c0af9d898b
1. Make CDRWriter remember its top level struct value type 2. Populate the trivially serializable cache when CDRWriter is created instead of waiting until the first time a message is sent. 3. Speed up arrays/sequences of trivially serializable structs Signed-off-by: Dan Rose <dan@digilabs.io>
94 lines
2.5 KiB
C++
94 lines
2.5 KiB
C++
// Copyright 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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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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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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#include <memory>
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#include <string>
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#include "TypeSupport2.hpp"
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#include "bytewise.hpp"
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#include "dds/ddsi/ddsi_serdata.h"
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#include "dds/ddsi/ddsi_sertopic.h"
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namespace rmw_cyclonedds_cpp
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{
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class BaseCDRWriter;
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}
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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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{
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CddsTypeSupport type_support;
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bool is_request_header;
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#if !DDSI_SERTOPIC_HAS_TOPICKIND_NO_KEY
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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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#endif
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std::unique_ptr<const rmw_cyclonedds_cpp::BaseCDRWriter> cdr_writer;
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};
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class serdata_rmw : public ddsi_serdata
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{
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protected:
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size_t m_size {0};
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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::unique_ptr<byte[]> m_data {nullptr};
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public:
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serdata_rmw(const ddsi_sertopic * topic, ddsi_serdata_kind kind);
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void resize(size_t requested_size);
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size_t size() const {return m_size;}
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void * data() const {return m_data.get();}
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};
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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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{
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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(
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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(
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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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std::unique_ptr<rmw_cyclonedds_cpp::StructValueType> message_type_support);
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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 // SERDATA_HPP_
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