* Validation in Deserializer
Added validation in CDR deserialization: max buffer length is checked
when deserializing fields and strings are checked for null-terminator
(except for wstrings, which are serialized without null-terminator).
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Catch exceptions in serdata functions
In serdata functions rmw_print, rmw_to_sample and rmw_from_sample
catch exceptions so that correct return code is given when functions
are called from ddsi.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* Improve deserialisation validation
Refactored the deserialisation validation functions so that sequence
length is checked more properly and protection against overflows.
Renamed source files for exceptions so that it conforms to ros2 /
google c++ style guide.
Signed-off-by: Dennis Potman <dennis.potman@adlinktech.com>
* 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>
Almost there! Known issues:
* mangling/demangling is still wrong
* it necessarily has to run in the Cyclone default domain id: (1)
Cyclone is today still limited to a single domain at a time; and (2)
there is the "extra" participant that pops up here and there for
creating guard conditions and waitsets without a node existing
* almost all query operations create a reader for a builtin topic and
throw it away afterward, that might be a little excessive (on the other
hand, those readers are pretty cheap, so using them as a throwaway
reader is not so bad).
Still missing:
* get_service_names_and_types
* get_service_names_and_types_by_node
I haven't been able to actually try everything yet, so bugs are probably
lurking here-and-there.
passes a decent subset of the tests ...
fixes:
* sequences of simple types: remove accidental alignment
* trigger graph guard on any built-in topic
* create a participant for each node, with node name/namespace in user data
It is still only a proof-of-concept, but it might now actually be usable ...
This commit adds stubs for the missing functions and fixes a few bugs in
the serialisation code and topic creation. With these changes, the
talker and listener demos of ROS2 Crystal Clemmys work.
The changes in this commit make it compile with ROS2 Crystal Clemmys and
current Cyclone DDS. The RMW interface of ROS2 was modified in some
ways and extended in some other ways since Bouncy Bolson; and similarly,
Cyclone now has a somewhat reasonable interface for custom sample
representations and serialization, but the code in this commit probably
contains mistakes in using it.
Therefore, the expectation should be that this doesn't actually work
just yet, though it probably is quite close. As the old state wouldn't
build at all with any version of Cyclone DDS except the early commits,
this is significant progress already.
