Refs #20310: Review 2 suggestions on rosidl_typesupport_fastrtps_cpp

Signed-off-by: Mario Dominguez <[email protected]>

rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h

@@ -29,7 +29,7 @@
 // Holds generated methods related with keys
 typedef struct message_type_support_key_callbacks_t
 {
-  /// Callback function for message serialization
+  /// Callback function for key serialization
   /**
    * \param[in] untyped_ros_message Type erased pointer to message instance.
    * \param [in,out] Serialized FastCDR data object.
@@ -39,10 +39,10 @@ typedef struct message_type_support_key_callbacks_t
     const void * untyped_ros_message,
     eprosima::fastcdr::Cdr & cdr);
 
-  /// Callback function for message deserialization
+  /// Callback function for key deserialization
   /**
    * \param [in] Serialized FastCDR data object.
-   * \param[out] untyped_ros_message Type erased pointer to message instance.
+   * \param [out] untyped_ros_message Type erased pointer to message instance.
    * \return true if deserialization succeeded, false otherwise.
    */
   bool (* cdr_deserialize_key)(
@@ -51,21 +51,19 @@ typedef struct message_type_support_key_callbacks_t
 
   /// Callback function to get size of the key data
   /**
-   * \return The size of the serialized message in bytes.
+   * \param [in] untyped_ros_message Type erased pointer to message instance
+   * \return The size of the serialized key in bytes.
    */
   size_t (* get_serialized_size_key)(
-    const void * untyped_ros_message,
-    size_t initial_alignment);
+    const void * untyped_ros_message);
 
   /// Callback function to determine the maximum size needed for key serialization,
   /// which is used for key type support initialization.
   /**
-   * \param [in] initial_alignment Initial alignment to be incrementally calculated.
    * \param [in,out] is_unbounded Whether the key has any unbounded member.
    * \return The maximum key serialized size, in bytes.
    */
   size_t (* max_serialized_size_key)(
-    size_t initial_aligment,
     bool & is_unbounded);
 
 } message_type_support_key_callbacks_t;

rosidl_typesupport_fastrtps_cpp/resource/msg__rosidl_typesupport_fastrtps_cpp.hpp.em

@@ -50,7 +50,6 @@ header_files = [
 #include "@(header_file)"
 @[end for]@
 
-struct message_type_support_key_callbacks_t;
 @[for ns in message.structure.namespaced_type.namespaces]@
 
 namespace @(ns)

rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em

@@ -105,6 +105,11 @@ namespace @(ns)
 namespace typesupport_fastrtps_cpp
 {
 @{
+
+# Generates the definition for the serialization family of methods given a structure member
+#   member: the member to serialize
+#   suffix: the suffix name of the method. Will be used in case of recursion
+
 def generate_member_for_cdr_serialize(member, suffix):
   from rosidl_generator_cpp import msg_type_only_to_cpp
   from rosidl_generator_cpp import msg_type_to_cpp
@@ -312,6 +317,11 @@ cdr_deserialize(
 }
 
 @{
+
+# Generates the definition for the get_serialized_size family of methods given a structure member
+#   member: the member to serialize
+#   suffix: the suffix name of the method. Will be used in case of recursion
+
 def generate_member_for_get_serialized_size(member, suffix):
   from rosidl_generator_cpp import msg_type_only_to_cpp
   from rosidl_generator_cpp import msg_type_to_cpp
@@ -401,6 +411,11 @@ get_serialized_size(
 }
 
 @{
+
+# Generates the definition for the max_serialized_size family of methods given a structure member
+#   member: the member to serialize
+#   suffix: the suffix name of the method. Will be used in case of recursion
+
 def generate_member_for_max_serialized_size(member, suffix):
   from rosidl_generator_cpp import msg_type_only_to_cpp
   from rosidl_generator_cpp import msg_type_to_cpp
@@ -561,7 +576,7 @@ cdr_deserialize_key(
 {
   (void)ros_message;
   (void)cdr;
-
+  // TODO
   return false;
 }
 
@@ -669,18 +684,16 @@ _@(message.structure.namespaced_type.name)__cdr_deserialize_key(
 static
 size_t
 _@(message.structure.namespaced_type.name)__get_serialized_size_key(
-  const void * untyped_ros_message,
-  size_t initial_alignment)
+  const void * untyped_ros_message)
 {
   auto typed_message =
     static_cast<const @('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name])) *>(
     untyped_ros_message);
 
-  return static_cast<uint32_t>(get_serialized_size_key(*typed_message, initial_alignment));
+  return get_serialized_size_key(*typed_message, 0);
 }
 
 static size_t _@(message.structure.namespaced_type.name)__max_serialized_size_key(
-  size_t current_alignment,
   bool & is_unbounded)
 {
   bool full_bounded = true;
@@ -689,7 +702,7 @@ static size_t _@(message.structure.namespaced_type.name)__max_serialized_size_ke
   size_t ret_val = max_serialized_size_key_@(message.structure.namespaced_type.name)(
     full_bounded,
     is_plain,
-    current_alignment);
+    0);
 
   is_unbounded = !full_bounded;
   return ret_val;