Updates on rmw_fastrtps_dynamic_cpp.

Signed-off-by: Miguel Company <[email protected]>
ros2 · Mar 22, 2021 · d281a69 · d281a69
1 parent 136a65c
commit d281a69
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Showing 3 changed files with 15 additions and 4 deletions.
diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp
@@ -50,8 +50,9 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(
   ss << "dds_::" << message_name << "_";
   this->setName(ss.str().c_str());
 
-  // Fully bound by default
+  // Fully bound and plain by default
   this->max_size_bound_ = true;
+  this->is_plain_ = true;
   // Encapsulation size
   this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {

diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp
@@ -48,8 +48,9 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
   ss << "dds_::" << service_name << "_Request_";
   this->setName(ss.str().c_str());
 
-  // Fully bound by default
+  // Fully bound and plain by default
   this->max_size_bound_ = true;
+  this->is_plain_ = true;
   // Encapsulation size
   this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {
@@ -78,8 +79,9 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
   ss << "dds_::" << service_name << "_Response_";
   this->setName(ss.str().c_str());
 
-  // Fully bound by default
+  // Fully bound and plain by default
   this->max_size_bound_ = true;
+  this->is_plain_ = true;
   // Encapsulation size
   this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {

diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
@@ -66,6 +66,7 @@ TypeSupport<MembersType>::TypeSupport(const void * ros_type_support)
 {
   m_isGetKeyDefined = false;
   max_size_bound_ = false;
+  is_plain_ = false;
 }
 
 // C++ specialization
@@ -829,9 +830,15 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
     size_t array_size = 1;
     if (member->is_array_) {
       array_size = member->array_size_;
+
+      // Whether it is unbounded.
+      if (0 == array_size) {
+        this->max_size_bound_ = false;
+      }
+
       // Whether it is a sequence.
       if (0 == array_size || member->is_upper_bound_) {
-        this->max_size_bound_ = false;
+        this->is_plain_ = false;
         current_alignment += padding +
           eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
       }
@@ -866,6 +873,7 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
       case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_WSTRING:
         {
           this->max_size_bound_ = false;
+          this->is_plain_ = false;
           size_t character_size =
             (member->type_id_ == rosidl_typesupport_introspection_cpp::ROS_TYPE_WSTRING) ? 4 : 1;
           for (size_t index = 0; index < array_size; ++index) {