Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp (#350)

* Making TypeSupport interface methods const. Signed-off-by: Miguel Company <[email protected]> * Created TypeSupport proxy class Signed-off-by: Miguel Company <[email protected]> * Changes on rmw_publisher Signed-off-by: Miguel Company <[email protected]> * Changes on rmw_subscription. Signed-off-by: Miguel Company <[email protected]> * Changes on rmw_client Signed-off-by: Miguel Company <[email protected]> * Changes on rmw_service Signed-off-by: Miguel Company <[email protected]> * linters Signed-off-by: Miguel Company <[email protected]> * Moving LockedObject template to its own header. Signed-off-by: Miguel Company <[email protected]> * class TypeSupportProxy on its own source file. Signed-off-by: Miguel Company <[email protected]> * Added TypeSupportRegistry Signed-off-by: Miguel Company <[email protected]> * Added generic pointer to ros type support so we can reference the registry key. Signed-off-by: Miguel Company <[email protected]> * Creator functions passed to type_support_registry. Signed-off-by: Miguel Company <[email protected]> * Added base class for all rmw_fastrtps_dynamic_cpp type support classes. Signed-off-by: Miguel Company <[email protected]> * using TypeSupportRegistry on services and messages Signed-off-by: Miguel Company <[email protected]> * using TypeSupportRegistry on rmw_serialize Signed-off-by: Miguel Company <[email protected]> * Removed unused functions from type_support_common Signed-off-by: Miguel Company <[email protected]> * Fixing assert code. Signed-off-by: Miguel Company <[email protected]> * Removing unused argument. Signed-off-by: Miguel Company <[email protected]> * Cleanup instead of asserting on destructor. Signed-off-by: Miguel Company <[email protected]> * Improving singleton behavior Signed-off-by: Miguel Company <[email protected]>
ros2 · Mar 12, 2020 · f26c1e4 · f26c1e4
1 parent 2167eef
commit f26c1e4
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Showing 22 changed files with 625 additions and 176 deletions.
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp
@@ -35,13 +35,13 @@ namespace rmw_fastrtps_cpp
 class TypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
 {
 public:
-  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl);
+  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl) const override;
 
   bool serializeROSmessage(
-    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl);
+    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl) const override;
 
   bool deserializeROSmessage(
-    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl);
+    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const override;
 
 protected:
   TypeSupport();

diff --git a/rmw_fastrtps_cpp/src/type_support_common.cpp b/rmw_fastrtps_cpp/src/type_support_common.cpp
@@ -47,7 +47,7 @@ void TypeSupport::set_members(const message_type_support_callbacks_t * members)
   m_typeSize = 4 + data_size;
 }
 
-size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message, const void * impl)
+size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message, const void * impl) const
 {
   if (max_size_bound_) {
     return m_typeSize;
@@ -63,7 +63,7 @@ size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message, const v
 }
 
 bool TypeSupport::serializeROSmessage(
-  const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl)
+  const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl) const
 {
   assert(ros_message);
   assert(impl);
@@ -83,7 +83,7 @@ bool TypeSupport::serializeROSmessage(
 }
 
 bool TypeSupport::deserializeROSmessage(
-  eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl)
+  eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const
 {
   assert(ros_message);
   assert(impl);

diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -84,6 +84,8 @@ add_library(rmw_fastrtps_dynamic_cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
   src/type_support_common.cpp
+  src/type_support_proxy.cpp
+  src/type_support_registry.cpp
   src/serialization_format.cpp
 )
 target_link_libraries(rmw_fastrtps_dynamic_cpp

diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport.hpp
@@ -32,7 +32,7 @@ template<typename MembersType>
 class MessageTypeSupport : public TypeSupport<MembersType>
 {
 public:
-  explicit MessageTypeSupport(const MembersType * members);
+  MessageTypeSupport(const MembersType * members, const void * ros_type_support);
 };
 
 }  // namespace rmw_fastrtps_dynamic_cpp

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
@@ -32,7 +32,9 @@ namespace rmw_fastrtps_dynamic_cpp
 {
 
 template<typename MembersType>
-MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
+MessageTypeSupport<MembersType>::MessageTypeSupport(
+  const MembersType * members, const void * ros_type_support)
+: TypeSupport<MembersType>(ros_type_support)
 {
   assert(members);
   this->members_ = members;

diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport.hpp
@@ -25,25 +25,18 @@
 namespace rmw_fastrtps_dynamic_cpp
 {
 
