[feature] CDR structures serialization (#257)

* [feature] CDR structures serialization

* Test performance

* Transport tunning

* Use pointer for sample info

* Revert "Use pointer for sample info"

This reverts commit 982911b.

* Updated dotnet version

* Updated latency performance test

* Register instance CDR

* RTI register instances

* Prepare for debug

* Added [SuppressGCTransition]

* Changed to CallConvSuppressGCTransition

* Adjusted transport config

* Ensure Release build

* Fixed CXX flags

* Use CXX 17

* Add optimization for msvc

* -DCMAKE_BUILD_TYPE=Release

* Added -DCMAKE_BUILD_TYPE=Release

* Ensure Release when building

* Refactor cmake file

* Increased buffers size

* Allow Debug builds for Windows OS

* Added ToCDR and FromCDR methods

* Complie with CXX 14

* Refactor Benchmark performance test

* Restore/Build before publish benchmark test

* Commented performance test to ensure the cache

* Added LD_LIBRARY_PATH to the unix perf test

* Use bash shell

* Do not run RTI benchmark (no license)

* Use sudo user for the perf test

* Activate all performance tests

* added option -E to sudo calls

* Use sudo env

* Added env variable in the sudo call

* Use pwsh for windows scripts

* Build sequentially

* Removed ToolExe for windows

* Do not use inprocess

* append CMAKE_CXX_FLAGS_RELEASE

* Use /MD for libraries

* Refactored cxx flags

* Use InProcessEmitToolchain

* Added lib folders to the path

* Implemented Nested struct

* Escape paths

* set path on script

* Implemented sequences of structs

* Implemented struct array

* Implemented structs multi-array

* Fixed alignment

* Execute full test in windows

* Added --project parameter to dotnet run

* Only execute once in windows too

* Added continue-on-error: true to latency tests

.github/workflows/ci_standard.yaml

@@ -114,6 +114,28 @@ jobs:
         flag-name: coverage-windows-${{ join(matrix.*, '-') }}
         fail-on-error: false
 
+    - name: Add OpenDDS lib folders to path
+      shell: pwsh
+      run: |
+        $env:PATH = "${{ github.workspace }}\ext\OpenDDS_${{ matrix.BuildPlatform }}\lib;${{ github.workspace }}\ext\OpenDDS_${{ matrix.BuildPlatform }}\ACE_wrappers\lib;$env:PATH"
+        echo "PATH=$env:PATH" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append
+
+    - name: Latency Performance Test
+      shell: cmd
+      run: |
+        dotnet clean ${{ github.workspace }}\Tests\TestIdlCdr\TestIdlCdr.csproj
+        dotnet clean ${{ github.workspace }}\Tests\BenchmarkPerformance\BenchmarkPerformance.csproj
+        dotnet restore ${{ github.workspace }}\Tests\TestIdlCdr\TestIdlCdr.csproj
+        dotnet restore ${{ github.workspace }}\Tests\BenchmarkPerformance\BenchmarkPerformance.csproj
+        dotnet build -m:1 ${{ github.workspace }}\Tests\TestIdlCdr\TestIdlCdr.csproj --configuration Release --runtime win-${{ matrix.BuildPlatform }}
+        dotnet build -m:1 ${{ github.workspace }}\Tests\BenchmarkPerformance\BenchmarkPerformance.csproj --configuration Release --runtime win-${{ matrix.BuildPlatform }}
+        dotnet run --project ${{ github.workspace }}\Tests\BenchmarkPerformance\BenchmarkPerformance.csproj "-1" --configuration Release --runtime win-${{ matrix.BuildPlatform }}
+      env:
+        DDS_ROOT: "${{ github.workspace }}\\ext\\OpenDDS_${{ matrix.BuildPlatform }}"
+        ACE_ROOT: "${{ github.workspace }}\\ext\\OpenDDS_${{ matrix.BuildPlatform }}\\ACE_wrappers"
+        TAO_ROOT: "${{ github.workspace }}\\ext\\OpenDDS_${{ matrix.BuildPlatform }}\\ACE_wrappers\\TAO"
+      continue-on-error: true
+
   build_linux:
     runs-on: ubuntu-20.04
 
@@ -185,6 +207,8 @@ jobs:
         dotnet restore ${{ github.workspace }}/Tests/TestSupportProcessCore/TestSupportProcessCore.csproj --packages "${{ github.workspace }}/packages" --no-cache --configfile ${{ github.workspace }}/nuget.config
         dotnet restore ${{ github.workspace }}/Tests/OpenDDSharp.UnitTest/OpenDDSharp.UnitTest.csproj --packages "${{ github.workspace }}/packages" --no-cache --configfile ${{ github.workspace }}/nuget.config
         dotnet restore ${{ github.workspace }}/Tests/TestSupportProcessCore/TestSupportProcessCore.csproj --packages "${{ github.workspace }}/packages" --no-cache --configfile ${{ github.workspace }}/nuget.config
+        dotnet restore ${{ github.workspace }}/Tests/TestIdlCdr/TestIdlCdr.csproj --packages "${{ github.workspace }}/packages" --no-cache --configfile ${{ github.workspace }}/nuget.config
+        dotnet restore ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --packages "${{ github.workspace }}/packages" --no-cache --configfile ${{ github.workspace }}/nuget.config
       working-directory: ${{ github.workspace }}
 
     - name: Build OpenDDSharp.BuildTasks project
@@ -243,6 +267,21 @@ jobs:
         flag-name: coverage-linux-x64-Release
         fail-on-error: false
 
+    - name: Latency Performance Test
+      shell: bash
+      run: |
+        dotnet build ${{ github.workspace }}/Tests/TestIdlCdr/TestIdlCdr.csproj --configuration Release --runtime linux-x64
+        dotnet build ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --configuration Release --runtime linux-x64
+        dotnet publish ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --configuration Release --runtime linux-x64
+        cd ${{ github.workspace }}/Tests/BenchmarkPerformance/bin/Release/net8.0/linux-x64/publish
+        sudo LD_LIBRARY_PATH=".:$LD_LIBRARY_PATH" ${{ github.workspace }}/Tests/BenchmarkPerformance/bin/Release/net8.0/linux-x64/publish/BenchmarkPerformance -1
+      working-directory: ${{ github.workspace }}
+      env:
+        DDS_ROOT: "${{ github.workspace }}/ext/OpenDDS_Linux"
+        ACE_ROOT: "${{ github.workspace }}/ext/OpenDDS_Linux/ACE_wrappers"
+        TAO_ROOT: "${{ github.workspace }}/ext/OpenDDS_Linux/ACE_wrappers/TAO"
+      continue-on-error: true
+
   build_macos_x64:
     runs-on: macos-13
 
@@ -372,6 +411,19 @@ jobs:
         flag-name: coverage-macos-x64-Release
         fail-on-error: false
 
+    - name: Latency Performance Test
+      shell: bash
+      run: |        
+        dotnet build ${{ github.workspace }}/Tests/TestIdlCdr/TestIdlCdr.csproj --configuration Release --runtime osx-x64
+        dotnet build ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --configuration Release --runtime osx-x64
+        dotnet publish ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --configuration Release --runtime osx-x64
+        sudo env DYLD_LIBRARY_PATH="./:$DYLD_LIBRARY_PATH"
+        sudo env DYLD_FALLBACK_LIBRARY_PATH="./:$DYLD_FALLBACK_LIBRARY_PATH"
+        cd ${{ github.workspace }}/Tests/BenchmarkPerformance/bin/Release/net8.0/osx-x64/publish
+        sudo -E ${{ github.workspace }}/Tests/BenchmarkPerformance/bin/Release/net8.0/osx-x64/publish/BenchmarkPerformance -1
+      working-directory: ${{ github.workspace }}
+      continue-on-error: true
+
   build_macos_arm64:
     runs-on: macos-14
 
