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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@ -111,8 +111,12 @@ 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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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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@ -125,7 +129,9 @@ protected:
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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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@ -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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@ -11,18 +11,23 @@
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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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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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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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@ -30,28 +35,41 @@ struct sertopic_rmw : ddsi_sertopic {
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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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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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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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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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@ -12,18 +12,20 @@
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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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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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@ -40,15 +42,17 @@ public:
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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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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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*(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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@ -64,7 +68,8 @@ public:
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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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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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@ -90,7 +95,7 @@ public:
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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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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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@ -106,21 +111,26 @@ public:
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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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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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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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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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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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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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@ -134,7 +144,8 @@ private:
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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:
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// FIXME: byteswapping
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cycdeser(const void * data, size_t size);
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@ -154,8 +165,10 @@ public:
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inline cycdeser & operator>>(double & x) {deserialize(x); return *this;}
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inline cycdeser & operator>>(char * & x) {deserialize(x); return *this;}
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inline cycdeser & operator>>(std::string & x) {deserialize(x); return *this;}
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template<class T> inline cycdeser& operator>> (std::vector<T>& x) { deserialize (x); return *this; }
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template<class T, size_t S> inline cycdeser& operator>> (std::array<T, S>& x) { deserialize (x); return *this; }
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template<class T>
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inline cycdeser & operator>>(std::vector<T> & x) {deserialize(x); return *this;}
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template<class T, size_t S>
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inline cycdeser & operator>>(std::array<T, S> & x) {deserialize(x); return *this;}
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#define SIMPLE(T) inline void deserialize(T & x) { \
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align(sizeof(x)); \
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@ -175,19 +188,23 @@ public:
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SIMPLE(double);
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#undef SIMPLE
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inline void deserialize (bool& x) {
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inline void deserialize(bool & x)
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{
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unsigned char z; deserialize(z); x = (z != 0);
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}
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inline uint32_t deserialize32 () {
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inline uint32_t deserialize32()
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{
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uint32_t sz; deserialize(sz); return sz;
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}
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inline void deserialize (char *& x) {
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inline void deserialize(char * & x)
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{
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const uint32_t sz = deserialize32();
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x = (char *) malloc (sz);
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x = reinterpret_cast<char *>(malloc(sz));
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memcpy(x, data + pos, sz);
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pos += sz;
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}
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inline void deserialize (std::string& x) {
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inline void deserialize(std::string & x)
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{
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const uint32_t sz = deserialize32();
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x = std::string(data + pos, sz - 1);
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pos += sz;
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@ -196,7 +213,8 @@ public:
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#define SIMPLEA(T) inline void deserializeA(T * x, size_t cnt) { \
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if (cnt > 0) { \
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align(sizeof(T)); \
