Support Fast CDR v2 (ros2#114)

* Require fastcdr version 2 * Adapt for API breaks in rosidl_typesupport_fastrtps_cpp * Adapt for API breaks in rosidl_typesupport_fastrtps_c * Adapt for API breaks in tests. Signed-off-by: Miguel Company <[email protected]>
eProsima · Mar 26, 2024 · edf7835 · edf7835
1 parent b4f63c0
commit edf7835
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Showing 13 changed files with 34 additions and 21 deletions.
diff --git a/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake b/rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
@@ -20,7 +20,7 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(fastrtps_cmake_module QUIET)
-find_package(fastcdr REQUIRED CONFIG)
+find_package(fastcdr 2 REQUIRED CONFIG)
 find_package(rosidl_typesupport_interface REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)

diff --git a/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em b/rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
@@ -237,7 +237,7 @@ if isinstance(type_, AbstractNestedType):
       }
     }
 @[    elif isinstance(member.type.value_type, BasicType)]@
-    cdr.serializeArray(array_ptr, size);
+    cdr.serialize_array(array_ptr, size);
 @[    else]@
     for (size_t i = 0; i < size; ++i) {
       if (!callbacks->cdr_serialize(
@@ -379,7 +379,7 @@ else:
       array_ptr[i] = static_cast<char16_t>(tmp);
     }
 @[    elif isinstance(member.type.value_type, BasicType)]@
-    cdr.deserializeArray(array_ptr, size);
+    cdr.deserialize_array(array_ptr, size);
 @[    else]@
     for (size_t i = 0; i < size; ++i) {
       if (!callbacks->cdr_deserialize(

diff --git a/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in b/rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
@@ -2,7 +2,7 @@
 # rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
 
 find_package(fastrtps_cmake_module QUIET)
-find_package(fastcdr REQUIRED CONFIG)
+find_package(fastcdr 2 REQUIRED CONFIG)
 
 if(NOT fastcdr_FOUND)
   message(STATUS

diff --git a/rosidl_typesupport_fastrtps_c/test/benchmark/benchmark_string_conversions.cpp b/rosidl_typesupport_fastrtps_c/test/benchmark/benchmark_string_conversions.cpp
@@ -38,7 +38,8 @@ BENCHMARK_F(PerformanceTest, wstring_to_u16string)(benchmark::State & st)
   std::wstring wstring(kSize, '*');
   char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
   cdr << wstring;
 
   rosidl_runtime_c__U16String s;
@@ -65,7 +66,8 @@ BENCHMARK_F(PerformanceTest, u16string_to_wstring)(benchmark::State & st)
   std::wstring data(kSize, '*');
   char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
   cdr << data;
 
   rosidl_runtime_c__U16String s;

diff --git a/rosidl_typesupport_fastrtps_c/test/test_wstring_conversion.cpp b/rosidl_typesupport_fastrtps_c/test/test_wstring_conversion.cpp
@@ -32,13 +32,15 @@ void test_ser_des(const rosidl_runtime_c__U16String & input)
 
   {
     fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-    fastcdr::Cdr serializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+    fastcdr::Cdr serializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+    serializer.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
     cdr_serialize(serializer, input);
   }
 
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr deserializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr deserializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  deserializer.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
   rosidl_runtime_c__U16String output;
   ASSERT_TRUE(rosidl_runtime_c__U16String__init(&output));

diff --git a/rosidl_typesupport_fastrtps_c/test/test_wstring_conversion_mem.cpp b/rosidl_typesupport_fastrtps_c/test/test_wstring_conversion_mem.cpp
@@ -39,7 +39,8 @@ TEST(test_wstring_conversion, u16string_resize_failure)
   char raw_buffer[1024];
   {
     fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-    fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+    fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+    cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
     cdr << wstring;
   }
 
@@ -61,7 +62,8 @@ TEST(test_wstring_conversion, u16string_resize_failure)
   osrf_testing_tools_cpp::memory_tools::enable_monitoring();
 
