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rename rosidl_generator_c namespace to rosidl_runtime_c (#367)
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Signed-off-by: Dirk Thomas <[email protected]>
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@dirk-thomas
dirk-thomas authored Apr 11, 2020
1 parent d090059 commit b13e134
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Showing 4 changed files with 50 additions and 50 deletions.
4 changes: 2 additions & 2 deletions rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@
#ifndef RMW_FASTRTPS_CPP__TYPESUPPORT_HPP_
#define RMW_FASTRTPS_CPP__TYPESUPPORT_HPP_

#include <rosidl_generator_c/string.h>
#include <rosidl_generator_c/string_functions.h>
#include <rosidl_runtime_c/string.h>
#include <rosidl_runtime_c/string_functions.h>

#include <fastrtps/TopicDataType.h>

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20 changes: 10 additions & 10 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@
#ifndef RMW_FASTRTPS_DYNAMIC_CPP__TYPESUPPORT_HPP_
#define RMW_FASTRTPS_DYNAMIC_CPP__TYPESUPPORT_HPP_

#include <rosidl_generator_c/string.h>
#include <rosidl_generator_c/string_functions.h>
#include <rosidl_runtime_c/string.h>
#include <rosidl_runtime_c/string_functions.h>

#include <fastrtps/TopicDataType.h>

Expand Down Expand Up @@ -54,15 +54,15 @@ struct StringHelper;
template<>
struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
{
using type = rosidl_generator_c__String;
using type = rosidl_runtime_c__String;

static size_t next_field_align(void * data, size_t current_alignment)
{
auto c_string = static_cast<rosidl_generator_c__String *>(data);
auto c_string = static_cast<rosidl_runtime_c__String *>(data);
if (!c_string) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_fastrtps_dynamic_cpp",
"Failed to cast data as rosidl_generator_c__String");
"Failed to cast data as rosidl_runtime_c__String");
return current_alignment;
}
if (!c_string->data) {
Expand All @@ -79,11 +79,11 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>

static std::string convert_to_std_string(void * data)
{
auto c_string = static_cast<rosidl_generator_c__String *>(data);
auto c_string = static_cast<rosidl_runtime_c__String *>(data);
if (!c_string) {
RCUTILS_LOG_ERROR_NAMED(
"rmw_fastrtps_dynamic_cpp",
"Failed to cast data as rosidl_generator_c__String");
"Failed to cast data as rosidl_runtime_c__String");
return "";
}
if (!c_string->data) {
Expand All @@ -95,7 +95,7 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
return std::string(c_string->data);
}

static std::string convert_to_std_string(rosidl_generator_c__String & data)
static std::string convert_to_std_string(rosidl_runtime_c__String & data)
{
return std::string(data.data);
}
Expand All @@ -104,8 +104,8 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
{
std::string str;
deser >> str;
rosidl_generator_c__String * c_str = static_cast<rosidl_generator_c__String *>(field);
rosidl_generator_c__String__assign(c_str, str.c_str());
rosidl_runtime_c__String * c_str = static_cast<rosidl_runtime_c__String *>(field);
rosidl_runtime_c__String__assign(c_str, str.c_str());
}
};

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70 changes: 35 additions & 35 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,8 @@
#include "rosidl_typesupport_introspection_c/message_introspection.h"
#include "rosidl_typesupport_introspection_c/service_introspection.h"

#include "rosidl_generator_c/primitives_sequence_functions.h"
#include "rosidl_generator_c/u16string_functions.h"
#include "rosidl_runtime_c/primitives_sequence_functions.h"
#include "rosidl_runtime_c/u16string_functions.h"

namespace rmw_fastrtps_dynamic_cpp
{
Expand All @@ -55,19 +55,19 @@ SPECIALIZE_GENERIC_C_SEQUENCE(uint32, uint32_t)
SPECIALIZE_GENERIC_C_SEQUENCE(int64, int64_t)
SPECIALIZE_GENERIC_C_SEQUENCE(uint64, uint64_t)

typedef struct rosidl_generator_c__void__Sequence
typedef struct rosidl_runtime_c__void__Sequence
{
void * data;
/// The number of valid items in data
size_t size;
/// The number of allocated items in data
size_t capacity;
} rosidl_generator_c__void__Sequence;
} rosidl_runtime_c__void__Sequence;

inline
bool
rosidl_generator_c__void__Sequence__init(
rosidl_generator_c__void__Sequence * sequence, size_t size, size_t member_size)
rosidl_runtime_c__void__Sequence__init(
rosidl_runtime_c__void__Sequence * sequence, size_t size, size_t member_size)
{
if (!sequence) {
return false;
Expand All @@ -87,7 +87,7 @@ rosidl_generator_c__void__Sequence__init(