-template<typename MembersType>
-class ServiceTypeSupport : public TypeSupport<MembersType>
-{
-protected:
-  ServiceTypeSupport();
-};
-
 template<typename ServiceMembersType, typename MessageMembersType>
-class RequestTypeSupport : public ServiceTypeSupport<MessageMembersType>
+class RequestTypeSupport : public TypeSupport<MessageMembersType>
 {
 public:
-  explicit RequestTypeSupport(const ServiceMembersType * members);
+  RequestTypeSupport(const ServiceMembersType * members, const void * ros_type_support);
 };
 
 template<typename ServiceMembersType, typename MessageMembersType>
-class ResponseTypeSupport : public ServiceTypeSupport<MessageMembersType>
+class ResponseTypeSupport : public TypeSupport<MessageMembersType>
 {
 public:
-  explicit ResponseTypeSupport(const ServiceMembersType * members);
+  ResponseTypeSupport(const ServiceMembersType * members, const void * ros_type_support);
 };
 
 }  // namespace rmw_fastrtps_dynamic_cpp

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
@@ -29,14 +29,10 @@
 namespace rmw_fastrtps_dynamic_cpp
 {
 
-template<typename MembersType>
-ServiceTypeSupport<MembersType>::ServiceTypeSupport()
-{
-}
-
 template<typename ServiceMembersType, typename MessageMembersType>
 RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
-  const ServiceMembersType * members)
+  const ServiceMembersType * members, const void * ros_type_support)
+: TypeSupport<MessageMembersType>(ros_type_support)
 {
   assert(members);
   this->members_ = members->request_members_;
@@ -65,7 +61,8 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
 
 template<typename ServiceMembersType, typename MessageMembersType>
 ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport(
-  const ServiceMembersType * members)
+  const ServiceMembersType * members, const void * ros_type_support)
+: TypeSupport<MessageMembersType>(ros_type_support)
 {
   assert(members);
   this->members_ = members->response_members_;

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
@@ -130,35 +130,73 @@ struct StringHelper<rosidl_typesupport_introspection_cpp::MessageMembers>
   }
 };
 
+class TypeSupportProxy : public rmw_fastrtps_shared_cpp::TypeSupport
+{
+public:
+  explicit TypeSupportProxy(rmw_fastrtps_shared_cpp::TypeSupport * inner_type);
+
+  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl) const override;
+
+  bool serializeROSmessage(
+    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl) const override;
+
+  bool deserializeROSmessage(
+    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const override;
+};
+
+class BaseTypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
+{
+public:
+  const void * ros_type_support() const
+  {
+    return ros_type_support_;
+  }
+
+protected:
+  explicit BaseTypeSupport(const void * ros_type_support)
+  {
+    ros_type_support_ = ros_type_support;
+  }
+
+private:
+  const void * ros_type_support_;
+};
+
 template<typename MembersType>
-class TypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
+class TypeSupport : public BaseTypeSupport
 {
 public:
-  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl);
+  size_t getEstimatedSerializedSize(const void * ros_message, const void * impl) const override;
 
   bool serializeROSmessage(
-    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl);
+    const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl) const override;
 
   bool deserializeROSmessage(
-    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl);
+    eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const override;
 
 protected:
-  TypeSupport();
+  explicit TypeSupport(const void * ros_type_support);
 
   size_t calculateMaxSerializedSize(const MembersType * members, size_t current_alignment);
 
   const MembersType * members_;
 
 private:
   size_t getEstimatedSerializedSize(
-    const MembersType * members, const void * ros_message, size_t current_alignment);
+    const MembersType * members,
+    const void * ros_message,
+    size_t current_alignment) const;
 
   bool serializeROSmessage(
-    eprosima::fastcdr::Cdr & ser, const MembersType * members, const void * ros_message);
+    eprosima::fastcdr::Cdr & ser,
+    const MembersType * members,
+    const void * ros_message) const;
 
   bool deserializeROSmessage(
-    eprosima::fastcdr::Cdr & deser, const MembersType * members, void * ros_message,
-    bool call_new);
+    eprosima::fastcdr::Cdr & deser,
+    const MembersType * members,
+    void * ros_message,
+    bool call_new) const;
 };
 
