Passing down type support information (#342)

* Add rmw implementation specific pointer. Signed-off-by: Miguel Company <[email protected]> * Changes on rmw_serialize Signed-off-by: Miguel Company <[email protected]> * Changes for publishers Signed-off-by: Miguel Company <[email protected]> * Changes for subscriptions Signed-off-by: Miguel Company <[email protected]> * Changes for services and clients. Signed-off-by: Miguel Company <[email protected]> * Solving linters Signed-off-by: Miguel Company <[email protected]>
ros2 · Jan 14, 2020 · 3e0aea7 · 3e0aea7
1 parent 465d15e
commit 3e0aea7
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Showing 28 changed files with 90 additions and 192 deletions.
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp
@@ -35,11 +35,13 @@ namespace rmw_fastrtps_cpp
 class TypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
 {
 public:
-  size_t getEstimatedSerializedSize(const void * ros_message);
+  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl);
 
-  bool serializeROSmessage(const void * ros_message, eprosima::fastcdr::Cdr & ser);
+  bool serializeROSmessage(
+    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl);
 
-  bool deserializeROSmessage(eprosima::fastcdr::Cdr & deser, void * ros_message);
+  bool deserializeROSmessage(
+    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl);
 
 protected:
   TypeSupport();

diff --git a/rmw_fastrtps_cpp/src/rmw_client.cpp b/rmw_fastrtps_cpp/src/rmw_client.cpp
@@ -106,6 +106,9 @@ rmw_create_client(
   response_members = static_cast<const message_type_support_callbacks_t *>(
     service_members->response_members_->data);
 
+  info->request_type_support_impl_ = request_members;
+  info->response_type_support_impl_ = response_members;
+
   std::string request_type_name = _create_type_name(request_members);
   std::string response_type_name = _create_type_name(response_members);
 

diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -134,6 +134,7 @@ rmw_create_publisher(
   }
 
   info->typesupport_identifier_ = type_support->typesupport_identifier;
+  info->type_support_impl_ = type_support->data;
 
   auto callbacks = static_cast<const message_type_support_callbacks_t *>(type_support->data);
   std::string type_name = _create_type_name(callbacks);

diff --git a/rmw_fastrtps_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
@@ -41,7 +41,7 @@ rmw_serialize(
 
   auto callbacks = static_cast<const message_type_support_callbacks_t *>(ts->data);
   auto tss = new MessageTypeSupport_cpp(callbacks);
-  auto data_length = tss->getEstimatedSerializedSize(ros_message);
+  auto data_length = tss->getEstimatedSerializedSize(ros_message, callbacks);
   if (serialized_message->buffer_capacity < data_length) {
     if (rmw_serialized_message_resize(serialized_message, data_length) != RMW_RET_OK) {
       RMW_SET_ERROR_MSG("unable to dynamically resize serialized message");
@@ -54,7 +54,7 @@ rmw_serialize(
   eprosima::fastcdr::Cdr ser(
     buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
 
-  auto ret = tss->serializeROSmessage(ros_message, ser);
+  auto ret = tss->serializeROSmessage(ros_message, ser, callbacks);
   serialized_message->buffer_length = data_length;
   serialized_message->buffer_capacity = data_length;
   delete tss;
@@ -85,7 +85,7 @@ rmw_deserialize(
   eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
     eprosima::fastcdr::Cdr::DDS_CDR);
 
-  auto ret = tss->deserializeROSmessage(deser, ros_message);
+  auto ret = tss->deserializeROSmessage(deser, ros_message, callbacks);
   delete tss;
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
 }

diff --git a/rmw_fastrtps_cpp/src/rmw_service.cpp b/rmw_fastrtps_cpp/src/rmw_service.cpp
@@ -116,6 +116,9 @@ rmw_create_service(
   response_members = static_cast<const message_type_support_callbacks_t *>(
     service_members->response_members_->data);
 