@@ -501,6 +553,19 @@ jobs:
           flag-name: coverage-macos-arm64-Release
           fail-on-error: false
 
+      - name: Latency Performance Test
+        shell: bash
+        run: |
+          dotnet build ${{ github.workspace }}/Tests/TestIdlCdr/TestIdlCdr.csproj --configuration Release --runtime osx-arm64
+          dotnet build ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --configuration Release --runtime osx-arm64
+          dotnet publish ${{ github.workspace }}/Tests/BenchmarkPerformance/BenchmarkPerformance.csproj --configuration Release --runtime osx-arm64
+          sudo env DYLD_LIBRARY_PATH="./:$DYLD_LIBRARY_PATH"
+          sudo env DYLD_FALLBACK_LIBRARY_PATH="./:$DYLD_FALLBACK_LIBRARY_PATH"
+          cd ${{ github.workspace }}/Tests/BenchmarkPerformance/bin/Release/net8.0/osx-arm64/publish
+          sudo -E ${{ github.workspace }}/Tests/BenchmarkPerformance/bin/Release/net8.0/osx-arm64/publish/BenchmarkPerformance -1
+        working-directory: ${{ github.workspace }}
+        continue-on-error: true
+
   publish_coveralls:
     runs-on: ubuntu-latest
     needs: [build_windows, build_linux, build_macos_x64, build_macos_arm64]
@@ -512,4 +577,3 @@ jobs:
           parallel-finished: true
           carryforward: coverage-windows-x64-Release,coverage-windows-x86-Release,coverage-linux-x64-Release,coverage-macos-x64-Release,coverage-macos-arm64-Release
           fail-on-error: false
-

Build/OpenDDSharp.Build/OpenDDSharp.Build.csproj

@@ -24,7 +24,7 @@
 
   <ItemGroup>
     <!-- Analyzer API for our custom checks. -->
-    <PackageReference Include="Microsoft.CodeAnalysis.CSharp.Workspaces" Version="4.10.0">
+    <PackageReference Include="Microsoft.CodeAnalysis.CSharp.Workspaces" Version="4.11.0">
       <PrivateAssets>all</PrivateAssets>
     </PackageReference>
 
@@ -35,11 +35,11 @@
     <PackageReference Include="StyleCop.Analyzers" Version="1.1.118">
       <PrivateAssets>all</PrivateAssets>
     </PackageReference>
-    <PackageReference Include="SonarAnalyzer.CSharp" Version="9.28.0.94264">
+    <PackageReference Include="SonarAnalyzer.CSharp" Version="9.32.0.97167">
       <PrivateAssets>all</PrivateAssets>
     </PackageReference>
 
-    <PackageReference Include="Microsoft.VisualStudio.Threading.Analyzers" Version="17.10.48">
+    <PackageReference Include="Microsoft.VisualStudio.Threading.Analyzers" Version="17.11.20">
       <PrivateAssets>all</PrivateAssets>
     </PackageReference>
   </ItemGroup>

Build/OpenDDSharp.Build/Tasks/BuildOpenDDSharpNativeTask.cs

@@ -44,22 +44,22 @@ public override void Run(BuildContext context)
             {
                 buildFoder += $"_{context.BuildPlatform}";
             }
-            var arguments = $"--no-warn-unused-cli -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -A {platform} -H{nativeFolder} -B{buildFoder}";
+            var arguments = $"--no-warn-unused-cli -DCMAKE_BUILD_TYPE={context.BuildConfiguration} -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -A {platform} -H{nativeFolder} -B{buildFoder}";
 