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memcpy ((void *) x, (void *) (data + pos), (cnt) * sizeof (T)); \
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memcpy(reinterpret_cast<void *>(x), reinterpret_cast<const void *>(data + pos), \
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(cnt) * sizeof(T)); \
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pos += (cnt) * sizeof(T); \
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} \
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}
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@ -212,16 +230,21 @@ public:
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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 deserializeA (T *x, size_t cnt) {
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for (size_t i = 0; i < cnt; i++) deserialize (x[i]);
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template<class T>
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inline void deserializeA(T * x, size_t cnt)
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{
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for (size_t i = 0; i < cnt; i++) {deserialize(x[i]);}
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}
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template<class T> inline void deserialize (std::vector<T>& x) {
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template<class T>
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inline void deserialize(std::vector<T> & x)
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{
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const uint32_t sz = deserialize32();
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x.resize(sz);
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deserializeA(x.data(), sz);
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}
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inline void deserialize (std::vector<bool>& x) {
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inline void deserialize(std::vector<bool> & x)
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{
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const uint32_t sz = deserialize32();
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x.resize(sz);
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for (size_t i = 0; i < sz; i++) {
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@ -229,7 +252,9 @@ public:
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}
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pos += sz;
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}
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template<class T, size_t S> inline void deserialize (std::array<T, S>& x) {
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template<class T, size_t S>
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inline void deserialize(std::array<T, S> & x)
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{
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deserializeA(x.data(), x.size());
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}
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@ -246,4 +271,4 @@ private:
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size_t lim; // ignored for now ... better provide correct input
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};
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#endif
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#endif // RMW_CYCLONEDDS_CPP__SERDES_HPP_
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File diff suppressed because it is too large
Load diff
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@ -11,9 +11,12 @@
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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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#include <string.h>
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#include <vector>
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#include <regex>
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#include <sstream>
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#include <string>
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#include "rmw/error_handling.h"
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@ -26,12 +29,22 @@
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#include "dds/ddsi/ddsi_iid.h"
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#include "dds/ddsi/q_radmin.h"
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using MessageTypeSupport_c = rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_c__MessageMembers>;
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using MessageTypeSupport_cpp = rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_cpp::MessageMembers>;
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using RequestTypeSupport_c = rmw_cyclonedds_cpp::RequestTypeSupport<rosidl_typesupport_introspection_c__ServiceMembers, rosidl_typesupport_introspection_c__MessageMembers>;
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using RequestTypeSupport_cpp = rmw_cyclonedds_cpp::RequestTypeSupport<rosidl_typesupport_introspection_cpp::ServiceMembers, rosidl_typesupport_introspection_cpp::MessageMembers>;
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using ResponseTypeSupport_c = rmw_cyclonedds_cpp::ResponseTypeSupport<rosidl_typesupport_introspection_c__ServiceMembers, rosidl_typesupport_introspection_c__MessageMembers>;
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using ResponseTypeSupport_cpp = rmw_cyclonedds_cpp::ResponseTypeSupport<rosidl_typesupport_introspection_cpp::ServiceMembers, rosidl_typesupport_introspection_cpp::MessageMembers>;
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using MessageTypeSupport_c =
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rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_c__MessageMembers>;
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using MessageTypeSupport_cpp =
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rmw_cyclonedds_cpp::MessageTypeSupport<rosidl_typesupport_introspection_cpp::MessageMembers>;
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using RequestTypeSupport_c = rmw_cyclonedds_cpp::RequestTypeSupport<
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rosidl_typesupport_introspection_c__ServiceMembers,
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rosidl_typesupport_introspection_c__MessageMembers>;
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using RequestTypeSupport_cpp = rmw_cyclonedds_cpp::RequestTypeSupport<
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rosidl_typesupport_introspection_cpp::ServiceMembers,
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rosidl_typesupport_introspection_cpp::MessageMembers>;
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using ResponseTypeSupport_c = rmw_cyclonedds_cpp::ResponseTypeSupport<
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rosidl_typesupport_introspection_c__ServiceMembers,
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rosidl_typesupport_introspection_c__MessageMembers>;
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using ResponseTypeSupport_cpp = rmw_cyclonedds_cpp::ResponseTypeSupport<
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rosidl_typesupport_introspection_cpp::ServiceMembers,
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rosidl_typesupport_introspection_cpp::MessageMembers>;
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static bool using_introspection_c_typesupport(const char * typesupport_identifier)
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{