+  info->request_type_support_impl_ = request_members;
+  info->response_type_support_impl_ = response_members;
+
   std::string request_type_name = _create_type_name(request_members);
   std::string response_type_name = _create_type_name(response_members);
 

diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -131,6 +131,7 @@ rmw_create_subscription(
   }
 
   info->typesupport_identifier_ = type_support->typesupport_identifier;
+  info->type_support_impl_ = type_support->data;
 
   auto callbacks = static_cast<const message_type_support_callbacks_t *>(type_support->data);
   std::string type_name = _create_type_name(callbacks);

diff --git a/rmw_fastrtps_cpp/src/ros_message_serialization.cpp b/rmw_fastrtps_cpp/src/ros_message_serialization.cpp
diff --git a/rmw_fastrtps_cpp/src/ros_message_serialization.hpp b/rmw_fastrtps_cpp/src/ros_message_serialization.hpp
diff --git a/rmw_fastrtps_cpp/src/type_support_common.cpp b/rmw_fastrtps_cpp/src/type_support_common.cpp
@@ -47,45 +47,54 @@ void TypeSupport::set_members(const message_type_support_callbacks_t * members)
   m_typeSize = 4 + data_size;
 }
 
-size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message)
+size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message, const void * impl)
 {
   if (max_size_bound_) {
     return m_typeSize;
   }
 
   assert(ros_message);
+  assert(impl);
+
+  auto callbacks = static_cast<const message_type_support_callbacks_t *>(impl);
 
   // Encapsulation size + message size
-  return 4 + members_->get_serialized_size(ros_message);
+  return 4 + callbacks->get_serialized_size(ros_message);
 }
 
-bool TypeSupport::serializeROSmessage(const void * ros_message, eprosima::fastcdr::Cdr & ser)
+bool TypeSupport::serializeROSmessage(
+  const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl)
 {
   assert(ros_message);
+  assert(impl);
 
   // Serialize encapsulation
   ser.serialize_encapsulation();
 
   // If type is not empty, serialize message
   if (has_data_) {
-    return members_->cdr_serialize(ros_message, ser);
+    auto callbacks = static_cast<const message_type_support_callbacks_t *>(impl);
+    return callbacks->cdr_serialize(ros_message, ser);
   }
 
   // Otherwise, add a dummy byte
   ser << (uint8_t)0;
   return true;
 }
 
-bool TypeSupport::deserializeROSmessage(eprosima::fastcdr::Cdr & deser, void * ros_message)
+bool TypeSupport::deserializeROSmessage(
+  eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl)
 {
   assert(ros_message);
+  assert(impl);
 
   // Deserialize encapsulation.
   deser.read_encapsulation();
 
   // If type is not empty, deserialize message
   if (has_data_) {
-    return members_->cdr_deserialize(deser, ros_message);
+    auto callbacks = static_cast<const message_type_support_callbacks_t *>(impl);
+    return callbacks->cdr_deserialize(deser, ros_message);
   }
 
   // Otherwise, consume dummy byte

diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport.hpp
@@ -134,11 +134,13 @@ template<typename MembersType>
 class TypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
 {
 public:
-  size_t getEstimatedSerializedSize(const void * ros_message);
+  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl);
 
-  bool serializeROSmessage(const void * ros_message, eprosima::fastcdr::Cdr & ser);
+  bool serializeROSmessage(
+    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl);
 
-  bool deserializeROSmessage(eprosima::fastcdr::Cdr & deser, void * ros_message);
+  bool deserializeROSmessage(
+    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl);
 
 protected:
   TypeSupport();

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
@@ -1116,19 +1116,21 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
 
 template<typename MembersType>
 size_t TypeSupport<MembersType>::getEstimatedSerializedSize(
-  const void * ros_message)
+  const void * ros_message, const void * impl)
 {
   if (max_size_bound_) {
     return m_typeSize;
   }
 
   assert(ros_message);
+  assert(impl);
 
   // Encapsulation size
   size_t ret_val = 4;
 
-  if (members_->member_count_ != 0) {
-    ret_val += TypeSupport::getEstimatedSerializedSize(members_, ros_message, 0);
+  auto members = static_cast<const MembersType *>(impl);
+  if (members->member_count_ != 0) {
+    ret_val += TypeSupport::getEstimatedSerializedSize(members, ros_message, 0);
   } else {
     ret_val += 1;
   }
@@ -1138,15 +1140,17 @@ size_t TypeSupport<MembersType>::getEstimatedSerializedSize(
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::serializeROSmessage(
-  const void * ros_message, eprosima::fastcdr::Cdr & ser)
+  const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl)
 {
   assert(ros_message);
+  assert(impl);
 