 }  // namespace rmw_fastrtps_dynamic_cpp

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
@@ -108,7 +108,8 @@ rosidl_generator_c__void__Sequence__fini(rosidl_generator_c__void__Sequence * se
 }
 
 template<typename MembersType>
-TypeSupport<MembersType>::TypeSupport()
+TypeSupport<MembersType>::TypeSupport(const void * ros_type_support)
+: BaseTypeSupport(ros_type_support)
 {
   m_isGetKeyDefined = false;
   max_size_bound_ = false;
@@ -372,7 +373,9 @@ size_t get_array_size_and_assign_field(
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::serializeROSmessage(
-  eprosima::fastcdr::Cdr & ser, const MembersType * members, const void * ros_message)
+  eprosima::fastcdr::Cdr & ser,
+  const MembersType * members,
+  const void * ros_message) const
 {
   assert(members);
   assert(ros_message);
@@ -630,7 +633,9 @@ size_t next_field_align_string<std::wstring>(
 
 template<typename MembersType>
 size_t TypeSupport<MembersType>::getEstimatedSerializedSize(
-  const MembersType * members, const void * ros_message, size_t current_alignment)
+  const MembersType * members,
+  const void * ros_message,
+  size_t current_alignment) const
 {
   assert(members);
   assert(ros_message);
@@ -948,7 +953,10 @@ inline size_t get_submessage_array_deserialize(
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::deserializeROSmessage(
-  eprosima::fastcdr::Cdr & deser, const MembersType * members, void * ros_message, bool call_new)
+  eprosima::fastcdr::Cdr & deser,
+  const MembersType * members,
+  void * ros_message,
+  bool call_new) const
 {
   assert(members);
   assert(ros_message);
@@ -1116,21 +1124,21 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
 
 template<typename MembersType>
 size_t TypeSupport<MembersType>::getEstimatedSerializedSize(
-  const void * ros_message, const void * impl)
+  const void * ros_message, const void * impl) const
 {
   if (max_size_bound_) {
     return m_typeSize;
   }
 
   assert(ros_message);
-  assert(impl);
+  assert(members_);
 
   // Encapsulation size
   size_t ret_val = 4;
 
-  auto members = static_cast<const MembersType *>(impl);
-  if (members->member_count_ != 0) {
-    ret_val += TypeSupport::getEstimatedSerializedSize(members, ros_message, 0);
+  (void)impl;
+  if (members_->member_count_ != 0) {
+    ret_val += TypeSupport::getEstimatedSerializedSize(members_, ros_message, 0);
   } else {
     ret_val += 1;
   }
@@ -1140,17 +1148,17 @@ size_t TypeSupport<MembersType>::getEstimatedSerializedSize(
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::serializeROSmessage(
-  const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl)
+  const void * ros_message, eprosima::fastcdr::Cdr & ser, const void * impl) const
 {
   assert(ros_message);
-  assert(impl);
+  assert(members_);
 
   // Serialize encapsulation
   ser.serialize_encapsulation();
 
-  auto members = static_cast<const MembersType *>(impl);
-  if (members->member_count_ != 0) {
-    TypeSupport::serializeROSmessage(ser, members, ros_message);
+  (void)impl;
+  if (members_->member_count_ != 0) {
+    TypeSupport::serializeROSmessage(ser, members_, ros_message);
   } else {
     ser << (uint8_t)0;
   }
@@ -1160,17 +1168,17 @@ bool TypeSupport<MembersType>::serializeROSmessage(
 
 template<typename MembersType>
 bool TypeSupport<MembersType>::deserializeROSmessage(
-  eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl)
+  eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const
 {
   assert(ros_message);
-  assert(impl);
+  assert(members_);
 
   // Deserialize encapsulation.
   deser.read_encapsulation();
 
-  auto members = static_cast<const MembersType *>(impl);
-  if (members->member_count_ != 0) {
-    TypeSupport::deserializeROSmessage(deser, members, ros_message, false);
+  (void)impl;
+  if (members_->member_count_ != 0) {
+    TypeSupport::deserializeROSmessage(deser, members_, ros_message, false);
   } else {
     uint8_t dump = 0;
     deser >> dump;