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Update for cyclonedds changes needed for ros1 bridge

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Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2020-02-04 12:53:44 +01:00 • committed by eboasson
parent cf8e4fb91e
commit d2a22d3f59
1 changed files with 54 additions and 0 deletions
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54
rmw_cyclonedds_cpp/src/serdata.cpp
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@ -152,6 +152,25 @@ static struct ddsi_serdata * serdata_rmw_from_ser(
return d.release();
}
#if DDSI_SERDATA_HAS_FROM_SER_IOV
static struct ddsi_serdata * serdata_rmw_from_ser_iov(
const struct ddsi_sertopic * topic,
enum ddsi_serdata_kind kind,
ddsrt_msg_iovlen_t niov, const ddsrt_iovec_t * iov,
size_t size)
{
auto d = std::make_unique<serdata_rmw>(topic, kind);
d->resize(size);
auto cursor = d->data();
for (ddsrt_msg_iovlen_t i = 0; i < niov; i++) {
memcpy(cursor, iov[i].iov_base, iov[i].iov_len);
cursor = byte_offset(cursor, iov[i].iov_len);
}
return d.release();
}
#endif
static struct ddsi_serdata * serdata_rmw_from_keyhash(
const struct ddsi_sertopic * topic,
const struct nn_keyhash * keyhash)
@ -362,6 +381,9 @@ static const struct ddsi_serdata_ops serdata_rmw_ops = {
serdata_rmw_eqkey,
serdata_rmw_size,
serdata_rmw_from_ser,
#if DDSI_SERDATA_HAS_FROM_SER_IOV
serdata_rmw_from_ser_iov,
#endif
serdata_rmw_from_keyhash,
serdata_rmw_from_sample,
serdata_rmw_to_ser,
@ -420,11 +442,43 @@ static void sertopic_rmw_free_samples(
(void) op;
}
#if DDSI_SERTOPIC_HAS_EQUAL_AND_HASH
bool sertopic_rmw_equal(
const struct ddsi_sertopic * acmn, const struct ddsi_sertopic * bcmn)
{
/* A bit of a guess: topics with the same name & type name are really the same if they have
the same type support identifier as well */
const struct sertopic_rmw * a = static_cast<const struct sertopic_rmw *>(acmn);
const struct sertopic_rmw * b = static_cast<const struct sertopic_rmw *>(bcmn);
if (a->is_request_header != b->is_request_header) {
return false;
}
if (strcmp(a->type_support.typesupport_identifier_,
b->type_support.typesupport_identifier_) != 0)
{
return false;
}
return true;
}
uint32_t sertopic_rmw_hash(const struct ddsi_sertopic * tpcmn)
{
const struct sertopic_rmw * tp = static_cast<const struct sertopic_rmw *>(tpcmn);
uint32_t h2 = std::hash<bool>{} (tp->is_request_header);
uint32_t h1 = std::hash<std::string>{} (std::string(tp->type_support.typesupport_identifier_));
return h1 ^ h2;
}
#endif
static const struct ddsi_sertopic_ops sertopic_rmw_ops = {
sertopic_rmw_free,
sertopic_rmw_zero_samples,
sertopic_rmw_realloc_samples,
sertopic_rmw_free_samples
#if DDSI_SERTOPIC_HAS_EQUAL_AND_HASH
, sertopic_rmw_equal,
sertopic_rmw_hash
#endif
};
template<typename MembersType>