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Refactor TopicDataType (#5066)
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* Refs #21349. Remove old functions

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Apply suggestions: Update TopicDataType

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Rename GEN_API_VER

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Apply suggestions

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Apply suggestions

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Using new compute_key

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Regenerate code

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Apply suggestions

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Fix bitsets after regenerate code

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Fix test

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Regenerate code after rebase

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Fix in fastdds_python

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Fix doxygen

Signed-off-by: Ricardo González Moreno <[email protected]>

* Refs #21349. Regenerate source code after rebase

Signed-off-by: Ricardo González Moreno <[email protected]>

---------

Signed-off-by: Ricardo González Moreno <[email protected]>
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@richiware
richiware authored Jul 18, 2024
1 parent fdc3f89 commit 50b6494
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Showing 240 changed files with 80,076 additions and 102,728 deletions.
137 changes: 62 additions & 75 deletions examples/cpp/configuration/ConfigurationPubSubTypes.cxx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -33,49 +33,42 @@ using DataRepresentationId_t = eprosima::fastdds::dds::DataRepresentationId_t;

ConfigurationPubSubType::ConfigurationPubSubType()
{
setName("Configuration");
uint32_t type_size =
#if FASTCDR_VERSION_MAJOR == 1
static_cast<uint32_t>(Configuration::getMaxCdrSerializedSize());
#else
Configuration_max_cdr_typesize;
#endif
set_name("Configuration");
uint32_t type_size = Configuration_max_cdr_typesize;
type_size += static_cast<uint32_t>(eprosima::fastcdr::Cdr::alignment(type_size, 4)); /* possible submessage alignment */
m_typeSize = type_size + 4; /*encapsulation*/
m_isGetKeyDefined = false;
uint32_t keyLength = Configuration_max_key_cdr_typesize > 16 ? Configuration_max_key_cdr_typesize : 16;
m_keyBuffer = reinterpret_cast<unsigned char*>(malloc(keyLength));
memset(m_keyBuffer, 0, keyLength);
max_serialized_type_size = type_size + 4; /*encapsulation*/
is_compute_key_provided = false;
uint32_t key_length = Configuration_max_key_cdr_typesize > 16 ? Configuration_max_key_cdr_typesize : 16;
key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
memset(key_buffer_, 0, key_length);
}

ConfigurationPubSubType::~ConfigurationPubSubType()
{
if (m_keyBuffer != nullptr)
if (key_buffer_ != nullptr)
{
free(m_keyBuffer);
free(key_buffer_);
}
}

bool ConfigurationPubSubType::serialize(
const void* const data,
SerializedPayload_t* payload,
SerializedPayload_t& payload,
DataRepresentationId_t data_representation)
{
const Configuration* p_type = static_cast<const Configuration*>(data);

// Object that manages the raw buffer.
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->max_size);
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.max_size);
// Object that serializes the data.
eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
#if FASTCDR_VERSION_MAJOR > 1
payload.encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
ser.set_encoding_flag(
data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR :
eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2);
#endif // FASTCDR_VERSION_MAJOR > 1

try
{
Expand All @@ -90,16 +83,12 @@ bool ConfigurationPubSubType::serialize(
}

// Get the serialized length
#if FASTCDR_VERSION_MAJOR == 1
payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
#else
payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
#endif // FASTCDR_VERSION_MAJOR == 1
payload.length = static_cast<uint32_t>(ser.get_serialized_data_length());
return true;
}

bool ConfigurationPubSubType::deserialize(
SerializedPayload_t* payload,
SerializedPayload_t& payload,
void* data)
{
try
Expand All @@ -108,18 +97,14 @@ bool ConfigurationPubSubType::deserialize(
Configuration* p_type = static_cast<Configuration*>(data);

// Object that manages the raw buffer.
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload.data), payload.length);

// Object that deserializes the data.
eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
#if FASTCDR_VERSION_MAJOR == 1
, eprosima::fastcdr::Cdr::CdrType::DDS_CDR
#endif // FASTCDR_VERSION_MAJOR == 1
);
eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);

// Deserialize encapsulation.
deser.read_encapsulation();
payload->encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
payload.encapsulation = deser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;

// Deserialize the object.
deser >> *p_type;
Expand All @@ -132,88 +117,90 @@ bool ConfigurationPubSubType::deserialize(
return true;
}

std::function<uint32_t()> ConfigurationPubSubType::getSerializedSizeProvider(
uint32_t ConfigurationPubSubType::calculate_serialized_size(
const void* const data,
DataRepresentationId_t data_representation)
{
return [data, data_representation]() -> uint32_t
{
#if FASTCDR_VERSION_MAJOR == 1
static_cast<void>(data_representation);
return static_cast<uint32_t>(type::getCdrSerializedSize(*static_cast<Configuration*>(data))) +
4u /*encapsulation*/;
#else
try
{
eprosima::fastcdr::CdrSizeCalculator calculator(
data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
size_t current_alignment {0};
return static_cast<uint32_t>(calculator.calculate_serialized_size(
*static_cast<const Configuration*>(data), current_alignment)) +
4u /*encapsulation*/;
}
catch (eprosima::fastcdr::exception::Exception& /*exception*/)
{
return 0;
}
#endif // FASTCDR_VERSION_MAJOR == 1
};
try
{
eprosima::fastcdr::CdrSizeCalculator calculator(
data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
eprosima::fastcdr::CdrVersion::XCDRv1 :eprosima::fastcdr::CdrVersion::XCDRv2);
size_t current_alignment {0};
return static_cast<uint32_t>(calculator.calculate_serialized_size(
*static_cast<const Configuration*>(data), current_alignment)) +
4u /*encapsulation*/;
}
catch (eprosima::fastcdr::exception::Exception& /*exception*/)
{
return 0;
}
}