inline
void
rosidl_generator_c__void__Sequence__fini(rosidl_generator_c__void__Sequence * sequence)
rosidl_runtime_c__void__Sequence__fini(rosidl_runtime_c__void__Sequence * sequence)
{
if (!sequence) {
return;
Expand Down Expand Up @@ -177,7 +177,7 @@ static size_t calculateMaxAlign(const MembersType * members)
if (std::is_same<MembersType,
rosidl_typesupport_introspection_c__MessageMembers>::value)
{
alignment = alignof(rosidl_generator_c__String);
alignment = alignof(rosidl_runtime_c__String);
} else {
alignment = alignof(std::string);
}
Expand All @@ -186,7 +186,7 @@ static size_t calculateMaxAlign(const MembersType * members)
if (std::is_same<MembersType,
rosidl_typesupport_introspection_c__MessageMembers>::value)
{
alignment = alignof(rosidl_generator_c__U16String);
alignment = alignof(rosidl_runtime_c__U16String);
} else {
alignment = alignof(std::u16string);
}
Expand Down Expand Up @@ -293,14 +293,14 @@ void serialize_field<std::string>(
// tmpstring is defined here and not below to avoid
// memory allocation in every iteration of the for loop
std::string tmpstring;
auto string_field = static_cast<rosidl_generator_c__String *>(field);
auto string_field = static_cast<rosidl_runtime_c__String *>(field);
for (size_t i = 0; i < member->array_size_; ++i) {
tmpstring = string_field[i].data;
ser.serialize(tmpstring);
}
} else {
auto & string_sequence_field =
*reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
*reinterpret_cast<rosidl_runtime_c__String__Sequence *>(field);
std::vector<std::string> cpp_string_vector;
for (size_t i = 0; i < string_sequence_field.size; ++i) {
cpp_string_vector.push_back(
Expand All @@ -320,17 +320,17 @@ void serialize_field<std::wstring>(
{
std::wstring wstr;
if (!member->is_array_) {
auto u16str = static_cast<rosidl_generator_c__U16String *>(field);
auto u16str = static_cast<rosidl_runtime_c__U16String *>(field);
rosidl_typesupport_fastrtps_c::u16string_to_wstring(*u16str, wstr);
ser << wstr;
} else if (member->array_size_ && !member->is_upper_bound_) {
auto array = static_cast<rosidl_generator_c__U16String *>(field);
auto array = static_cast<rosidl_runtime_c__U16String *>(field);
for (size_t i = 0; i < member->array_size_; ++i) {
rosidl_typesupport_fastrtps_c::u16string_to_wstring(array[i], wstr);
ser << wstr;
}
} else {
auto sequence = static_cast<rosidl_generator_c__U16String__Sequence *>(field);
auto sequence = static_cast<rosidl_runtime_c__U16String__Sequence *>(field);
ser << static_cast<uint32_t>(sequence->size);
for (size_t i = 0; i < sequence->size; ++i) {
rosidl_typesupport_fastrtps_c::u16string_to_wstring(sequence->data[i], wstr);
Expand Down Expand Up @@ -363,7 +363,7 @@ size_t get_array_size_and_assign_field(
void * & subros_message,
size_t, size_t)
{
auto tmpsequence = static_cast<rosidl_generator_c__void__Sequence *>(field);
auto tmpsequence = static_cast<rosidl_runtime_c__void__Sequence *>(field);
if (member->is_upper_bound_ && tmpsequence->size > member->array_size_) {
throw std::runtime_error("vector overcomes the maximum length");
}
Expand Down Expand Up @@ -575,7 +575,7 @@ size_t next_field_align_string<std::string>(
current_alignment = CStringHelper::next_field_align(field, current_alignment);
} else {
if (member->array_size_ && !member->is_upper_bound_) {
auto string_field = static_cast<rosidl_generator_c__String *>(field);
auto string_field = static_cast<rosidl_runtime_c__String *>(field);
for (size_t i = 0; i < member->array_size_; ++i) {
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
Expand All @@ -585,7 +585,7 @@ size_t next_field_align_string<std::string>(
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
auto & string_sequence_field =
*reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
*reinterpret_cast<rosidl_runtime_c__String__Sequence *>(field);
for (size_t i = 0; i < string_sequence_field.size; ++i) {
current_alignment = CStringHelper::next_field_align(
&(string_sequence_field.data[i]), current_alignment);
Expand All @@ -604,13 +604,13 @@ size_t next_field_align_string<std::wstring>(
{
const size_t padding = 4;
if (!member->is_array_) {
auto u16str = static_cast<rosidl_generator_c__U16String *>(field);
auto u16str = static_cast<rosidl_runtime_c__U16String *>(field);
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
current_alignment += 4 * (u16str->size + 1);
} else {
if (member->array_size_ && !member->is_upper_bound_) {
auto string_field = static_cast<rosidl_generator_c__U16String *>(field);
auto string_field = static_cast<rosidl_runtime_c__U16String *>(field);
for (size_t i = 0; i < member->array_size_; ++i) {
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
Expand All @@ -620,7 +620,7 @@ size_t next_field_align_string<std::wstring>(
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
auto & string_sequence_field =
*reinterpret_cast<rosidl_generator_c__U16String__Sequence *>(field);
*reinterpret_cast<rosidl_runtime_c__U16String__Sequence *>(field);
for (size_t i = 0; i < string_sequence_field.size; ++i) {
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
Expand Down Expand Up @@ -842,35 +842,35 @@ inline void deserialize_field<std::string>(
CStringHelper::assign(deser, field, call_new);
} else {
if (member->array_size_ && !member->is_upper_bound_) {
auto deser_field = static_cast<rosidl_generator_c__String *>(field);
auto deser_field = static_cast<rosidl_runtime_c__String *>(field);
// tmpstring is defined here and not below to avoid
// memory allocation in every iteration of the for loop
std::string tmpstring;
for (size_t i = 0; i < member->array_size_; ++i) {
deser.deserialize(tmpstring);
if (!rosidl_generator_c__String__assign(&deser_field[i], tmpstring.c_str())) {
throw std::runtime_error("unable to assign rosidl_generator_c__String");
if (!rosidl_runtime_c__String__assign(&deser_field[i], tmpstring.c_str())) {
throw std::runtime_error("unable to assign rosidl_runtime_c__String");
}
}
} else {
std::vector<std::string> cpp_string_vector;
deser >> cpp_string_vector;

