[feature] Typed DataWriter full CDR serialization (#261)

* [feature] Typed DataWriter full CDR serialization

* Serialized Time_t

Native/CSharpJsonImplTemplate.txt

@@ -53,6 +53,16 @@
         {
             return JsonSerializer.Deserialize(str, typeof(<%TYPE%>), _serializerContext) as <%TYPE%>;
         }
+
+        public byte[] EncodeToBytes(<%TYPE%> sample)
+        {
+            throw new NotImplementedException();
+        }
+
+        public <%TYPE%> DecodeFromBytes(byte[] data)
+        {
+            throw new NotImplementedException();
+        }
         #endregion
     }
 

Native/CWrapperHeaderTemplate.txt

@@ -21,24 +21,40 @@ EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_Write_Cdr(<%SCOPED%>DataWri
 
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_WriteWithTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle, ::DDS::Time_t time);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_WriteWithTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle, const char* time_data, size_t time_size);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_RegisterInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data);
 
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_RegisterInstance_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size);
 
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_RegisterInstanceTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, ::DDS::Time_t time);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_RegisterInstanceTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, const char* time_data, size_t time_size);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_LookupInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_LookupInstance_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_UnregisterInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, ::DDS::InstanceHandle_t handle);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_UnregisterInstance_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, ::DDS::InstanceHandle_t handle);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_UnregisterInstanceTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, ::DDS::InstanceHandle_t handle, ::DDS::Time_t time);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_UnregisterInstanceTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, ::DDS::InstanceHandle_t handle, const char* time_data, size_t time_size);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_Dispose_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_Dispose_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_DisposeTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle, ::DDS::Time_t time);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_DisposeTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle, const char* time_data, size_t time_size);
+
 EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_GetKeyValue_Json(<%SCOPED%>DataWriter_ptr dw, char* & json_data, int handle);
 
+EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_GetKeyValue_Cdr(<%SCOPED%>DataWriter_ptr dw, char* & cdr_data, size_t & size, int handle);
+
 /////////////////////////////////////////////////
 // <%TYPE%> DataReader Methods
 /////////////////////////////////////////////////

Native/CWrapperImplTemplate.txt

@@ -59,6 +59,14 @@ int <%SCOPED_METHOD%>DataWriter_WriteWithTimestamp_Json(<%SCOPED%>DataWriter_ptr
     return dw->write_w_timestamp(sample, handle, time);
 }
 
+int <%SCOPED_METHOD%>DataWriter_WriteWithTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle, const char* time_data, size_t time_size)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+    ::DDS::Time_t time = marshal::dds_time_deserialize_from_bytes(time_data, time_size);
+
+    return dw->write_w_timestamp(sample, handle, time);
+}
+
 int <%SCOPED_METHOD%>DataWriter_RegisterInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data)
 {
     <%SCOPED%>_var samplev = <%SCOPED_METHOD%>_DecodeJsonSample(json_data);
@@ -90,6 +98,14 @@ int <%SCOPED_METHOD%>DataWriter_RegisterInstanceTimestamp_Json(<%SCOPED%>DataWri
     return dw->register_instance_w_timestamp(sample, time);
 }
 
+int <%SCOPED_METHOD%>DataWriter_RegisterInstanceTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, const char* time_data, size_t time_size)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+    ::DDS::Time_t time = marshal::dds_time_deserialize_from_bytes(time_data, time_size);
+
+    return dw->register_instance_w_timestamp(sample, time);
+}
+
 int <%SCOPED_METHOD%>DataWriter_UnregisterInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, ::DDS::InstanceHandle_t handle)
 {
     <%SCOPED%>_var samplev = <%SCOPED_METHOD%>_DecodeJsonSample(json_data);
@@ -102,6 +118,13 @@ int <%SCOPED_METHOD%>DataWriter_UnregisterInstance_Json(<%SCOPED%>DataWriter_ptr
     return dw->unregister_instance(sample, handle);
 }
 
+int <%SCOPED_METHOD%>DataWriter_UnregisterInstance_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, ::DDS::InstanceHandle_t handle)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+
+    return dw->unregister_instance(sample, handle);
+}
+
 int <%SCOPED_METHOD%>DataWriter_UnregisterInstanceTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, ::DDS::InstanceHandle_t handle, ::DDS::Time_t time)
 {
     <%SCOPED%>_var samplev = <%SCOPED_METHOD%>_DecodeJsonSample(json_data);
@@ -114,6 +137,14 @@ int <%SCOPED_METHOD%>DataWriter_UnregisterInstanceTimestamp_Json(<%SCOPED%>DataW
     return dw->unregister_instance_w_timestamp(sample, handle, time);
 }
 
