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Fastdds type support extensions #67

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merged 6 commits into from
May 11, 2021
Merged

Fastdds type support extensions #67

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4acc922
Extend max_serialized_size interface to account for plain types.
MiguelCompany Mar 16, 2021
f7ad6a3
Set initial values for output parameters.
MiguelCompany Mar 17, 2021
cd4be91
Added feature define.
MiguelCompany Mar 29, 2021
565433c
Always give value to output parameters.
MiguelCompany Apr 8, 2021
7e709c2
Binary compatible interface.
MiguelCompany Apr 15, 2021
eb34af9
Fix linter errors on generated code.
MiguelCompany Apr 21, 2021
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1 change: 1 addition & 0 deletions rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ size_t get_serialized_size_@('__'.join([package_name] + list(interface_path.pare
ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
size_t max_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
bool & full_bounded,
bool & is_plain,
size_t current_alignment);

ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
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30 changes: 25 additions & 5 deletions rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
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Expand Up @@ -134,6 +134,7 @@ ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@(package_name)
@[ end if]@
size_t max_serialized_size_@('__'.join(key))(
bool & full_bounded,
bool & is_plain,
size_t current_alignment);

@[ if key[0] != package_name]@
Expand Down Expand Up @@ -508,6 +509,7 @@ static uint32_t _@(message.structure.namespaced_type.name)__get_serialized_size(
ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
size_t max_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
bool & full_bounded,
bool & is_plain,
size_t current_alignment)
{
size_t initial_alignment = current_alignment;
Expand All @@ -516,7 +518,9 @@ size_t max_serialized_size_@('__'.join([package_name] + list(interface_path.pare
const size_t wchar_size = 4;
(void)padding;
(void)wchar_size;
(void)full_bounded;

full_bounded = true;
is_plain = true;

@[for member in message.structure.members]@
// member: @(member.name)
Expand All @@ -526,11 +530,13 @@ size_t max_serialized_size_@('__'.join([package_name] + list(interface_path.pare
size_t array_size = @(member.type.size);
@[ elif isinstance(member.type, BoundedSequence)]@
size_t array_size = @(member.type.maximum_size);
is_plain = false;
@[ else]@
size_t array_size = 0;
@[ end if]@
@[ if isinstance(member.type, AbstractSequence)]@
full_bounded = false;
is_plain = false;
current_alignment += padding +
eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
@[ end if]@
Expand All @@ -545,6 +551,7 @@ if isinstance(type_, AbstractNestedType):
}@
@[ if isinstance(type_, AbstractGenericString)]@
full_bounded = false;
is_plain = false;
for (size_t index = 0; index < array_size; ++index) {
current_alignment += padding +
eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
Expand Down Expand Up @@ -577,9 +584,13 @@ if isinstance(type_, AbstractNestedType):
@[ end if]@
@[ else]
for (size_t index = 0; index < array_size; ++index) {
bool inner_full_bounded;
bool inner_is_plain;
current_alignment +=
max_serialized_size_@('__'.join(type_.namespaced_name()))(
full_bounded, current_alignment);
inner_full_bounded, inner_is_plain, current_alignment);
full_bounded &= inner_full_bounded;
is_plain &= inner_is_plain;
}
@[ end if]@
}
Expand All @@ -588,10 +599,19 @@ if isinstance(type_, AbstractNestedType):
return current_alignment - initial_alignment;
}

static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(bool & full_bounded)
static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(char & bounds_info)
{
return max_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
full_bounded, 0);
bool full_bounded;
bool is_plain;
size_t ret_val;

ret_val = max_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
full_bounded, is_plain, 0);

bounds_info =
is_plain ? ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE :
full_bounded ? ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE : ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE;
return ret_val;
}

@
Expand Down
17 changes: 14 additions & 3 deletions ...l_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h
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Expand Up @@ -19,6 +19,13 @@

#include <fastcdr/Cdr.h>

/// Feature define to allow API version detection
#define ROSIDL_TYPESUPPORT_FASTRTPS_HAS_PLAIN_TYPES

#define ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE 0x00
#define ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE 0x01
#define ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE 0x03
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@MiguelCompany meta: why not an enum? You'd get type checking.