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
   EXPECT_NO_MEMORY_OPERATIONS(
   {
     EXPECT_FALSE(cdr_deserialize(cdr, u16string));

diff --git a/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt b/rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
@@ -23,7 +23,7 @@ endif()
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(fastrtps_cmake_module QUIET)
-find_package(fastcdr REQUIRED CONFIG)
+find_package(fastcdr 2 REQUIRED CONFIG)
 if(FASTRTPS_STATIC_DISABLE)
   ament_package()
   message(STATUS "fastrtps static rmw implementation explicitly disabled - skipping '${PROJECT_NAME}'")

diff --git a/..._typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake b/..._typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
@@ -20,7 +20,7 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 find_package(fastrtps_cmake_module QUIET)
-find_package(fastcdr REQUIRED CONFIG)
+find_package(fastcdr 2 REQUIRED CONFIG)
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_runtime_cpp REQUIRED)

diff --git a/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em b/rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
@@ -131,7 +131,7 @@ cdr_serialize(
     cdr << static_cast<uint32_t>(size);
 @[        if isinstance(member.type.value_type, BasicType) and member.type.value_type.typename not in ('boolean', 'wchar')]@
     if (size > 0) {
-      cdr.serializeArray(&(ros_message.@(member.name)[0]), size);
+      cdr.serialize_array(&(ros_message.@(member.name)[0]), size);
     }
 @[        else]@
     for (size_t i = 0; i < size; i++) {
@@ -210,7 +210,7 @@ cdr_deserialize(
     ros_message.@(member.name).resize(size);
 @[        if isinstance(member.type.value_type, BasicType) and member.type.value_type.typename not in ('boolean', 'wchar')]@
     if (size > 0) {
-      cdr.deserializeArray(&(ros_message.@(member.name)[0]), size);
+      cdr.deserialize_array(&(ros_message.@(member.name)[0]), size);
     }
 @[        else]@
     for (size_t i = 0; i < size; i++) {

diff --git a/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in b/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
@@ -3,7 +3,7 @@
 #   rosidl_typesupport_fastrtps_cpp-extras.cmake.in
 
 find_package(fastrtps_cmake_module QUIET)
-find_package(fastcdr REQUIRED CONFIG)
+find_package(fastcdr 2 REQUIRED CONFIG)
 
 if(NOT fastcdr_FOUND)
   message(STATUS

diff --git a/rosidl_typesupport_fastrtps_cpp/test/benchmark/benchmark_string_conversions.cpp b/rosidl_typesupport_fastrtps_cpp/test/benchmark/benchmark_string_conversions.cpp
@@ -35,7 +35,9 @@ BENCHMARK_F(PerformanceTest, wstring_to_u16string)(benchmark::State & st)
   std::wstring wstring(kSize, '*');
   char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
+
   cdr << wstring;
 
   reset_heap_counters();
@@ -55,7 +57,8 @@ BENCHMARK_F(PerformanceTest, u16string_to_wstring)(benchmark::State & st)
   std::u16string u16string(kSize, '*');
   char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
   reset_heap_counters();
 

diff --git a/rosidl_typesupport_fastrtps_cpp/test/test_wstring_conversion.cpp b/rosidl_typesupport_fastrtps_cpp/test/test_wstring_conversion.cpp
@@ -31,13 +31,15 @@ void test_ser_des(const std::u16string & input)
 
   {
     fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-    fastcdr::Cdr serializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+    fastcdr::Cdr serializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+    serializer.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
     cdr_serialize(serializer, input);
   }
 
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr deserializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr deserializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  deserializer.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
   std::u16string output;
   ASSERT_TRUE(cdr_deserialize(deserializer, output));

diff --git a/rosidl_typesupport_fastrtps_cpp/test/test_wstring_conversion_mem.cpp b/rosidl_typesupport_fastrtps_cpp/test/test_wstring_conversion_mem.cpp
@@ -38,7 +38,8 @@ TEST(test_wstring_conversion, u16string_resize_failure)
   char raw_buffer[1024];
   {
     fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-    fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+    fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+    cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
     cdr << wstring;
   }
 
@@ -54,7 +55,8 @@ TEST(test_wstring_conversion, u16string_resize_failure)
   osrf_testing_tools_cpp::memory_tools::enable_monitoring();
 
   fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
-  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::CdrVersion::XCDRv1);
+  cdr.set_encoding_flag(fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
   EXPECT_NO_MEMORY_OPERATIONS(
   {
     EXPECT_FALSE(cdr_deserialize(cdr, u16string));