             if (BuildContext.IsLinux)
             {
                 buildFoder += "_Linux";
-                arguments = $"--no-warn-unused-cli -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -H{nativeFolder} -B{buildFoder}";
+                arguments = $"--no-warn-unused-cli -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -H{nativeFolder} -B{buildFoder}";
             }
             else if (BuildContext.IsOSX && BuildContext.IsARM64)
             {
                 buildFoder += "_osx-arm64";
-                arguments = $"--no-warn-unused-cli -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -H{nativeFolder} -B{buildFoder}";
+                arguments = $"--no-warn-unused-cli -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -H{nativeFolder} -B{buildFoder}";
             }
             else if (BuildContext.IsOSX && !BuildContext.IsARM64)
             {
                 buildFoder += "_osx-x64";
-                arguments = $"--no-warn-unused-cli -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -H{nativeFolder} -B{buildFoder}";
+                arguments = $"--no-warn-unused-cli -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH={Path.GetFullPath(context.DdsRoot)} -DCMAKE_EXPORT_COMPILE_COMMANDS:BOOL=TRUE -H{nativeFolder} -B{buildFoder}";
             }
 
             context.CMake(new CMakeSettings
@@ -94,6 +94,10 @@ public override void Run(BuildContext context)
             {
                 buildSettings.Configuration = context.BuildConfiguration;
             }
+            else
+            {
+                buildSettings.Configuration = "Release";
+            }
             context.CMakeBuild(buildSettings);
         }
     }

Build/OpenDDSharp.Build/Tasks/SetupThirdPartyTask.cs

@@ -117,11 +117,7 @@ public override void Run(BuildContext context)
             if (BuildContext.IsLinux || BuildContext.IsOSX)
             {
                 var configurePath = System.IO.Path.Combine(_clonePath.FullPath, "configure");
-                var arguments = " -v --doc-group3 --no-test --no-debug --optimize --install-origin-relative --prefix=/usr/lib";
-                if (BuildContext.IsOSX)
-                {
-                    arguments += " --std=c++11";
-                }
+                const string arguments = " -v --doc-group3 --no-test --no-debug --optimize --install-origin-relative --prefix=/usr/lib --std=c++14";
                 context.Log.Information(arguments);
 
                 var exit = context.StartProcess(configurePath, new ProcessSettings
@@ -148,8 +144,8 @@ public override void Run(BuildContext context)
                     Version = version,
                 });
 
-                var vcvar = $"\\VC\\Auxiliary\\Build\\vcvarsall.bat\" {context.BuildPlatform}"; // -vcvars_ver=14.36.32532
-                var arguments = " /c \"" + vsPath.FullPath + vcvar + " && " + configurePath + " -v --doc-group3 --no-test";
+                var vcvar = $"\\VC\\Auxiliary\\Build\\vcvarsall.bat\" {context.BuildPlatform}";
+                var arguments = " /c \"" + vsPath.FullPath + vcvar + " && " + configurePath + " -v --doc-group3 --no-test --std=c++14";
                 if (context.BuildConfiguration == "Release")
                 {
                     arguments += " --no-debug --optimize";
@@ -165,6 +161,7 @@ public override void Run(BuildContext context)
                     Arguments = arguments,
                     WorkingDirectory = context.DdsRoot,
                 });
+
                 if (exit != 0)
                 {
                     throw new BuildException($"Error calling the OpenDDS configure script. Exit code: {exit}");
@@ -228,10 +225,10 @@ private string GitDescribe(BuildContext context)
             {
                 try
                 {
-                    var output = process.GetStandardOutput();
+                    var output = process.GetStandardOutput().ToList();
                     if (output.Any())
                     {
-                        return output.First();
+                        return output[0];
                     }
                 }
                 catch

Examples/ConsoleDemoCore/ConsoleDemoCore.csproj

@@ -15,7 +15,7 @@
     <ProjectReference Include="..\..\Tests\TestIdlJson\TestIdlJson.csproj" />
 
 	<!-- Analyzer API for our custom checks. -->
-	<PackageReference Include="Microsoft.CodeAnalysis.CSharp.Workspaces" Version="4.10.0">
+	<PackageReference Include="Microsoft.CodeAnalysis.CSharp.Workspaces" Version="4.11.0">
 		<PrivateAssets>all</PrivateAssets>
 	</PackageReference>
 
