Refs #2959. Fixing estimation of serialized size.

ros2 · Jun 17, 2018 · d8452f8 · d8452f8
1 parent ebaa19d
commit d8452f8
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Showing 3 changed files with 16 additions and 8 deletions.
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport_impl.hpp
@@ -43,7 +43,9 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
   // Encapsulation size
   this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {
-    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(members, 0));
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(members, 4));
+  } else {
+    this->m_typeSize += 4;
   }
 }
 

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport_impl.hpp
@@ -47,7 +47,9 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
   // Encapsulation size
   this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {
-    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 4));
+  } else {
+    this->m_typeSize += 4;
   }
 }
 
@@ -67,7 +69,9 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
   // Encapsulation size
   this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {
-    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 4));
+  } else {
+    this->m_typeSize += 4;
   }
 }
 

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp
@@ -253,20 +253,20 @@ size_t get_next_field_align<std::string>(
     auto str = *static_cast<std::string *>(field);
     current_alignment += padding +
       eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
-      str.length() + 1;
+      str.size() + 1;
   } else if (member->array_size_ && !member->is_upper_bound_) {
     auto str_arr = static_cast<std::string *>(field);
     for (size_t index = 0; index < member->array_size_; ++index) {
       current_alignment += padding +
         eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
-        str_arr[index].length() + 1;
+        str_arr[index].size() + 1;
     }
   } else {
     std::vector<std::string> & data = *reinterpret_cast<std::vector<std::string> *>(field);
-    for (size_t index = 0; index < data.size(); ++index) {
-      current_alignment += padding +
+    for (auto it : data) {
+      current_alignment += padding + padding +
         eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
-        data[index].length() + 1;
+        it.size() + 1;
     }
   }
   return current_alignment;
@@ -756,6 +756,7 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
 
   // Encapsulation
   const size_t padding = 4;
+  current_alignment += padding + eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
 
   for (uint32_t i = 0; i < members->member_count_; ++i) {
     const auto * member = members->members_ + i;
@@ -834,6 +835,7 @@ size_t TypeSupport<MembersType>::getSerializedDataLength(
 
   // Encapsulation
   const size_t padding = 4;
+  current_alignment += padding + eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
 
   for (uint32_t i = 0; i < members->member_count_; ++i) {
     const auto * member = members->members_ + i;