void* ConfigurationPubSubType::createData()
void* ConfigurationPubSubType::create_data()
{
return reinterpret_cast<void*>(new Configuration());
}

void ConfigurationPubSubType::deleteData(
void ConfigurationPubSubType::delete_data(
void* data)
{
delete(reinterpret_cast<Configuration*>(data));
}

bool ConfigurationPubSubType::getKey(
bool ConfigurationPubSubType::compute_key(
SerializedPayload_t& payload,
InstanceHandle_t& handle,
bool force_md5)
{
if (!is_compute_key_provided)
{
return false;
}

Configuration data;
if (deserialize(payload, static_cast<void*>(&data)))
{
return compute_key(static_cast<void*>(&data), handle, force_md5);
}

return false;
}

bool ConfigurationPubSubType::compute_key(
const void* const data,
InstanceHandle_t* handle,
InstanceHandle_t& handle,
bool force_md5)
{
if (!m_isGetKeyDefined)
if (!is_compute_key_provided)
{
return false;
}

const Configuration* p_type = static_cast<const Configuration*>(data);

// Object that manages the raw buffer.
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(m_keyBuffer),
eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(key_buffer_),
Configuration_max_key_cdr_typesize);

// Object that serializes the data.
eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
#if FASTCDR_VERSION_MAJOR == 1
p_type->serializeKey(ser);
#else
eprosima::fastcdr::serialize_key(ser, *p_type);
#endif // FASTCDR_VERSION_MAJOR == 1
if (force_md5 || Configuration_max_key_cdr_typesize > 16)
{
m_md5.init();
#if FASTCDR_VERSION_MAJOR == 1
m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
#else
m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
#endif // FASTCDR_VERSION_MAJOR == 1
m_md5.finalize();
md5_.init();
md5_.update(key_buffer_, static_cast<unsigned int>(ser.get_serialized_data_length()));
md5_.finalize();
for (uint8_t i = 0; i < 16; ++i)
{
handle->value[i] = m_md5.digest[i];
handle.value[i] = md5_.digest[i];
}
}
else
{
for (uint8_t i = 0; i < 16; ++i)
{
handle->value[i] = m_keyBuffer[i];
handle.value[i] = key_buffer_[i];
}
}
return true;
Expand Down
46 changes: 18 additions & 28 deletions examples/cpp/configuration/ConfigurationPubSubTypes.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -32,10 +32,10 @@
#include "Configuration.hpp"


#if !defined(GEN_API_VER) || (GEN_API_VER != 2)
#if !defined(FASTDDS_GEN_API_VER) || (FASTDDS_GEN_API_VER != 3)
#error \
Generated Configuration is not compatible with current installed Fast DDS. Please, regenerate it with fastddsgen.
#endif // GEN_API_VER
#endif // FASTDDS_GEN_API_VER


/*!
Expand All @@ -54,38 +54,30 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType

eProsima_user_DllExport bool serialize(
const void* const data,
eprosima::fastdds::rtps::SerializedPayload_t* payload) override
{
return serialize(data, payload, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
}

eProsima_user_DllExport bool serialize(
const void* const data,
eprosima::fastdds::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t& payload,
eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;

eProsima_user_DllExport bool deserialize(
eprosima::fastdds::rtps::SerializedPayload_t* payload,
eprosima::fastdds::rtps::SerializedPayload_t& payload,
void* data) override;

eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
const void* const data) override
{
return getSerializedSizeProvider(data, eprosima::fastdds::dds::DEFAULT_DATA_REPRESENTATION);
}

eProsima_user_DllExport std::function<uint32_t()> getSerializedSizeProvider(
eProsima_user_DllExport uint32_t calculate_serialized_size(
const void* const data,
eprosima::fastdds::dds::DataRepresentationId_t data_representation) override;

eProsima_user_DllExport bool getKey(
eProsima_user_DllExport bool compute_key(
eprosima::fastdds::rtps::SerializedPayload_t& payload,
eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
bool force_md5 = false) override;

eProsima_user_DllExport bool compute_key(
const void* const data,
eprosima::fastdds::rtps::InstanceHandle_t* ihandle,
eprosima::fastdds::rtps::InstanceHandle_t& ihandle,
bool force_md5 = false) override;

eProsima_user_DllExport void* createData() override;
eProsima_user_DllExport void* create_data() override;

eProsima_user_DllExport void deleteData(
eProsima_user_DllExport void delete_data(
void* data) override;

//Register TypeObject representation in Fast DDS TypeObjectRegistry
Expand All @@ -100,10 +92,6 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType
#endif // TOPIC_DATA_TYPE_API_HAS_IS_BOUNDED

#ifdef TOPIC_DATA_TYPE_API_HAS_IS_PLAIN
eProsima_user_DllExport inline bool is_plain() const override
{
return false;
}

eProsima_user_DllExport inline bool is_plain(
eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
Expand All @@ -124,8 +112,10 @@ class ConfigurationPubSubType : public eprosima::fastdds::dds::TopicDataType

#endif // TOPIC_DATA_TYPE_API_HAS_CONSTRUCT_SAMPLE

eprosima::fastdds::MD5 m_md5;
unsigned char* m_keyBuffer;
private:

eprosima::fastdds::MD5 md5_;
unsigned char* key_buffer_;

};

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