@@ -26,11 +26,11 @@
 	<PackageReference Include="StyleCop.Analyzers" Version="1.1.118">
 		<PrivateAssets>all</PrivateAssets>
 	</PackageReference>
-	<PackageReference Include="SonarAnalyzer.CSharp" Version="9.28.0.94264">
+	<PackageReference Include="SonarAnalyzer.CSharp" Version="9.32.0.97167">
 		<PrivateAssets>all</PrivateAssets>
 	</PackageReference>
 
-	<PackageReference Include="Microsoft.VisualStudio.Threading.Analyzers" Version="17.10.48">
+	<PackageReference Include="Microsoft.VisualStudio.Threading.Analyzers" Version="17.11.20">
 		<PrivateAssets>all</PrivateAssets>
 	</PackageReference>
   </ItemGroup>

Native/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.19.1)
+cmake_minimum_required(VERSION 3.19.2)
 
 project(Native)
 

Native/CMakeListsTemplate.txt

@@ -1,18 +1,13 @@
-cmake_minimum_required(VERSION 3.19.1)
+cmake_minimum_required(VERSION 3.19.2)
 project(${PROJECT_NAME} CXX)
 
 find_package(OpenDDS REQUIRED)
 
-if(MSVC)
-    add_compile_options(/bigobj)
-    add_definitions(-D_CRT_SECURE_NO_WARNINGS)
-    add_definitions(-D_WINSOCK_DEPRECATED_NO_WARNINGS)
-endif()
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
 
 if(APPLE)
-    set(CMAKE_CXX_STANDARD 14)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-    set(CMAKE_CXX_EXTENSIONS OFF)
 elseif(UNIX)
     SET(CMAKE_SKIP_BUILD_RPATH FALSE)
     SET(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
@@ -22,13 +17,18 @@ endif()
 add_library(${PROJECT_NAME} SHARED ${WRAPPER_FILES})
 
 if(MSVC)
-    target_compile_options(${PROJECT_NAME} PUBLIC /wd4190)
+   add_compile_definitions(_CRT_SECURE_NO_WARNINGS)
+   add_compile_definitions(_WINSOCK_DEPRECATED_NO_WARNINGS)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj /wd4190")
+   set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /O2 /Oi /D NDEBUG /D NOMINMAX /MD")
 elseif(APPLE)
-        target_compile_options(${PROJECT_NAME} PUBLIC -Wno-switch -Wno-return-type-c-linkage -Wno-tautological-pointer-compare)
-        set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath,@executable_path -Wl,-rpath,@loader_path")
+    set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath,@executable_path -Wl,-rpath,@loader_path")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wpointer-arith -Wno-switch -Wno-return-type-c-linkage -Wno-tautological-pointer-compare -pthread")
+    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -DNDEBUG")
 elseif(UNIX)
-    target_compile_options(${PROJECT_NAME} PUBLIC -Wno-switch -Wno-return-type-c-linkage -Wno-tautological-pointer-compare)
     set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-Wl,-rpath,$ORIGIN")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wpointer-arith -Wno-switch -Wno-return-type-c-linkage -Wno-tautological-pointer-compare -pthread")
+    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -DNDEBUG")
 endif()
 
 OPENDDS_TARGET_SOURCES(${PROJECT_NAME}

Native/CSharpCDRImplTemplate.txt

@@ -117,10 +117,9 @@
         {
             InstanceHandle ret = InstanceHandle.HandleNil;
 
-            var str = _typeSupport.EncodeToString(instance);
-            var json_data = MarshalHelper.NativeUtf8FromString(str);
+            var bytes = _typeSupport.EncodeToBytes(instance);
 
-            ret = <%TYPE%>DataWriterNative.RegisterInstance(_native, json_data);
+            ret = <%TYPE%>DataWriterNative.RegisterInstance(_native, bytes, (UIntPtr)bytes.Length);
 
             return ret;
         }
@@ -302,8 +301,9 @@
         internal static partial IntPtr Narrow(IntPtr dw);
 
