMPLEA(double);
|
||||
#undef SIMPLEA
|
||||
template<class T> inline void deserializeA (T *x, size_t cnt) {
|
||||
for (size_t i = 0; i < cnt; i++) deserialize (x[i]);
|
||||
}
|
||||
template<class T>
|
||||
inline void deserializeA(T * x, size_t cnt)
|
||||
{
|
||||
for (size_t i = 0; i < cnt; i++) {deserialize(x[i]);}
|
||||
}
|
||||
|
||||
template<class T> inline void deserialize (std::vector<T>& x) {
|
||||
const uint32_t sz = deserialize32 ();
|
||||
x.resize (sz);
|
||||
deserializeA (x.data (), sz);
|
||||
}
|
||||
inline void deserialize (std::vector<bool>& x) {
|
||||
const uint32_t sz = deserialize32 ();
|
||||
x.resize (sz);
|
||||
for (size_t i = 0; i < sz; i++) {
|
||||
x[i] = ((data + pos)[i] != 0);
|
||||
}
|
||||
pos += sz;
|
||||
}
|
||||
template<class T, size_t S> inline void deserialize (std::array<T, S>& x) {
|
||||
deserializeA (x.data (), x.size ());
|
||||
template<class T>
|
||||
inline void deserialize(std::vector<T> & x)
|
||||
{
|
||||
const uint32_t sz = deserialize32();
|
||||
x.resize(sz);
|
||||
deserializeA(x.data(), sz);
|
||||
}
|
||||
inline void deserialize(std::vector<bool> & x)
|
||||
{
|
||||
const uint32_t sz = deserialize32();
|
||||
x.resize(sz);
|
||||
for (size_t i = 0; i < sz; i++) {
|
||||
x[i] = ((data + pos)[i] != 0);
|
||||
}
|
||||
pos += sz;
|
||||
}
|
||||
template<class T, size_t S>
|
||||
inline void deserialize(std::array<T, S> & x)
|
||||
{
|
||||
deserializeA(x.data(), x.size());
|
||||
}
|
||||
|
||||
private:
|
||||
inline void align (size_t a)
|
||||
{
|
||||
if ((pos % a) != 0) {
|
||||
pos += a - (pos % a);
|
||||
}
|
||||
inline void align(size_t a)
|
||||
{
|
||||
if ((pos % a) != 0) {
|
||||
pos += a - (pos % a);
|
||||
}
|
||||
}
|
||||
|
||||
const char *data;
|
||||
size_t pos;
|
||||
size_t lim; // ignored for now ... better provide correct input
|
||||
const char * data;
|
||||
size_t pos;
|
||||
size_t lim; // ignored for now ... better provide correct input
|
||||
};
|
||||
|
||||
#endif
|
||||
#endif // RMW_CYCLONEDDS_CPP__SERDES_HPP_
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load diff
|
|
@ -11,9 +11,12 @@
|
|||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#include <string.h>
|
||||
|
||||
#include <vector>
|
||||
#include <regex>
|
||||
#include <sstream>
|
||||
#include <string>
|
||||
|
||||
#include "rmw/error_handling.h"
|
||||
|
||||
|
|
@ -26,356 +29,413 @@
|
|||
#include "dds/ddsi/ddsi_iid.h"
|
||||
#include "dds/ddsi/q_radmin.h"
|
||||
|
||||
using MessageTypeSupport_c = rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_c__MessageMembers>;
|
||||
using MessageTypeSupport_cpp = rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_cpp::MessageMembers>;
|
||||
using RequestTypeSupport_c = rmw_cyclonedds_cpp::RequestTypeSupport<rosidl_typesupport_introspection_c__ServiceMembers, rosidl_typesupport_introspection_c__MessageMembers>;
|
||||
using RequestTypeSupport_cpp = rmw_cyclonedds_cpp::RequestTypeSupport<rosidl_typesupport_introspection_cpp::ServiceMembers, rosidl_typesupport_introspection_cpp::MessageMembers>;
|
||||
using ResponseTypeSupport_c = rmw_cyclonedds_cpp::ResponseTypeSupport<rosidl_typesupport_introspection_c__ServiceMembers, rosidl_typesupport_introspection_c__MessageMembers>;
|
||||
using ResponseTypeSupport_cpp = rmw_cyclonedds_cpp::ResponseTypeSupport<rosidl_typesupport_introspection_cpp::ServiceMembers, rosidl_typesupport_introspection_cpp::MessageMembers>;
|
||||
using MessageTypeSupport_c =
|
||||
rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_c__MessageMembers>;
|
||||
using MessageTypeSupport_cpp =
|
||||
rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_cpp::MessageMembers>;
|
||||
using RequestTypeSupport_c = rmw_cyclonedds_cpp::RequestTypeSupport<
|
||||
rosidl_typesupport_introspection_c__ServiceMembers,
|
||||
rosidl_typesupport_introspection_c__MessageMembers>;
|
||||
using RequestTypeSupport_cpp = rmw_cyclonedds_cpp::RequestTypeSupport<
|
||||
rosidl_typesupport_introspection_cpp::ServiceMembers,
|
||||
rosidl_typesupport_introspection_cpp::MessageMembers>;
|
||||
using ResponseTypeSupport_c = rmw_cyclonedds_cpp::ResponseTypeSupport<
|
||||
rosidl_typesupport_introspection_c__ServiceMembers,
|
||||
rosidl_typesupport_introspection_c__MessageMembers>;
|
||||
using ResponseTypeSupport_cpp = rmw_cyclonedds_cpp::ResponseTypeSupport<
