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Fastdds type support extensions #516

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Fastdds type support extensions #516

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723c504
Added is_plain_ attribute to base TypeSupport.
MiguelCompany Mar 17, 2021
81777e7
Added new methods to base TypeSupport.
MiguelCompany Mar 17, 2021
89ccf30
Updates on rmw_fastrtps_cpp.
MiguelCompany Mar 17, 2021
8d39969
Updates on rmw_fastrtps_dynamic_cpp.
MiguelCompany Mar 17, 2021
f4dde4d
Linters.
MiguelCompany Mar 17, 2021
f7f275c
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MiguelCompany Mar 29, 2021
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9 changes: 8 additions & 1 deletion rmw_fastrtps_cpp/src/type_support_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,15 +27,22 @@ TypeSupport::TypeSupport()
{
m_isGetKeyDefined = false;
max_size_bound_ = false;
is_plain_ = false;
}

void TypeSupport::set_members(const message_type_support_callbacks_t * members)
{
members_ = members;

// Fully bound by default
#ifdef ROSIDL_TYPESUPPORT_FASTRTPS_HAS_PLAIN_TYPES
char bounds_info;
auto data_size = static_cast<uint32_t>(members->max_serialized_size(bounds_info));
max_size_bound_ = 0 != (bounds_info & ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE);
is_plain_ = bounds_info == ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE;
#else
max_size_bound_ = true;
auto data_size = static_cast<uint32_t>(members->max_serialized_size(max_size_bound_));
#endif

// A fully bound message of size 0 is an empty message
if (max_size_bound_ && (data_size == 0) ) {
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3 changes: 2 additions & 1 deletion rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp
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Expand Up @@ -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) {
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6 changes: 4 additions & 2 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp
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Expand Up @@ -49,8 +49,9 @@ 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) {
Expand Down Expand Up @@ -79,8 +80,9 @@ 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) {
Expand Down
10 changes: 9 additions & 1 deletion rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
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Expand Up @@ -66,6 +66,7 @@ TypeSupport<MembersType>::TypeSupport(const void * ros_type_support)
{
m_isGetKeyDefined = false;
max_size_bound_ = false;
is_plain_ = false;
}

// C++ specialization
Expand Down Expand Up @@ -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 (0u == 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);
}
Expand Down Expand Up @@ -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) {
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19 changes: 19 additions & 0 deletions rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp
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Expand Up @@ -77,6 +77,24 @@ class TypeSupport : public eprosima::fastdds::dds::TopicDataType
RMW_FASTRTPS_SHARED_CPP_PUBLIC
void deleteData(void * data) override;

RMW_FASTRTPS_SHARED_CPP_PUBLIC
inline bool is_bounded() const
#ifdef TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED
override
#endif
{
return max_size_bound_;
}

RMW_FASTRTPS_SHARED_CPP_PUBLIC
inline bool is_plain() const
#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
override
#endif
{
return is_plain_;
}

RMW_FASTRTPS_SHARED_CPP_PUBLIC
virtual ~TypeSupport() {}

Expand All @@ -85,6 +103,7 @@ class TypeSupport : public eprosima::fastdds::dds::TopicDataType
TypeSupport();

bool max_size_bound_;
bool is_plain_;
};

} // namespace rmw_fastrtps_shared_cpp
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1 change: 1 addition & 0 deletions rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp
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Expand Up @@ -30,6 +30,7 @@ TypeSupport::TypeSupport()
{
m_isGetKeyDefined = false;
max_size_bound_ = false;
is_plain_ = false;
}

void TypeSupport::deleteData(void * data)
Expand Down