+int <%SCOPED_METHOD%>DataWriter_UnregisterInstanceTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, ::DDS::InstanceHandle_t handle, const char* time_data, size_t time_size)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+    ::DDS::Time_t time = marshal::dds_time_deserialize_from_bytes(time_data, time_size);
+
+    return dw->unregister_instance_w_timestamp(sample, handle, time);
+}
+
 int <%SCOPED_METHOD%>DataWriter_LookupInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data)
 {
     <%SCOPED%>_var samplev = <%SCOPED_METHOD%>_DecodeJsonSample(json_data);
@@ -126,6 +157,13 @@ int <%SCOPED_METHOD%>DataWriter_LookupInstance_Json(<%SCOPED%>DataWriter_ptr dw,
     return dw->lookup_instance(sample);
 }
 
+int <%SCOPED_METHOD%>DataWriter_LookupInstance_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+
+    return dw->lookup_instance(sample);
+}
+
 int <%SCOPED_METHOD%>DataWriter_Dispose_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle)
 {
     <%SCOPED%>_var samplev = <%SCOPED_METHOD%>_DecodeJsonSample(json_data);
@@ -138,6 +176,13 @@ int <%SCOPED_METHOD%>DataWriter_Dispose_Json(<%SCOPED%>DataWriter_ptr dw, const
     return dw->dispose(sample, handle);
 }
 
+int <%SCOPED_METHOD%>DataWriter_Dispose_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+
+    return dw->dispose(sample, handle);
+}
+
 int <%SCOPED_METHOD%>DataWriter_DisposeTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle, ::DDS::Time_t time)
 {
     <%SCOPED%>_var samplev = <%SCOPED_METHOD%>_DecodeJsonSample(json_data);
@@ -150,6 +195,14 @@ int <%SCOPED_METHOD%>DataWriter_DisposeTimestamp_Json(<%SCOPED%>DataWriter_ptr d
     return dw->dispose_w_timestamp(sample, handle, time);
 }
 
+int <%SCOPED_METHOD%>DataWriter_DisposeTimestamp_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle, const char* time_data, size_t time_size)
+{
+    <%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_bytes(cdr_data, size);
+    ::DDS::Time_t time = marshal::dds_time_deserialize_from_bytes(time_data, time_size);
+
+    return dw->dispose_w_timestamp(sample, handle, time);
+}
+
 int <%SCOPED_METHOD%>DataWriter_GetKeyValue_Json(<%SCOPED%>DataWriter_ptr dw, char* & json_data, int handle)
 {
     <%SCOPED%> sample_key;
@@ -165,6 +218,21 @@ int <%SCOPED_METHOD%>DataWriter_GetKeyValue_Json(<%SCOPED%>DataWriter_ptr dw, ch
     return ret;
 }
 
+int <%SCOPED_METHOD%>DataWriter_GetKeyValue_Cdr(<%SCOPED%>DataWriter_ptr dw, char* & cdr_data, size_t & size, int handle)
+{
+    <%SCOPED%> sample_key;
+    ::DDS::ReturnCode_t ret = dw->get_key_value(sample_key, handle);
+
+    if (ret == ::DDS::RETCODE_OK)
+    {
+        <%SCOPED%> sample;
+        <%SCOPED_METHOD%>_CopyKeys(&sample_key, &sample);
+        <%SCOPED_METHOD%>_serialize_to_bytes(sample, cdr_data, size);
+    }
+
+    return ret;
+}
+
 <%SCOPED%>DataReader_ptr <%SCOPED_METHOD%>DataReader_Narrow(DDS::DataReader_ptr dr)
 {
     return <%SCOPED%>DataReader::_narrow(dr);

Native/marshal.h

@@ -3,6 +3,8 @@
 
 #include "ace/Basic_Types.h"
 #include "tao/Unbounded_Value_Sequence_T.h"
+#include "dds/DCPS/Serializer.h"
+#include "dds/DdsDcpsCoreC.h"
 
 class marshal {
 
@@ -498,14 +500,30 @@ class marshal {
     static void *wchar_to_ptr(wchar_t wchar) {
       const size_t size = sizeof(wchar_t);
 
-      // Alloc memory for the poninter
+      // Alloc memory for the pointer
       void *ptr = ACE_OS::malloc(size);
 