|
||||
rosidl_typesupport_introspection_cpp::ServiceMembers,
|
||||
rosidl_typesupport_introspection_cpp::MessageMembers>;
|
||||
|
||||
static bool using_introspection_c_typesupport (const char *typesupport_identifier)
|
||||
static bool using_introspection_c_typesupport(const char * typesupport_identifier)
|
||||
{
|
||||
return typesupport_identifier == rosidl_typesupport_introspection_c__identifier;
|
||||
return typesupport_identifier == rosidl_typesupport_introspection_c__identifier;
|
||||
}
|
||||
|
||||
static bool using_introspection_cpp_typesupport (const char *typesupport_identifier)
|
||||
static bool using_introspection_cpp_typesupport(const char * typesupport_identifier)
|
||||
{
|
||||
return typesupport_identifier == rosidl_typesupport_introspection_cpp::typesupport_identifier;
|
||||
return typesupport_identifier == rosidl_typesupport_introspection_cpp::typesupport_identifier;
|
||||
}
|
||||
|
||||
void *create_message_type_support (const void *untyped_members, const char *typesupport_identifier)
|
||||
void * create_message_type_support(
|
||||
const void * untyped_members,
|
||||
const char * typesupport_identifier)
|
||||
{
|
||||
if (using_introspection_c_typesupport (typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_c__MessageMembers *> (untyped_members);
|
||||
return new MessageTypeSupport_c (members);
|
||||
} else if (using_introspection_cpp_typesupport (typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *> (untyped_members);
|
||||
return new MessageTypeSupport_cpp (members);
|
||||
if (using_introspection_c_typesupport(typesupport_identifier)) {
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(untyped_members);
|
||||
return new MessageTypeSupport_c(members);
|
||||
} else if (using_introspection_cpp_typesupport(typesupport_identifier)) {
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(untyped_members);
|
||||
return new MessageTypeSupport_cpp(members);
|
||||
}
|
||||
RMW_SET_ERROR_MSG("Unknown typesupport identifier");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void * create_request_type_support(
|
||||
const void * untyped_members,
|
||||
const char * typesupport_identifier)
|
||||
{
|
||||
if (using_introspection_c_typesupport(typesupport_identifier)) {
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(untyped_members);
|
||||
return new RequestTypeSupport_c(members);
|
||||
} else if (using_introspection_cpp_typesupport(typesupport_identifier)) {
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(untyped_members);
|
||||
return new RequestTypeSupport_cpp(members);
|
||||
}
|
||||
RMW_SET_ERROR_MSG("Unknown typesupport identifier");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void * create_response_type_support(
|
||||
const void * untyped_members,
|
||||
const char * typesupport_identifier)
|
||||
{
|
||||
if (using_introspection_c_typesupport(typesupport_identifier)) {
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(untyped_members);
|
||||
return new ResponseTypeSupport_c(members);
|
||||
} else if (using_introspection_cpp_typesupport(typesupport_identifier)) {
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(untyped_members);
|
||||
return new ResponseTypeSupport_cpp(members);
|
||||
}
|
||||
RMW_SET_ERROR_MSG("Unknown typesupport identifier");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
static uint32_t serdata_rmw_size(const struct ddsi_serdata * dcmn)
|
||||
{
|
||||
const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
|
||||
return static_cast<uint32_t>(d->data.size());
|
||||
}
|
||||
|
||||
static void serdata_rmw_free(struct ddsi_serdata * dcmn)
|
||||
{
|
||||
const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
|
||||
delete d;
|
||||
}
|
||||
|
||||
static struct serdata_rmw * rmw_serdata_new(
|
||||
const struct ddsi_sertopic * topic,
|
||||
enum ddsi_serdata_kind kind)
|
||||
{
|
||||
struct serdata_rmw * sd = new serdata_rmw;
|
||||
ddsi_serdata_init(sd, topic, kind);
|
||||
return sd;
|
||||
}
|
||||
|
||||
static struct ddsi_serdata * serdata_rmw_from_ser(
|
||||
const struct ddsi_sertopic * topic,
|
||||
enum ddsi_serdata_kind kind,
|
||||
const struct nn_rdata * fragchain, size_t size)
|
||||
{
|
||||
struct serdata_rmw * d = rmw_serdata_new(topic, kind);
|
||||
uint32_t off = 0;
|
||||
assert(fragchain->min == 0);
|
||||
assert(fragchain->maxp1 >= off); /* CDR header must be in first fragment */
|
||||
d->data.reserve(size);
|
||||
while (fragchain) {
|
||||
if (fragchain->maxp1 > off) {
|
||||
/* only copy if this fragment adds data */
|
||||
const unsigned char * payload =
|
||||
NN_RMSG_PAYLOADOFF(fragchain->rmsg, NN_RDATA_PAYLOAD_OFF(fragchain));
|
||||
d->data.insert(
|
||||
d->data.end(), payload + off - fragchain->min, payload + fragchain->maxp1 - fragchain->min);
|
||||
off = fragchain->maxp1;
|
||||
}
|
||||
RMW_SET_ERROR_MSG ("Unknown typesupport identifier");
|
||||
return nullptr;
|
||||
fragchain = fragchain->nextfrag;
|
||||
}
|
||||
return d;
|
||||
}
|
||||
|
||||
void *create_request_type_support (const void *untyped_members, const char *typesupport_identifier)
|
||||
static struct ddsi_serdata * serdata_rmw_from_keyhash(
|
||||
const struct ddsi_sertopic * topic,
|
||||
const struct nn_keyhash * keyhash)
|
||||
{
|
||||
if (using_introspection_c_typesupport (typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *> (untyped_members);
|
||||
return new RequestTypeSupport_c (members);
|
||||
} else if (using_introspection_cpp_typesupport (typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *> (untyped_members);
|
||||
return new RequestTypeSupport_cpp (members);
|
||||
static_cast<void>(keyhash); // unused
|
||||
/* there is no key field, so from_keyhash is trivial */
|
||||
return rmw_serdata_new(topic, SDK_KEY);
|
||||
}
|
||||
|
||||
static struct ddsi_serdata * serdata_rmw_from_sample(
|
||||
const struct ddsi_sertopic * topiccmn,
|
||||
enum ddsi_serdata_kind kind,
|
||||
const void * sample)
|
||||
{
|
||||
const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(topiccmn);
|
||||
struct serdata_rmw * d = rmw_serdata_new(topic, kind);
|
||||
if (kind != SDK_DATA) {
|
||||
/* ROS2 doesn't do keys, so SDK_KEY is trivial */
|
||||
} else if (!topic->is_request_header) {
|
||||
cycser sd(d->data);
|
||||
if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage(sample, sd, nullptr);
|
||||
} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage(sample, sd, nullptr);
|
||||
}
|
||||
RMW_SET_ERROR_MSG ("Unknown typesupport identifier");
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
void *create_response_type_support (const void *untyped_members, const char *typesupport_identifier)
|
||||
{
|
||||
if (using_introspection_c_typesupport (typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *> (untyped_members);
|
||||
return new ResponseTypeSupport_c (members);
|
||||
} else if (using_introspection_cpp_typesupport (typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *> (untyped_members);
|
||||
return new ResponseTypeSupport_cpp (members);
|
||||
} else {
|
||||
/* The "prefix" lambda is there to inject the service invocation header data into the CDR
|
||||
stream -- I haven't checked how it is done in the official RMW implementations, so it is
|
||||
probably incompatible. */
|
||||
const cdds_request_wrapper_t * wrap = static_cast<const cdds_request_wrapper_t *>(sample);
|
||||
auto prefix = [wrap](cycser & ser) {ser << wrap->header.guid; ser << wrap->header.seq;};
|
||||
cycser sd(d->data);
|
||||
if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
|
||||
} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
|
||||
}
|
||||
RMW_SET_ERROR_MSG ("Unknown typesupport identifier");
|
||||
return nullptr;
|
||||
}
|
||||
/* FIXME: CDR padding in DDSI makes me do this to avoid reading beyond the bounds of the vector
|
||||
when copying data to network. Should fix Cyclone to handle that more elegantly. */
|
||||
while (d->data.size() % 4) {
|
||||
d->data.push_back(0);
|
||||
}
|
||||
return d;
|
||||
}
|
||||
|
||||
static uint32_t serdata_rmw_size (const struct ddsi_serdata *dcmn)
|
||||
struct ddsi_serdata * serdata_rmw_from_serialized_message(
|
||||
const struct ddsi_sertopic * topiccmn,
|
||||
const void * raw, size_t size)
|
||||
{
|
||||
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
|
||||
return static_cast<uint32_t>(d->data.size());
|
||||
const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(topiccmn);
|
||||
struct serdata_rmw * d = rmw_serdata_new(topic, SDK_DATA);
|
||||
/* FIXME: CDR padding in DDSI makes me do this to avoid reading beyond the bounds of the vector
|
||||
when copying data to network. Should fix Cyclone to handle that more elegantly. */
|
||||
d->data.resize(size);
|
||||
memcpy(d->data.data(), raw, size);
|
||||
while (d->data.size() % 4) {
|
||||
d->data.push_back(0);
|
||||
}
|
||||
return d;
|
||||
}
|
||||
|
||||
static void serdata_rmw_free (struct ddsi_serdata *dcmn)
|
||||
static struct ddsi_serdata * serdata_rmw_to_topicless(const struct ddsi_serdata * dcmn)
|
||||
{
|
||||
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
|
||||
delete d;
|
||||
const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
|
||||
struct serdata_rmw * d1 = rmw_serdata_new(d->topic, SDK_KEY);
|
||||
d1->topic = nullptr;
|
||||
return d1;
|
||||
}
|
||||
|
||||
static struct serdata_rmw *rmw_serdata_new (const struct ddsi_sertopic *topic, enum ddsi_serdata_kind kind)
|
||||
static void serdata_rmw_to_ser(const struct ddsi_serdata * dcmn, size_t off, size_t sz, void * buf)
|
||||
{
|
||||
struct serdata_rmw *sd = new serdata_rmw;
|
||||
ddsi_serdata_init (sd, topic, kind);
|
||||
return sd;
|
||||
const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
|
||||
memcpy(buf, reinterpret_cast<const char *>(d->data.data()) + off, sz);
|
||||
}
|
||||
|
||||
static struct ddsi_serdata *serdata_rmw_from_ser (const struct ddsi_sertopic *topic, enum ddsi_serdata_kind kind, const struct nn_rdata *fragchain, size_t size)
|
||||
static struct ddsi_serdata * serdata_rmw_to_ser_ref(
|
||||
const struct ddsi_serdata * dcmn, size_t off,
|
||||
size_t sz, ddsrt_iovec_t * ref)
|
||||
{
|
||||
struct serdata_rmw *d = rmw_serdata_new (topic, kind);
|
||||
uint32_t off = 0;
|
||||
assert (fragchain->min == 0);
|
||||
assert (fragchain->maxp1 >= off); /* CDR header must be in first fragment */
|
||||
d->data.reserve (size);
|
||||
while (fragchain) {
|
||||
if (fragchain->maxp1 > off) {
|
||||
/* only copy if this fragment adds data */
|
||||
const unsigned char *payload = NN_RMSG_PAYLOADOFF (fragchain->rmsg, NN_RDATA_PAYLOAD_OFF (fragchain));
|
||||
d->data.insert (d->data.end (), payload + off - fragchain->min, payload + fragchain->maxp1 - fragchain->min);
|
||||
off = fragchain->maxp1;
|
||||
}
|
||||
fragchain = fragchain->nextfrag;
|
||||
}
|
||||
return d;
|
||||
const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
|
||||
ref->iov_base = const_cast<char *>(reinterpret_cast<const char *>(d->data.data())) + off;
|
||||
ref->iov_len = (ddsrt_iov_len_t) sz;
|
||||
return ddsi_serdata_ref(d);
|
||||
}
|
||||
|
||||
static struct ddsi_serdata *serdata_rmw_from_keyhash (const struct ddsi_sertopic *topic, const struct nn_keyhash *keyhash)
|
||||
static void serdata_rmw_to_ser_unref(struct ddsi_serdata * dcmn, const ddsrt_iovec_t * ref)
|
||||
{
|
||||
static_cast<void>(keyhash); // unused
|
||||
/* there is no key field, so from_keyhash is trivial */
|
||||
return rmw_serdata_new (topic, SDK_KEY);
|
||||
static_cast<void>(ref); // unused
|
||||
struct serdata_rmw * d = static_cast<struct serdata_rmw *>(dcmn);
|
||||
ddsi_serdata_unref(d);
|
||||
}
|
||||
|
||||
static struct ddsi_serdata *serdata_rmw_from_sample (const struct ddsi_sertopic *topiccmn, enum ddsi_serdata_kind kind, const void *sample)
|
||||
static bool serdata_rmw_to_sample(
|
||||
const struct ddsi_serdata * dcmn, void * sample, void ** bufptr,
|
||||
void * buflim)
|
||||
{
|
||||
const struct sertopic_rmw *topic = static_cast<const struct sertopic_rmw *> (topiccmn);
|
||||
struct serdata_rmw *d = rmw_serdata_new (topic, kind);
|
||||
if (kind != SDK_DATA) {
|
||||
/* ROS2 doesn't do keys, so SDK_KEY is trivial */
|
||||
} else if (!topic->is_request_header) {
|
||||
cycser sd (d->data);
|
||||
if (using_introspection_c_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_c *> (topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage (sample, sd, nullptr);
|
||||
} else if (using_introspection_cpp_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *> (topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage (sample, sd, nullptr);
|
||||
}
|
||||
} else {
|
||||
/* The "prefix" lambda is there to inject the service invocation header data into the CDR
|
||||
stream -- I haven't checked how it is done in the official RMW implementations, so it is
|
||||
probably incompatible. */
|
||||
const cdds_request_wrapper_t *wrap = static_cast<const cdds_request_wrapper_t *> (sample);
|
||||
auto prefix = [wrap](cycser& ser) { ser << wrap->header.guid; ser << wrap->header.seq; };
|
||||
cycser sd (d->data);
|
||||
if (using_introspection_c_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_c *> (topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage (wrap->data, sd, prefix);
|
||||
} else if (using_introspection_cpp_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *> (topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage (wrap->data, sd, prefix);
|
||||
}
|
||||
}
|
||||
/* FIXME: CDR padding in DDSI makes me do this to avoid reading beyond the bounds of the vector
|
||||
when copying data to network. Should fix Cyclone to handle that more elegantly. */
|
||||
while (d->data.size () % 4) {
|
||||
d->data.push_back (0);
|
||||
}
|
||||
return d;
|
||||
}
|
||||
|
||||
struct ddsi_serdata *serdata_rmw_from_serialized_message (const struct ddsi_sertopic *topiccmn, const void *raw, size_t size)
|
||||
{
|
||||
const struct sertopic_rmw *topic = static_cast<const struct sertopic_rmw *> (topiccmn);
|
||||
struct serdata_rmw *d = rmw_serdata_new (topic, SDK_DATA);
|
||||
/* FIXME: CDR padding in DDSI makes me do this to avoid reading beyond the bounds of the vector
|
||||
when copying data to network. Should fix Cyclone to handle that more elegantly. */
|
||||
d->data.resize (size);
|
||||
memcpy (d->data.data (), raw, size);
|
||||
while (d->data.size () % 4) {
|
||||
d->data.push_back (0);
|
||||
}
|
||||
return d;
|
||||
}
|
||||
|
||||
static struct ddsi_serdata *serdata_rmw_to_topicless (const struct ddsi_serdata *dcmn)
|
||||
{
|
||||
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
|
||||
struct serdata_rmw *d1 = rmw_serdata_new (d->topic, SDK_KEY);
|
||||
d1->topic = nullptr;
|
||||
return d1;
|
||||
}
|
||||
|
||||
static void serdata_rmw_to_ser (const struct ddsi_serdata *dcmn, size_t off, size_t sz, void *buf)
|
||||
{
|
||||
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
|
||||
memcpy (buf, (char *) d->data.data () + off, sz);
|
||||
}
|
||||
|
||||
static struct ddsi_serdata *serdata_rmw_to_ser_ref (const struct ddsi_serdata *dcmn, size_t off, size_t sz, ddsrt_iovec_t *ref)
|
||||
{
|
||||
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
|
||||
ref->iov_base = (char *) d->data.data () + off;
|
||||
ref->iov_len = (ddsrt_iov_len_t) sz;
|
||||
return ddsi_serdata_ref (d);
|
||||
}
|
||||
|
||||
static void serdata_rmw_to_ser_unref (struct ddsi_serdata *dcmn, const ddsrt_iovec_t *ref)
|
||||
{
|
||||
static_cast<void>(ref); // unused
|
||||
struct serdata_rmw *d = static_cast<struct serdata_rmw *> (dcmn);
|
||||
ddsi_serdata_unref (d);
|
||||
}
|
||||
|
||||
static bool serdata_rmw_to_sample (const struct ddsi_serdata *dcmn, void *sample, void **bufptr, void *buflim)
|
||||
{
|
||||
static_cast<void>(bufptr); // unused
|
||||
static_cast<void>(buflim); // unused
|
||||
const struct serdata_rmw *d = static_cast<const struct serdata_rmw *> (dcmn);
|
||||
const struct sertopic_rmw *topic = static_cast<const struct sertopic_rmw *> (d->topic);
|
||||
assert (bufptr == NULL);
|
||||
assert (buflim == NULL);
|
||||
if (d->kind != SDK_DATA) {
|
||||
/* ROS2 doesn't do keys in a meaningful way yet */
|
||||
} else if (!topic->is_request_header) {
|
||||
cycdeser sd (static_cast<const void *> (d->data.data ()), d->data.size ());
|
||||
if (using_introspection_c_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_c *> (topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage (sd, sample, nullptr);
|
||||
} else if (using_introspection_cpp_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *> (topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage (sd, sample, nullptr);
|
||||
}
|
||||
} else {
|
||||
/* The "prefix" lambda is there to inject the service invocation header data into the CDR
|
||||
stream -- I haven't checked how it is done in the official RMW implementations, so it is
|
||||
probably incompatible. */
|
||||
cdds_request_wrapper_t * const wrap = static_cast<cdds_request_wrapper_t *> (sample);
|
||||
auto prefix = [wrap](cycdeser& ser) { ser >> wrap->header.guid; ser >> wrap->header.seq; };
|
||||
cycdeser sd (static_cast<const void *> (d->data.data ()), d->data.size ());
|
||||
if (using_introspection_c_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_c *> (topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage (sd, wrap->data, prefix);