auto & string_sequence_field =
*reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
*reinterpret_cast<rosidl_runtime_c__String__Sequence *>(field);
if (
!rosidl_generator_c__String__Sequence__init(
!rosidl_runtime_c__String__Sequence__init(
&string_sequence_field, cpp_string_vector.size()))
{
throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
throw std::runtime_error("unable to initialize rosidl_runtime_c__String array");
}

for (size_t i = 0; i < cpp_string_vector.size(); ++i) {
if (
!rosidl_generator_c__String__assign(
!rosidl_runtime_c__String__assign(
&string_sequence_field.data[i], cpp_string_vector[i].c_str()))
{
throw std::runtime_error("unable to assign rosidl_generator_c__String");
throw std::runtime_error("unable to assign rosidl_runtime_c__String");
}
}
}
Expand All @@ -889,19 +889,19 @@ inline void deserialize_field<std::wstring>(
if (!member->is_array_) {
deser >> wstr;
rosidl_typesupport_fastrtps_c::wstring_to_u16string(
wstr, *static_cast<rosidl_generator_c__U16String *>(field));
wstr, *static_cast<rosidl_runtime_c__U16String *>(field));
} else if (member->array_size_ && !member->is_upper_bound_) {
auto array = static_cast<rosidl_generator_c__U16String *>(field);
auto array = static_cast<rosidl_runtime_c__U16String *>(field);
for (size_t i = 0; i < member->array_size_; ++i) {
deser >> wstr;
rosidl_typesupport_fastrtps_c::wstring_to_u16string(wstr, array[i]);
}
} else {
uint32_t size;
deser >> size;
auto sequence = static_cast<rosidl_generator_c__U16String__Sequence *>(field);
if (!rosidl_generator_c__U16String__Sequence__init(sequence, size)) {
throw std::runtime_error("unable to initialize rosidl_generator_c__U16String sequence");
auto sequence = static_cast<rosidl_runtime_c__U16String__Sequence *>(field);
if (!rosidl_runtime_c__U16String__Sequence__init(sequence, size)) {
throw std::runtime_error("unable to initialize rosidl_runtime_c__U16String sequence");
}
for (size_t i = 0; i < sequence->size; ++i) {
deser >> wstr;
Expand Down Expand Up @@ -946,8 +946,8 @@ inline size_t get_submessage_array_deserialize(
// Deserialize length
uint32_t vsize = 0;
deser >> vsize;
auto tmpsequence = static_cast<rosidl_generator_c__void__Sequence *>(field);
rosidl_generator_c__void__Sequence__init(tmpsequence, vsize, sub_members_size);
auto tmpsequence = static_cast<rosidl_runtime_c__void__Sequence *>(field);
rosidl_runtime_c__void__Sequence__init(tmpsequence, vsize, sub_members_size);
subros_message = reinterpret_cast<void *>(tmpsequence->data);
return vsize;
}
Expand Down
6 changes: 3 additions & 3 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/macros.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,14 +22,14 @@
template<> \
struct GenericCSequence<C_TYPE> \
{ \
using type = rosidl_generator_c__ ## C_NAME ## __Sequence; \
using type = rosidl_runtime_c__ ## C_NAME ## __Sequence; \
\
static void fini(type * array) { \
rosidl_generator_c__ ## C_NAME ## __Sequence__fini(array); \
rosidl_runtime_c__ ## C_NAME ## __Sequence__fini(array); \
} \
\
static bool init(type * array, size_t size) { \
return rosidl_generator_c__ ## C_NAME ## __Sequence__init(array, size); \
return rosidl_runtime_c__ ## C_NAME ## __Sequence__init(array, size); \
} \
};

Expand Down

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