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Implemented byte-swapping in deserializer (#31)

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* Implemented byte-swapping in deserializer

Set the correct endianness flag when serializing ROS messages to CDR
and added support for byte-swapping in CDR deserializer when in a
mixed-endian network.

Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>

* Fix float deser byte-swap and add byte-swap in cycprint

Fixed the byte-swapping in float/double deserialization and added byte-
swapping in cycprint by creating a cycdeserbase that is shared with
cycdeser.

Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
This commit is contained in:
dennis-adlink 2019-09-12 15:31:03 +02:00 • committed by eboasson
parent 60a87ab4ab
commit 883ef01105
2 changed files with 202 additions and 118 deletions
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33
rmw_cyclonedds_cpp/src/serdes.cpp Normal file → Executable file
View file

@ -11,8 +11,10 @@
// 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 <exception>
#include <vector>
#include "dds/ddsrt/endian.h"
#include "rmw_cyclonedds_cpp/serdes.hpp"
cycser::cycser(std::vector<unsigned char> & dst_)
@ -20,24 +22,39 @@ cycser::cycser(std::vector<unsigned char> & dst_)
off(0)
{
dst.reserve(4);
/* FIXME: hard code to little endian ... and ignoring endianness in deser */
dst.push_back(0);
dst.push_back(1);
/* options: */
/* endianness: 0x0000 for BE, 0x0001 for LE */
dst.push_back(0x00);
dst.push_back((DDSRT_ENDIAN == DDSRT_LITTLE_ENDIAN) ? 0x01 : 0x00);
/* options: defaults to 0x0000 */
dst.push_back(0);
dst.push_back(0);
}
cycdeser::cycdeser(const void * data_, size_t size_)
: data(static_cast<const char *>(data_) + 4),
cycdeserbase::cycdeserbase(const char * data_)
: data(data_),
pos(0),
swap_bytes(false)
{
/* Get the endianness byte (skip unused first byte in data[0]) */
uint32_t data_endianness = (data[1] == 0x01) ? DDSRT_LITTLE_ENDIAN : DDSRT_BIG_ENDIAN;
/* If endianness of data differs from our endianness: swap bytes when deserializing */
swap_bytes = (DDSRT_ENDIAN != data_endianness);
/* Ignore representation options (data_[2] and data_[3]) */
data += 4;
}
cycdeser::cycdeser(const void * data_, size_t size_)
: cycdeserbase(static_cast<const char *>(data_)),
lim(size_ - 4)
{
}
cycprint::cycprint(char * buf_, size_t bufsize_, const void * data_, size_t size_)
: data(static_cast<const char *>(data_) + 4),
pos(0),
: cycdeserbase(static_cast<const char *>(data_)),
buf(buf_),
bufsize(bufsize_)
{