|
||||
} else if (using_introspection_cpp_typesupport (topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *> (topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage (sd, wrap->data, prefix);
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
static bool serdata_rmw_topicless_to_sample (const struct ddsi_sertopic *topic, const struct ddsi_serdata *dcmn, void *sample, void **bufptr, void *buflim)
|
||||
{
|
||||
static_cast<void>(topic);
|
||||
static_cast<void>(dcmn);
|
||||
static_cast<void>(sample);
|
||||
static_cast<void>(bufptr);
|
||||
static_cast<void>(buflim);
|
||||
static_cast<void>(bufptr); // unused
|
||||
static_cast<void>(buflim); // unused
|
||||
const struct serdata_rmw * d = static_cast<const struct serdata_rmw *>(dcmn);
|
||||
const struct sertopic_rmw * topic = static_cast<const struct sertopic_rmw *>(d->topic);
|
||||
assert(bufptr == NULL);
|
||||
assert(buflim == NULL);
|
||||
if (d->kind != SDK_DATA) {
|
||||
/* ROS2 doesn't do keys in a meaningful way yet */
|
||||
return true;
|
||||
} else if (!topic->is_request_header) {
|
||||
cycdeser sd(static_cast<const void *>(d->data.data()), d->data.size());
|
||||
if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage(sd, sample, nullptr);
|
||||
} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage(sd, sample, nullptr);
|
||||
}
|
||||
} else {
|
||||
/* The "prefix" lambda is there to inject the service invocation header data into the CDR
|
||||
stream -- I haven't checked how it is done in the official RMW implementations, so it is
|
||||
probably incompatible. */
|
||||
cdds_request_wrapper_t * const wrap = static_cast<cdds_request_wrapper_t *>(sample);
|
||||
auto prefix = [wrap](cycdeser & ser) {ser >> wrap->header.guid; ser >> wrap->header.seq;};
|
||||
cycdeser sd(static_cast<const void *>(d->data.data()), d->data.size());
|
||||
if (using_introspection_c_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_c *>(topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage(sd, wrap->data, prefix);
|
||||
} else if (using_introspection_cpp_typesupport(topic->type_support.typesupport_identifier_)) {
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage(sd, wrap->data, prefix);
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
static bool serdata_rmw_eqkey (const struct ddsi_serdata *a, const struct ddsi_serdata *b)
|
||||
static bool serdata_rmw_topicless_to_sample(
|
||||
const struct ddsi_sertopic * topic,
|
||||
const struct ddsi_serdata * dcmn, void * sample,
|
||||
void ** bufptr, void * buflim)
|
||||
{
|
||||
static_cast<void>(a);
|
||||
static_cast<void>(b);
|
||||
/* ROS2 doesn't do keys in a meaningful way yet */
|
||||
return true;
|
||||
static_cast<void>(topic);
|
||||
static_cast<void>(dcmn);
|
||||
static_cast<void>(sample);
|
||||
static_cast<void>(bufptr);
|
||||
static_cast<void>(buflim);
|
||||
/* ROS2 doesn't do keys in a meaningful way yet */
|
||||
return true;
|
||||
}
|
||||
|
||||
static bool serdata_rmw_eqkey(const struct ddsi_serdata * a, const struct ddsi_serdata * b)
|
||||
{
|
||||
static_cast<void>(a);
|
||||
static_cast<void>(b);
|
||||
/* ROS2 doesn't do keys in a meaningful way yet */
|
||||
return true;
|
||||
}
|
||||
|
||||
static const struct ddsi_serdata_ops serdata_rmw_ops = {
|
||||
serdata_rmw_eqkey,
|
||||
serdata_rmw_size,
|
||||
serdata_rmw_from_ser,
|
||||
serdata_rmw_from_keyhash,
|
||||
serdata_rmw_from_sample,
|
||||
serdata_rmw_to_ser,
|
||||
serdata_rmw_to_ser_ref,
|
||||
serdata_rmw_to_ser_unref,
|
||||
serdata_rmw_to_sample,
|
||||
serdata_rmw_to_topicless,
|
||||
serdata_rmw_topicless_to_sample,
|
||||
serdata_rmw_free
|
||||
serdata_rmw_eqkey,
|
||||
serdata_rmw_size,
|
||||
serdata_rmw_from_ser,
|
||||
serdata_rmw_from_keyhash,
|
||||
serdata_rmw_from_sample,
|
||||
serdata_rmw_to_ser,
|
||||
serdata_rmw_to_ser_ref,
|
||||
serdata_rmw_to_ser_unref,
|
||||
serdata_rmw_to_sample,
|
||||
serdata_rmw_to_topicless,
|
||||
serdata_rmw_topicless_to_sample,
|
||||
serdata_rmw_free
|
||||
};
|
||||
|
||||
static void sertopic_rmw_free (struct ddsi_sertopic *tpcmn)
|
||||
static void sertopic_rmw_free(struct ddsi_sertopic * tpcmn)
|
||||
{
|
||||
struct sertopic_rmw *tp = static_cast<struct sertopic_rmw *> (tpcmn);
|
||||
delete tp;
|
||||
struct sertopic_rmw * tp = static_cast<struct sertopic_rmw *>(tpcmn);