         [SuppressUnmanagedCodeSecurity]
+        [SuppressGCTransition]
         [LibraryImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataWriter_Write_Cdr")]
-        [UnmanagedCallConv(CallConvs = new[] { typeof(System.Runtime.CompilerServices.CallConvCdecl) })]
+        [UnmanagedCallConv(CallConvs = new[] { typeof(System.Runtime.CompilerServices.CallConvSuppressGCTransition) })]
         internal static partial int Write(IntPtr dw, byte[] cdrData, UIntPtr size, int handle);
 
         [SuppressUnmanagedCodeSecurity]
@@ -316,6 +316,12 @@
         [UnmanagedCallConv(CallConvs = new[] { typeof(System.Runtime.CompilerServices.CallConvCdecl) })]
         internal static partial int RegisterInstance(IntPtr dw, IntPtr jsonData);
 
+        [SuppressUnmanagedCodeSecurity]
+        [SuppressGCTransition]
+        [LibraryImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataWriter_RegisterInstance_Cdr")]
+        [UnmanagedCallConv(CallConvs = new[] { typeof(System.Runtime.CompilerServices.CallConvSuppressGCTransition) })]
+        internal static partial int RegisterInstance(IntPtr dw, byte[] cdrData, UIntPtr size);
+
         [SuppressUnmanagedCodeSecurity]
         [SuppressUnmanagedCodeSecurity]
         [DllImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataWriter_RegisterInstanceTimestamp_Json", CallingConvention = CallingConvention.Cdecl)]
@@ -367,6 +373,10 @@
         [DllImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataWriter_RegisterInstance_Json", CallingConvention = CallingConvention.Cdecl)]
         internal static extern int RegisterInstance(IntPtr dw, [In] IntPtr jsonData);
 
+        [SuppressUnmanagedCodeSecurity]
+        [DllImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataWriter_RegisterInstance_Cdr", CallingConvention = CallingConvention.Cdecl)]
+        internal static extern int RegisterInstance(IntPtr dw, byte[] cdrData, UIntPtr size);
+
         [SuppressUnmanagedCodeSecurity]
         [DllImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataWriter_RegisterInstanceTimestamp_Json", CallingConvention = CallingConvention.Cdecl)]
         internal static extern int RegisterInstanceTimestamp(IntPtr dw, [In] IntPtr jsonData, [MarshalAs(UnmanagedType.Struct), In] Timestamp timestamp);
@@ -1131,7 +1141,7 @@
             ReturnCode ret = ReturnCode.Error;
             var ptr = IntPtr.Zero;
             var infoWrapper = new SampleInfoWrapper();
-            UIntPtr size = UIntPtr.Zero;
+            var size = UIntPtr.Zero;
             ret = (ReturnCode)<%TYPE%>DataReaderNative.TakeNextSample(_native, ref ptr, ref size, ref infoWrapper);
             if (ret == ReturnCode.Ok)
             {
@@ -1263,10 +1273,12 @@
         internal static partial int TakeNextInstanceWithCondition(IntPtr dr, ref IntPtr receivedData, ref IntPtr receivedInfo, int handle, int maxSamples, IntPtr condition);
 
         [SuppressUnmanagedCodeSecurity]
+        [SuppressGCTransition]
         [DllImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataReader_ReadNextSample_Cdr", CallingConvention = CallingConvention.Cdecl)]
         internal static extern int ReadNextSample(IntPtr dr, [In, Out] ref IntPtr cdr_data, [In, Out] ref UIntPtr size, [In, Out] ref SampleInfoWrapper sampleInfo);
 
         [SuppressUnmanagedCodeSecurity]
+        [SuppressGCTransition]
         [DllImport(<%TYPE%>.API_DLL, EntryPoint = "<%SCOPED_METHOD%>DataReader_TakeNextSample_Cdr", CallingConvention = CallingConvention.Cdecl)]
         internal static extern int TakeNextSample(IntPtr dr, [In, Out] ref IntPtr cdr_data, [In, Out] ref UIntPtr size, [In, Out] ref SampleInfoWrapper sampleInfo);