/// Encapsulates the callbacks for getting properties of this rosidl type.
/**
* These callbacks are implemented in the generated sources.
Expand Down Expand Up @@ -60,11 +67,15 @@ typedef struct message_type_support_callbacks_t
/// Callback function to determine the maximum size needed for serialization, which is used for
/// type support initialization.
/**
* \param[out] Whether the maximum serialized size was fully bounded, (i.e. not unbounded strings
* or sequences).
* \param[out] bounds_info Bounds information for the type.
* May return one of the following values:
* - \c ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE for POD types
* - \c ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE for fully bounded types,
* (i.e. not unbounded strings or sequences).
* - \c ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE for unbounded types
* \return The maximum serialized size, in bytes.
*/
size_t (* max_serialized_size)(bool & full_bounded);
size_t (* max_serialized_size)(char & bounds_info);
} message_type_support_callbacks_t;

#endif // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_H_
1 change: 1 addition & 0 deletions rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -80,6 +80,7 @@ size_t
ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(package_name)
max_serialized_size_@(message.structure.namespaced_type.name)(
bool & full_bounded,
bool & is_plain,
size_t current_alignment);

} // namespace typesupport_fastrtps_cpp
Expand Down
28 changes: 24 additions & 4 deletions rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -62,6 +62,7 @@ size_t get_serialized_size(
size_t
max_serialized_size_@(type_.name)(
bool & full_bounded,
bool & is_plain,
size_t current_alignment);
} // namespace typesupport_fastrtps_cpp
@[ for ns in reversed(type_.namespaces)]@
Expand Down Expand Up @@ -346,6 +347,7 @@ size_t
ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(package_name)
max_serialized_size_@(message.structure.namespaced_type.name)(
bool & full_bounded,
bool & is_plain,
size_t current_alignment)
{
size_t initial_alignment = current_alignment;
Expand All @@ -354,7 +356,9 @@ max_serialized_size_@(message.structure.namespaced_type.name)(
const size_t wchar_size = 4;
(void)padding;
(void)wchar_size;
(void)full_bounded;

full_bounded = true;
is_plain = true;

@[for member in message.structure.members]@

Expand All @@ -365,11 +369,13 @@ max_serialized_size_@(message.structure.namespaced_type.name)(
size_t array_size = @(member.type.size);
@[ elif isinstance(member.type, BoundedSequence)]@
size_t array_size = @(member.type.maximum_size);
is_plain = false;
@[ else]@
size_t array_size = 0;
@[ end if]@
@[ if isinstance(member.type, AbstractSequence)]@
full_bounded = false;
is_plain = false;
current_alignment += padding +
eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
@[ end if]@
Expand All @@ -384,6 +390,7 @@ if isinstance(type_, AbstractNestedType):
}@
@[ if isinstance(type_, AbstractGenericString)]@
full_bounded = false;
is_plain = false;
for (size_t index = 0; index < array_size; ++index) {
current_alignment += padding +
eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
Expand Down Expand Up @@ -416,9 +423,13 @@ if isinstance(type_, AbstractNestedType):
@[ end if]@
@[ else]
for (size_t index = 0; index < array_size; ++index) {
bool inner_full_bounded;
bool inner_is_plain;
current_alignment +=
@('::'.join(type_.namespaces))::typesupport_fastrtps_cpp::max_serialized_size_@(type_.name)(
full_bounded, current_alignment);
inner_full_bounded, inner_is_plain, current_alignment);
full_bounded &= inner_full_bounded;
is_plain &= inner_is_plain;
}
@[ end if]@
}
Expand Down Expand Up @@ -456,9 +467,18 @@ static uint32_t _@(message.structure.namespaced_type.name)__get_serialized_size(
return static_cast<uint32_t>(get_serialized_size(*typed_message, 0));
}

static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(bool & full_bounded)
static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(char & bounds_info)
{
return max_serialized_size_@(message.structure.namespaced_type.name)(full_bounded, 0);
bool full_bounded;
bool is_plain;
size_t ret_val;

ret_val = max_serialized_size_@(message.structure.namespaced_type.name)(full_bounded, is_plain, 0);

bounds_info =
is_plain ? ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE :
full_bounded ? ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE : ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE;
return ret_val;
}

static message_type_support_callbacks_t _@(message.structure.namespaced_type.name)__callbacks = {
Expand Down