|
||||
delete tp;
|
||||
}
|
||||
|
||||
static void sertopic_rmw_zero_samples (const struct ddsi_sertopic *d, void *samples, size_t count)
|
||||
static void sertopic_rmw_zero_samples(const struct ddsi_sertopic * d, void * samples, size_t count)
|
||||
{
|
||||
static_cast<void>(d);
|
||||
static_cast<void>(samples);
|
||||
static_cast<void>(count);
|
||||
/* Not using code paths that rely on the samples getting zero'd out */
|
||||
static_cast<void>(d);
|
||||
static_cast<void>(samples);
|
||||
static_cast<void>(count);
|
||||
/* Not using code paths that rely on the samples getting zero'd out */
|
||||
}
|
||||
|
||||
static void sertopic_rmw_realloc_samples (void **ptrs, const struct ddsi_sertopic *d, void *old, size_t oldcount, size_t count)
|
||||
static void sertopic_rmw_realloc_samples(
|
||||
void ** ptrs, const struct ddsi_sertopic * d, void * old,
|
||||
size_t oldcount, size_t count)
|
||||
{
|
||||
static_cast<void>(ptrs);
|
||||
static_cast<void>(d);
|
||||
static_cast<void>(old);
|
||||
static_cast<void>(oldcount);
|
||||
static_cast<void>(count);
|
||||
/* Not using code paths that rely on this (loans, dispose, unregister with instance handle,
|
||||
content filters) */
|
||||
abort ();
|
||||
static_cast<void>(ptrs);
|
||||
static_cast<void>(d);
|
||||
static_cast<void>(old);
|
||||
static_cast<void>(oldcount);
|
||||
static_cast<void>(count);
|
||||
/* Not using code paths that rely on this (loans, dispose, unregister with instance handle,
|
||||
content filters) */
|
||||
abort();
|
||||
}
|
||||
|
||||
static void sertopic_rmw_free_samples (const struct ddsi_sertopic *d, void **ptrs, size_t count, dds_free_op_t op)
|
||||
static void sertopic_rmw_free_samples(
|
||||
const struct ddsi_sertopic * d, void ** ptrs, size_t count,
|
||||
dds_free_op_t op)
|
||||
{
|
||||
static_cast<void>(d); // unused
|
||||
static_cast<void>(ptrs); // unused
|
||||
static_cast<void>(count); // unused
|
||||
/* Not using code paths that rely on this (dispose, unregister with instance handle, content
|
||||
filters) */
|
||||
assert (!(op & DDS_FREE_ALL_BIT));
|
||||
(void) op;
|
||||
static_cast<void>(d); // unused
|
||||
static_cast<void>(ptrs); // unused
|
||||
static_cast<void>(count); // unused
|
||||
/* Not using code paths that rely on this (dispose, unregister with instance handle, content
|
||||
filters) */
|
||||
assert(!(op & DDS_FREE_ALL_BIT));
|
||||
(void) op;
|
||||
}
|
||||
|
||||
static const struct ddsi_sertopic_ops sertopic_rmw_ops = {
|
||||
sertopic_rmw_free,
|
||||
sertopic_rmw_zero_samples,
|
||||
sertopic_rmw_realloc_samples,
|
||||
sertopic_rmw_free_samples
|
||||
sertopic_rmw_free,
|
||||
sertopic_rmw_zero_samples,
|
||||
sertopic_rmw_realloc_samples,
|
||||
sertopic_rmw_free_samples
|
||||
};
|
||||
|
||||
template<typename MembersType>
|
||||
ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_LOCAL
|
||||
inline std::string create_type_name (const void * untyped_members)
|
||||
inline std::string create_type_name(const void * untyped_members)
|
||||
{
|
||||
auto members = static_cast<const MembersType *> (untyped_members);
|
||||
auto members = static_cast<const MembersType *>(untyped_members);
|
||||
if (!members) {
|
||||
RMW_SET_ERROR_MSG("members handle is null");
|
||||
return "";
|
||||
}
|
||||
|
||||
std::ostringstream ss;
|
||||
std::string message_namespace (members->message_namespace_);
|
||||
std::string message_namespace(members->message_namespace_);
|
||||
// Find and replace C namespace separator with C++, in case this is using C typesupport
|
||||
message_namespace = std::regex_replace (message_namespace, std::regex("__"), "::");
|
||||
std::string message_name (members->message_name_);
|
||||
if (!message_namespace.empty ()) {
|
||||
message_namespace = std::regex_replace(message_namespace, std::regex("__"), "::");
|
||||
std::string message_name(members->message_name_);
|
||||
if (!message_namespace.empty()) {
|
||||
ss << message_namespace << "::";
|
||||
}
|
||||
ss << "dds_::" << message_name << "_";
|
||||
return ss.str ();
|
||||
return ss.str();
|
||||
}
|
||||
|
||||
static std::string get_type_name (const char *type_support_identifier, void *type_support)
|
||||
static std::string get_type_name(const char * type_support_identifier, void * type_support)
|
||||
{
|
||||