   // Serialize encapsulation
   ser.serialize_encapsulation();
 
-  if (members_->member_count_ != 0) {
-    TypeSupport::serializeROSmessage(ser, members_, ros_message);
+  auto members = static_cast<const MembersType *>(impl);
+  if (members->member_count_ != 0) {
+    TypeSupport::serializeROSmessage(ser, members, ros_message);
   } else {
     ser << (uint8_t)0;
   }
@@ -1156,15 +1160,17 @@ bool TypeSupport<MembersType>::serializeROSmessage(
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::deserializeROSmessage(
-  eprosima::fastcdr::Cdr & deser, void * ros_message)
+  eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl)
 {
   assert(ros_message);
+  assert(impl);
 
   // Deserialize encapsulation.
   deser.read_encapsulation();
 
-  if (members_->member_count_ != 0) {
-    TypeSupport::deserializeROSmessage(deser, members_, ros_message, false);
+  auto members = static_cast<const MembersType *>(impl);
+  if (members->member_count_ != 0) {
+    TypeSupport::deserializeROSmessage(deser, members, ros_message, false);
   } else {
     uint8_t dump = 0;
     deser >> dump;

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -109,6 +109,9 @@ rmw_create_client(
   untyped_response_members = get_response_ptr(type_support->data,
       info->typesupport_identifier_);
 
+  info->request_type_support_impl_ = untyped_request_members;
+  info->response_type_support_impl_ = untyped_response_members;
+
   std::string request_type_name = _create_type_name(untyped_request_members,
       info->typesupport_identifier_);
   std::string response_type_name = _create_type_name(untyped_response_members,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -133,6 +133,7 @@ rmw_create_publisher(
     return nullptr;
   }
   info->typesupport_identifier_ = type_support->typesupport_identifier;
+  info->type_support_impl_ = type_support->data;
 
   std::string type_name = _create_type_name(
     type_support->data, info->typesupport_identifier_);

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
@@ -40,7 +40,7 @@ rmw_serialize(
   }
 
   auto tss = _create_message_type_support(ts->data, ts->typesupport_identifier);
-  auto data_length = tss->getEstimatedSerializedSize(ros_message);
+  auto data_length = tss->getEstimatedSerializedSize(ros_message, ts->data);
   if (serialized_message->buffer_capacity < data_length) {
     if (rmw_serialized_message_resize(serialized_message, data_length) != RMW_RET_OK) {
       RMW_SET_ERROR_MSG("unable to dynamically resize serialized message");
@@ -54,7 +54,7 @@ rmw_serialize(
   eprosima::fastcdr::Cdr ser(
     buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
 
-  auto ret = tss->serializeROSmessage(ros_message, ser);
+  auto ret = tss->serializeROSmessage(ros_message, ser, ts->data);
   serialized_message->buffer_length = data_length;
   serialized_message->buffer_capacity = data_length;
   delete tss;
@@ -84,7 +84,7 @@ rmw_deserialize(
   eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
     eprosima::fastcdr::Cdr::DDS_CDR);
 
-  auto ret = tss->deserializeROSmessage(deser, ros_message);
+  auto ret = tss->deserializeROSmessage(deser, ros_message, ts->data);
   delete tss;
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
 }

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp
@@ -119,6 +119,9 @@ rmw_create_service(
   untyped_response_members = get_response_ptr(type_support->data,
       info->typesupport_identifier_);
 
+  info->request_type_support_impl_ = untyped_request_members;
+  info->response_type_support_impl_ = untyped_response_members;
+
   std::string request_type_name = _create_type_name(untyped_request_members,
       info->typesupport_identifier_);
   std::string response_type_name = _create_type_name(untyped_response_members,

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -135,6 +135,7 @@ rmw_create_subscription(
     return nullptr;
   }
   info->typesupport_identifier_ = type_support->typesupport_identifier;
+  info->type_support_impl_ = type_support->data;
 
   std::string type_name = _create_type_name(
     type_support->data, info->typesupport_identifier_);