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@ -43,39 +56,51 @@ static bool using_introspection_cpp_typesupport (const char *typesupport_identif
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return typesupport_identifier == rosidl_typesupport_introspection_cpp::typesupport_identifier;
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}
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void *create_message_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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{
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if (using_introspection_c_typesupport(typesupport_identifier)) {
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auto members = static_cast<const rosidl_typesupport_introspection_c__MessageMembers *> (untyped_members);
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auto members =
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static_cast<const rosidl_typesupport_introspection_c__MessageMembers *>(untyped_members);
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return new MessageTypeSupport_c(members);
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} else if (using_introspection_cpp_typesupport(typesupport_identifier)) {
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auto members = static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *> (untyped_members);
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auto members =
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static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(untyped_members);
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return new MessageTypeSupport_cpp(members);
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}
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RMW_SET_ERROR_MSG("Unknown typesupport identifier");
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return nullptr;
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}
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void *create_request_type_support (const void *untyped_members, 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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{
|
||||
if (using_introspection_c_typesupport(typesupport_identifier)) {
|
||||
auto members = static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *> (untyped_members);
|
||||
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);
|
||||
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)
|
||||
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);
|
||||
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);
|
||||
auto members =
|
||||
static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(untyped_members);
|
||||
return new ResponseTypeSupport_cpp(members);
|
||||
}
|
||||
RMW_SET_ERROR_MSG("Unknown typesupport identifier");
|
||||
|
|
@ -94,14 +119,19 @@ static void serdata_rmw_free (struct ddsi_serdata *dcmn)
|
|||
delete d;
|
||||
}
|
||||
|
||||
static struct serdata_rmw *rmw_serdata_new (const struct ddsi_sertopic *topic, enum ddsi_serdata_kind kind)
|
||||
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)
|
||||
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;
|
||||
|
|
@ -111,8 +141,10 @@ static struct ddsi_serdata *serdata_rmw_from_ser (const struct ddsi_sertopic *to
|
|||
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);
|
||||
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;
|
||||
|
|
@ -120,14 +152,19 @@ static struct ddsi_serdata *serdata_rmw_from_ser (const struct ddsi_sertopic *to
|
|||
return d;
|
||||
}
|
||||
|
||||
static struct ddsi_serdata *serdata_rmw_from_keyhash (const struct ddsi_sertopic *topic, const struct nn_keyhash *keyhash)
|
||||
static struct ddsi_serdata * serdata_rmw_from_keyhash(
|
||||
const struct ddsi_sertopic * topic,
|
||||
const struct nn_keyhash * keyhash)
|
||||
{
|
||||
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)
|
||||
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);
|
||||
|
|
@ -136,10 +173,12 @@ static struct ddsi_serdata *serdata_rmw_from_sample (const struct ddsi_sertopic
|
|||
} 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_);
|
||||
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_);
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage(sample, sd, nullptr);
|
||||
}
|
||||
} else {
|
||||
|
|
@ -150,10 +189,12 @@ static struct ddsi_serdata *serdata_rmw_from_sample (const struct ddsi_sertopic
|
|||
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_);
|
||||
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_);
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
(void) typed_typesupport->serializeROSmessage(wrap->data, sd, prefix);
|
||||
}
|
||||
}
|
||||
|
|
@ -165,7 +206,9 @@ static struct ddsi_serdata *serdata_rmw_from_sample (const struct ddsi_sertopic
|
|||
return d;
|
||||
}
|
||||
|
||||
struct ddsi_serdata *serdata_rmw_from_serialized_message (const struct ddsi_sertopic *topiccmn, const void *raw, size_t size)
|
||||
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);
|
||||
|
|
@ -190,13 +233,15 @@ static struct ddsi_serdata *serdata_rmw_to_topicless (const struct ddsi_serdata
|
|||
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);
|
||||
memcpy(buf, reinterpret_cast<const 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)
|
||||
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_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);
|
||||
}
|
||||
|
|
@ -208,7 +253,9 @@ static void serdata_rmw_to_ser_unref (struct ddsi_serdata *dcmn, const ddsrt_iov
|
|||
ddsi_serdata_unref(d);
|
||||
}
|
||||
|
||||
static bool serdata_rmw_to_sample (const struct ddsi_serdata *dcmn, void *sample, void **bufptr, void *buflim)
|
||||
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
|
||||
|
|
@ -221,10 +268,12 @@ static bool serdata_rmw_to_sample (const struct ddsi_serdata *dcmn, void *sample
|
|||
} 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_);
|
||||
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_);
|
||||
auto typed_typesupport =
|
||||
static_cast<MessageTypeSupport_cpp *>(topic->type_support.type_support_);
|
||||
return typed_typesupport->deserializeROSmessage(sd, sample, nullptr);
|
||||
}
|
||||
} else {
|
||||
|
|
@ -235,17 +284,22 @@ static bool serdata_rmw_to_sample (const struct ddsi_serdata *dcmn, void *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_);
|
||||
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_);
|
||||
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 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);
|
||||
|
|
@ -293,7 +347,9 @@ static void sertopic_rmw_zero_samples (const struct ddsi_sertopic *d, void *samp
|
|||
/* 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);
|
||||
|
|
@ -305,7 +361,9 @@ static void sertopic_rmw_realloc_samples (void **ptrs, const struct ddsi_sertopi
|
|||
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
|
||||
|
|
@ -358,7 +416,9 @@ static std::string get_type_name (const char *type_support_identifier, void *typ
|
|||
}
|
||||
}
|
||||
|
||||
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));
|
||||
|
|
|
|||
|
|
@ -1,8 +1,23 @@
|
|||
// 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)
|
||||
: dst(dst_),
|
||||
off(0)
|
||||
{
|
||||
dst.reserve(4);
|
||||
/* FIXME: hard code to little endian ... and ignoring endianness in deser */
|
||||
|
|
@ -14,8 +29,8 @@ cycser::cycser (std::vector<unsigned char>& dst_)
|
|||
}
|
||||
|
||||
cycdeser::cycdeser(const void * data_, size_t size_)
|
||||
: data (static_cast<const char *> (data_) + 4)
|
||||
, pos (0)
|
||||
, lim (size_ - 4)
|
||||
: data(static_cast<const char *>(data_) + 4),
|
||||
pos(0),
|
||||
lim(size_ - 4)
|
||||
{
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue