Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[21351] Refactor TopicDataType #375

Merged
merged 7 commits into from
Jul 18, 2024
Merged

[21351] Refactor TopicDataType #375

Show file tree
Hide file tree
Changes from 6 commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
7b7755a
Refs #21349. Remove old functions
richiware Jul 12, 2024
0ea1df0
Refs #21349. Apply suggestions: Update TopicDataType
richiware Jul 12, 2024
522634a
Refs #21349. Rename GEN_API_VER
richiware Jul 12, 2024
8a4c10d
Refs #21349. Apply suggestion of new compute_key
richiware Jul 15, 2024
1189c98
Refs #21349. Apply suggestions
richiware Jul 16, 2024
e98d39b
Refs #21349. Making private two members
richiware Jul 17, 2024
a290e39
Refs #21340. Fix tests
richiware Jul 18, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
47 changes: 18 additions & 29 deletions src/main/java/com/eprosima/fastdds/idl/templates/DDSPubSubTypeHeader.stg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,10 @@ $fileHeader(ctx=ctx, file=[ctx.filename, "PubSubTypes.hpp"], description=["This

$ctx.directIncludeDependencies : {include | #include "$include$PubSubTypes.hpp"}; separator="\n"$

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

$definitions; separator="\n"$

Expand Down Expand Up @@ -113,38 +113,30 @@ public:

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 @@ -159,10 +151,6 @@ public:
#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 $if(struct.isPlain)$is_plain_xcdrv1_impl()$else$false$endif$;
}

eProsima_user_DllExport inline bool is_plain(
eprosima::fastdds::dds::DataRepresentationId_t data_representation) const override
Expand Down Expand Up @@ -194,11 +182,12 @@ public:

#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_;

$if(struct.isPlain)$
private:

static constexpr bool is_plain_xcdrv1_impl()
{
Expand Down
137 changes: 62 additions & 75 deletions src/main/java/com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -53,49 +53,42 @@ struct_type(ctx, parent, struct, member_list) ::= <<
$member_list$
$struct.name$PubSubType::$struct.name$PubSubType()
{
$if(ctx.GenerateTypesROS2)$setName("$struct.ROS2Scopedname$");$else$setName("$struct.scopedname$");$endif$
uint32_t type_size =
#if FASTCDR_VERSION_MAJOR == 1
static_cast<uint32_t>($struct.name$::getMaxCdrSerializedSize());
#else
$struct.cScopedname$_max_cdr_typesize;
#endif
$if(ctx.GenerateTypesROS2)$set_name("$struct.ROS2Scopedname$");$else$set_name("$struct.scopedname$");$endif$
uint32_t type_size = $struct.cScopedname$_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 = $if(struct.hasKey)$true$else$false$endif$;
uint32_t keyLength = $struct.cScopedname$_max_key_cdr_typesize > 16 ? $struct.cScopedname$_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 = $if(struct.hasKey)$true$else$false$endif$;
uint32_t key_length = $struct.cScopedname$_max_key_cdr_typesize > 16 ? $struct.cScopedname$_max_key_cdr_typesize : 16;
key_buffer_ = reinterpret_cast<unsigned char*>(malloc(key_length));
memset(key_buffer_, 0, key_length);
}

$struct.name$PubSubType::~$struct.name$PubSubType()
{
if (m_keyBuffer != nullptr)
if (key_buffer_ != nullptr)
{
free(m_keyBuffer);
free(key_buffer_);
}
}

bool $struct.name$PubSubType::serialize(
const void* const data,
SerializedPayload_t* payload,
SerializedPayload_t& payload,
DataRepresentationId_t data_representation)
{
const $struct.name$* p_type = static_cast<const $struct.name$*>(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 ?
$if(struct.annotationFinal || struct.annotationAppendable)$eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR $elseif(struct.annotationMutable)$eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR$endif$ :
$if(struct.annotationFinal)$eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2$elseif(struct.annotationAppendable)$eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2$elseif(struct.annotationMutable)$eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR2$endif$);
#endif // FASTCDR_VERSION_MAJOR > 1

try
{
Expand All @@ -110,16 +103,12 @@ bool $struct.name$PubSubType::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 $struct.name$PubSubType::deserialize(
SerializedPayload_t* payload,
SerializedPayload_t& payload,
void* data)
{
try
Expand All @@ -128,18 +117,14 @@ bool $struct.name$PubSubType::deserialize(
$struct.name$* p_type = static_cast<$struct.name$*>(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 @@ -152,88 +137,90 @@ bool $struct.name$PubSubType::deserialize(
return true;
}

std::function<uint32_t()> $struct.name$PubSubType::getSerializedSizeProvider(
uint32_t $struct.name$PubSubType::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<$struct.name$*>(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 $struct.name$*>(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 $struct.name$*>(data), current_alignment)) +
4u /*encapsulation*/;
}
catch (eprosima::fastcdr::exception::Exception& /*exception*/)
{
return 0;
}
}

void* $struct.name$PubSubType::createData()
void* $struct.name$PubSubType::create_data()
{
return reinterpret_cast<void*>(new $struct.name$());
}

void $struct.name$PubSubType::deleteData(
void $struct.name$PubSubType::delete_data(
void* data)
{
delete(reinterpret_cast<$struct.name$*>(data));
}

bool $struct.name$PubSubType::getKey(
bool $struct.name$PubSubType::compute_key(
SerializedPayload_t& payload,
InstanceHandle_t& handle,
bool force_md5)
{
if (!is_compute_key_provided)
{
return false;
}

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

return false;
}

bool $struct.name$PubSubType::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 $struct.name$* p_type = static_cast<const $struct.name$*>(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_),
$struct.cScopedname$_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 || $struct.cScopedname$_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
2 changes: 1 addition & 1 deletion src/main/java/com/eprosima/fastdds/idl/templates/DDSPubSubTypeSwigInterface.stg
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ $fileHeader(ctx=ctx, file=[ctx.filename, "PubSubTypes.i"], description=["This h
#include "$ctx.filename$PubSubTypes.hpp"
%}

#define GEN_API_VER 2
#define FASTDDS_GEN_API_VER 3

%include "$ctx.filename$PubSubTypes.hpp"

Expand Down
Loading