       // Copy the bytes in the pointer
       ACE_OS::memcpy(ptr, &wchar, size);
 
       return ptr;
     }
+
+    static DDS::Time_t dds_time_deserialize_from_bytes(const char *bytes, size_t size) {
+        const OpenDDS::DCPS::Encoding encoding(OpenDDS::DCPS::Encoding::KIND_XCDR1, OpenDDS::DCPS::ENDIAN_LITTLE);
+        ACE_Message_Block mb(size);
+        mb.copy(bytes, size);
+        OpenDDS::DCPS::Serializer serializer(&mb, encoding);
+        DDS::Time_t time_value;
+        if (!(serializer >> time_value.sec)) {
+          throw std::runtime_error("Failed to deserialize DDS::Time_t seconds from bytes");
+        }
+
+        if (!(serializer >> time_value.nanosec)) {
+          throw std::runtime_error("Failed to deserialize DDS::Time_t nanoseconds from bytes");
+        }
+        return time_value;
+    }
 };
 
 #endif

Sources/OpenDDSharp/DDS/DataWriter.cs

@@ -174,7 +174,7 @@ public ReturnCode SetListener(DataWriterListener listener, StatusMask mask)
     /// <remarks>
     /// <para>This operation is intended to be used only if the <see cref="DataWriter" /> has
     /// configured <see cref="ReliabilityQosPolicyKind.ReliableReliabilityQos" />.
-    /// Otherwise the operation will return immediately with <see cref="ReturnCode.Ok" />.</para>
+    /// Otherwise, the operation will return immediately with <see cref="ReturnCode.Ok" />.</para>
     /// <para>A return value of <see cref="ReturnCode.Ok" /> indicates that all the samples
     /// written have been acknowledged by all reliable matched data readers; a return value of
     /// <see cref="ReturnCode.Timeout" /> indicates that maxWait
@@ -256,7 +256,7 @@ public ReturnCode GetPublicationMatchedStatus(ref PublicationMatchedStatus statu
     /// <see cref="LivelinessQosPolicyKind.ManualByParticipantLivelinessQos" />
     /// or <see cref="LivelinessQosPolicyKind.ManualByTopicLivelinessQos" />. Otherwise, it has no effect.</para>
     /// <para>NOTE: Writing data via the write operation on a <see cref="DataWriter" /> asserts liveliness on
-    /// the <see cref="DataWriter" /> itself and its <see cref="DomainParticipant" />. Consequently the use of
+    /// the <see cref="DataWriter" /> itself and its <see cref="DomainParticipant" />. Consequently, the use of
     /// AssertLiveliness is only needed if the application is not writing data regularly.</para>
     /// </remarks>
     /// <returns>The <see cref="ReturnCode" /> that indicates the operation result.</returns>
@@ -372,7 +372,7 @@ private Publisher GetPublisher()
             else
             {
                 publisher = new Publisher(ptrPublisher);
-                EntityManager.Instance.Add((publisher as Entity).ToNative(), publisher);
+                EntityManager.Instance.Add(((Entity)publisher).ToNative(), publisher);
             }
         }
 

Sources/OpenDDSharp/DDS/ITypeSupport.cs

@@ -76,4 +76,18 @@ public interface ITypeSupport<T> : ITypeSupport
     /// <param name="encoded">The sample JSON representation.</param>
     /// <returns>The decoded sample.</returns>
     T DecodeFromString(string encoded);
+
+    /// <summary>
+    /// Encodes a sample into a byte array using CDR format.
+    /// </summary>
+    /// <param name="sample">The sample to be encoded.</param>
+    /// <returns>The CDR sample representation.</returns>
+    byte[] EncodeToBytes(T sample);
+
+    /// <summary>
+    /// Decodes a CDR byte array into a sample.
+    /// </summary>
+    /// <param name="encoded">The sample CDR representation.</param>
+    /// <returns>The decoded sample.</returns>
+    T DecodeFromBytes(byte[] encoded);
 }

Sources/OpenDDSharp/Timestamp.cs

@@ -58,7 +58,7 @@ public uint NanoSeconds
     /// Converts the time value to a CDR representation.
     /// </summary>
     /// <returns>The byte span serialized.</returns>
-    internal ReadOnlySpan<byte> ToCDR()
+    public ReadOnlySpan<byte> ToCDR()
     {
         var writer = new Marshaller.Cdr.CdrWriter();
         writer.WriteInt32(Seconds);
@@ -70,7 +70,7 @@ internal ReadOnlySpan<byte> ToCDR()
     /// Updates the time value from a CDR representation.
     /// </summary>
     /// <param name="data">The byte span serialized.</param>
-    internal void FromCDR(ReadOnlySpan<byte> data)
+    public void FromCDR(ReadOnlySpan<byte> data)
     {
         var reader = new Marshaller.Cdr.CdrReader(data.ToArray());
         Seconds = reader.ReadInt32();