if (using_introspection_c_typesupport (type_support_identifier)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_c *> (type_support);
|
||||
return typed_typesupport->getName ();
|
||||
} else if (using_introspection_cpp_typesupport (type_support_identifier)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *> (type_support);
|
||||
return typed_typesupport->getName ();
|
||||
} else {
|
||||
return "absent";
|
||||
}
|
||||
if (using_introspection_c_typesupport(type_support_identifier)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_c *>(type_support);
|
||||
return typed_typesupport->getName();
|
||||
} else if (using_introspection_cpp_typesupport(type_support_identifier)) {
|
||||
auto typed_typesupport = static_cast<MessageTypeSupport_cpp *>(type_support);
|
||||
return typed_typesupport->getName();
|
||||
} else {
|
||||
return "absent";
|
||||
}
|
||||
}
|
||||
|
||||
struct sertopic_rmw *create_sertopic (const char *topicname, const char *type_support_identifier, void *type_support, bool is_request_header)
|
||||
struct sertopic_rmw * create_sertopic(
|
||||
const char * topicname, const char * type_support_identifier,
|
||||
void * type_support, bool is_request_header)
|
||||
{
|
||||
struct sertopic_rmw *st = new struct sertopic_rmw;
|
||||
memset (st, 0, sizeof (struct ddsi_sertopic));
|
||||
st->cpp_name = std::string (topicname);
|
||||
st->cpp_type_name = get_type_name (type_support_identifier, type_support);
|
||||
st->cpp_name_type_name = st->cpp_name + std::string (";") + std::string (st->cpp_type_name);
|
||||
st->ops = &sertopic_rmw_ops;
|
||||
st->serdata_ops = &serdata_rmw_ops;
|
||||
st->serdata_basehash = ddsi_sertopic_compute_serdata_basehash (st->serdata_ops);
|
||||
st->name_type_name = const_cast<char *> (st->cpp_name_type_name.c_str ());
|
||||
st->name = const_cast<char *> (st->cpp_name.c_str ());
|
||||
st->type_name = const_cast<char *> (st->cpp_type_name.c_str ());
|
||||
st->iid = ddsi_iid_gen ();
|
||||
ddsrt_atomic_st32 (&st->refc, 1);
|
||||
struct sertopic_rmw * st = new struct sertopic_rmw;
|
||||
memset(st, 0, sizeof(struct ddsi_sertopic));
|
||||
st->cpp_name = std::string(topicname);
|
||||
st->cpp_type_name = get_type_name(type_support_identifier, type_support);
|
||||
st->cpp_name_type_name = st->cpp_name + std::string(";") + std::string(st->cpp_type_name);
|
||||
st->ops = &sertopic_rmw_ops;
|
||||
st->serdata_ops = &serdata_rmw_ops;
|
||||
st->serdata_basehash = ddsi_sertopic_compute_serdata_basehash(st->serdata_ops);
|
||||
st->name_type_name = const_cast<char *>(st->cpp_name_type_name.c_str());
|
||||
st->name = const_cast<char *>(st->cpp_name.c_str());
|
||||
st->type_name = const_cast<char *>(st->cpp_type_name.c_str());
|
||||
st->iid = ddsi_iid_gen();
|
||||
ddsrt_atomic_st32(&st->refc, 1);
|
||||
|
||||
st->type_support.typesupport_identifier_ = type_support_identifier;
|
||||
st->type_support.type_support_ = type_support;
|
||||
st->is_request_header = is_request_header;
|
||||
return st;
|
||||
st->type_support.typesupport_identifier_ = type_support_identifier;
|
||||
st->type_support.type_support_ = type_support;
|
||||
st->is_request_header = is_request_header;
|
||||
return st;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,21 +1,36 @@
|
|||
// Copyright 2018 to 2019 ADLINK Technology
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
#include <vector>
|
||||
|
||||
#include "rmw_cyclonedds_cpp/serdes.hpp"
|
||||
|
||||
cycser::cycser (std::vector<unsigned char>& dst_)
|
||||
: dst (dst_)
|
||||
, off (0)
|
||||
cycser::cycser(std::vector<unsigned char> & dst_)
|
||||
: dst(dst_),
|
||||
off(0)
|
||||
{
|
||||
dst.reserve (4);
|
||||
dst.reserve(4);
|
||||
/* FIXME: hard code to little endian ... and ignoring endianness in deser */
|
||||
dst.push_back (0);
|
||||
dst.push_back (3);
|
||||
dst.push_back(0);
|
||||
dst.push_back(3);
|
||||
/* options: */
|
||||
dst.push_back (0);
|
||||
dst.push_back (0);
|
||||
dst.push_back(0);
|
||||
dst.push_back(0);
|
||||
}
|
||||
|
||||
cycdeser::cycdeser (const void *data_, size_t size_)
|
||||
: data (static_cast<const char *> (data_) + 4)
|
||||
, pos (0)
|
||||
, lim (size_ - 4)
|
||||
cycdeser::cycdeser(const void * data_, size_t size_)
|
||||
: data(static_cast<const char *>(data_) + 4),
|
||||
pos(0),
|
||||
lim(size_ - 4)
|
||||
{
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue