Support Fast CDR v2 (#746)

* Require fastcdr version 2 * Changes to build rmw_fastrtps_shared_cpp * Changes to build rmw_fastrtps_cpp * Changes to build rmw_fastrtps_dynamic_cpp Signed-off-by: Miguel Company <[email protected]>
ros2 · Mar 26, 2024 · 2b3257b · 2b3257b
1 parent 829cde3
commit 2b3257b
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Showing 13 changed files with 50 additions and 47 deletions.
diff --git a/rmw_fastrtps_cpp/CMakeLists.txt b/rmw_fastrtps_cpp/CMakeLists.txt
@@ -39,9 +39,9 @@ find_package(rmw_fastrtps_shared_cpp REQUIRED)
 find_package(tracetools REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps 2.10 REQUIRED CONFIG)
-find_package(FastRTPS 2.10 REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED CONFIG)
+find_package(fastrtps 2.13 REQUIRED CONFIG)
+find_package(FastRTPS 2.13 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_dynamic_typesupport REQUIRED)

diff --git a/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake b/rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
@@ -15,9 +15,9 @@
 # copied from rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
 
 find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED CONFIG)
+find_package(fastrtps 2.13 REQUIRED CONFIG)
+find_package(FastRTPS 2.13 REQUIRED MODULE)
 
 list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
 # specific order: dependents before dependencies

diff --git a/rmw_fastrtps_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
@@ -52,7 +52,8 @@ rmw_serialize(
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), data_length);
   eprosima::fastcdr::Cdr ser(
-    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::XCDRv1);
+  ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
   auto ret = tss.serializeROSmessage(ros_message, ser, callbacks);
   serialized_message->buffer_length = data_length;
@@ -81,8 +82,7 @@ rmw_deserialize(
   auto tss = MessageTypeSupport_cpp(callbacks);
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
-  eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-    eprosima::fastcdr::Cdr::DDS_CDR);
+  eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
   auto ret = tss.deserializeROSmessage(deser, ros_message, callbacks);
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;

diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -38,9 +38,9 @@ find_package(rmw_dds_common REQUIRED)
 find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps 2.10 REQUIRED CONFIG)
-find_package(FastRTPS 2.10 REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED CONFIG)
+find_package(fastrtps 2.13 REQUIRED CONFIG)
+find_package(FastRTPS 2.13 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)

diff --git a/rmw_fastrtps_dynamic_cpp/rmw_fastrtps_dynamic_cpp-extras.cmake b/rmw_fastrtps_dynamic_cpp/rmw_fastrtps_dynamic_cpp-extras.cmake
@@ -15,9 +15,9 @@
 # copied from rmw_fastrtps_dynamic_cpp/rmw_fastrtps_dynamic_cpp-extras.cmake
 
 find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED CONFIG)
+find_package(fastrtps 2.13 REQUIRED CONFIG)
+find_package(FastRTPS 2.13 REQUIRED MODULE)
 
 list(APPEND rmw_fastrtps_dynamic_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
 # specific order: dependents before dependencies

diff --git a/rmw_fastrtps_dynamic_cpp/src/TypeSupport_impl.hpp b/rmw_fastrtps_dynamic_cpp/src/TypeSupport_impl.hpp
@@ -77,7 +77,7 @@ void serialize_field(
   if (!member->is_array_) {
     ser << *static_cast<T *>(field);
   } else if (member->array_size_ && !member->is_upper_bound_) {
-    ser.serializeArray(static_cast<T *>(field), member->array_size_);
+    ser.serialize_array(static_cast<T *>(field), member->array_size_);
   } else {
     std::vector<T> & data = *reinterpret_cast<std::vector<T> *>(field);
     ser << data;
@@ -120,10 +120,10 @@ void serialize_field(
   if (!member->is_array_) {
     ser << *static_cast<T *>(field);
   } else if (member->array_size_ && !member->is_upper_bound_) {
-    ser.serializeArray(static_cast<T *>(field), member->array_size_);
+    ser.serialize_array(static_cast<T *>(field), member->array_size_);
   } else {
     auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
-    ser.serializeSequence(reinterpret_cast<T *>(data.data), data.size);
+    ser.serialize_sequence(reinterpret_cast<T *>(data.data), data.size);
   }
 }
 
@@ -561,7 +561,7 @@ void deserialize_field(
   if (!member->is_array_) {
     deser >> *static_cast<T *>(field);
   } else if (member->array_size_ && !member->is_upper_bound_) {
-    deser.deserializeArray(static_cast<T *>(field), member->array_size_);
+    deser.deserialize_array(static_cast<T *>(field), member->array_size_);
   } else {
     auto & vector = *reinterpret_cast<std::vector<T> *>(field);
     deser >> vector;
@@ -578,7 +578,7 @@ inline void deserialize_field<std::string>(
     deser >> *static_cast<std::string *>(field);
   } else if (member->array_size_ && !member->is_upper_bound_) {
     std::string * array = static_cast<std::string *>(field);
-    deser.deserializeArray(array, member->array_size_);
+    deser.deserialize_array(array, member->array_size_);
   } else {
     auto & vector = *reinterpret_cast<std::vector<std::string> *>(field);
     deser >> vector;
@@ -618,13 +618,13 @@ void deserialize_field(
   if (!member->is_array_) {
     deser >> *static_cast<T *>(field);
   } else if (member->array_size_ && !member->is_upper_bound_) {
-    deser.deserializeArray(static_cast<T *>(field), member->array_size_);
+    deser.deserialize_array(static_cast<T *>(field), member->array_size_);
   } else {
     auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
     int32_t dsize = 0;
     deser >> dsize;
     GenericCSequence<T>::init(&data, dsize);
-    deser.deserializeArray(reinterpret_cast<T *>(data.data), dsize);
+    deser.deserialize_array(reinterpret_cast<T *>(data.data), dsize);
   }
 }
 

diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
@@ -55,7 +55,8 @@ rmw_serialize(
     reinterpret_cast<char *>(serialized_message->buffer),
     data_length);
   eprosima::fastcdr::Cdr ser(
-    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::XCDRv1);
+  ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
   auto ret = tss->serializeROSmessage(ros_message, ser, ts->data);
   serialized_message->buffer_length = data_length;
@@ -85,8 +86,7 @@ rmw_deserialize(
   auto tss = type_registry.get_message_type_support(ts);
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
-  eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-    eprosima::fastcdr::Cdr::DDS_CDR);
+  eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
 
   auto ret = tss->deserializeROSmessage(deser, ros_message, ts->data);
   type_registry.return_message_type_support(ts);

diff --git a/rmw_fastrtps_shared_cpp/CMakeLists.txt b/rmw_fastrtps_shared_cpp/CMakeLists.txt
@@ -46,9 +46,9 @@ find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 find_package(tracetools REQUIRED)
 
 find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps 2.10 REQUIRED CONFIG)
-find_package(FastRTPS 2.10 REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED CONFIG)
+find_package(fastrtps 2.13 REQUIRED CONFIG)
+find_package(FastRTPS 2.13 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 

diff --git a/rmw_fastrtps_shared_cpp/rmw_fastrtps_shared_cpp-extras.cmake b/rmw_fastrtps_shared_cpp/rmw_fastrtps_shared_cpp-extras.cmake
@@ -15,9 +15,9 @@
 # copied from rmw_fastrtps_shared_cpp/rmw_fastrtps_shared_cpp-extras.cmake
 
 find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr REQUIRED CONFIG)
-find_package(fastrtps REQUIRED CONFIG)
-find_package(FastRTPS REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED CONFIG)
+find_package(fastrtps 2.13 REQUIRED CONFIG)
+find_package(FastRTPS 2.13 REQUIRED MODULE)
 
 list(APPEND rmw_fastrtps_shared_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
 # specific order: dependents before dependencies

diff --git a/rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp b/rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp
@@ -78,11 +78,13 @@ bool TypeSupport::serialize(
         eprosima::fastcdr::FastBuffer fastbuffer(  // Object that manages the raw buffer
           reinterpret_cast<char *>(payload->data), payload->max_size);
         eprosima::fastcdr::Cdr ser(  // Object that serializes the data
-          fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+          fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+          eprosima::fastcdr::CdrVersion::XCDRv1);
+        ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
         if (this->serializeROSmessage(ser_data->data, ser, ser_data->impl)) {
           payload->encapsulation = ser.endianness() ==
             eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-          payload->length = (uint32_t)ser.getSerializedDataLength();
+          payload->length = (uint32_t)ser.get_serialized_data_length();
           return true;
         }
         break;
@@ -91,11 +93,11 @@ bool TypeSupport::serialize(
     case FASTRTPS_SERIALIZED_DATA_TYPE_CDR_BUFFER:
       {
         auto ser = static_cast<eprosima::fastcdr::Cdr *>(ser_data->data);
-        if (payload->max_size >= ser->getSerializedDataLength()) {
-          payload->length = static_cast<uint32_t>(ser->getSerializedDataLength());
+        if (payload->max_size >= ser->get_serialized_data_length()) {
+          payload->length = static_cast<uint32_t>(ser->get_serialized_data_length());
           payload->encapsulation = ser->endianness() ==
             eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
-          memcpy(payload->data, ser->getBufferPointer(), ser->getSerializedDataLength());
+          memcpy(payload->data, ser->get_buffer_pointer(), ser->get_serialized_data_length());
           return true;
         }
         break;
@@ -132,7 +134,7 @@ bool TypeSupport::deserialize(
         eprosima::fastcdr::FastBuffer fastbuffer(
           reinterpret_cast<char *>(payload->data), payload->length);
         eprosima::fastcdr::Cdr deser(
-          fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+          fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
         return deserializeROSmessage(deser, ser_data->data, ser_data->impl);
       }
 
@@ -171,7 +173,7 @@ std::function<uint32_t()> TypeSupport::getSerializedSizeProvider(void * data)
     {
       if (ser_data->type == FASTRTPS_SERIALIZED_DATA_TYPE_CDR_BUFFER) {
         auto ser = static_cast<eprosima::fastcdr::Cdr *>(ser_data->data);
-        return static_cast<uint32_t>(ser->getSerializedDataLength());
+        return static_cast<uint32_t>(ser->get_serialized_data_length());
       }
       return static_cast<uint32_t>(
         this->getEstimatedSerializedSize(ser_data->data, ser_data->impl));
@@ -301,12 +303,13 @@ const TypeObject * GetCompleteObject(
   // DDS document)
   eprosima::fastcdr::Cdr ser(
     fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
-    eprosima::fastcdr::Cdr::DDS_CDR);  // Object that serializes the data.
+    eprosima::fastcdr::CdrVersion::XCDRv1);  // Object that serializes the data.
+  ser.set_encoding_flag(eprosima::fastcdr::PLAIN_CDR);
   payload.encapsulation = CDR_LE;
 
   type_object->serialize(ser);
   payload.length =
-    static_cast<uint32_t>(ser.getSerializedDataLength());  // Get the serialized length
+    static_cast<uint32_t>(ser.get_serialized_data_length());  // Get the serialized length
   MD5 objectHash;
   objectHash.update(reinterpret_cast<char *>(payload.data), payload.length);
   objectHash.finalize();
@@ -377,12 +380,13 @@ const TypeObject * GetMinimalObject(
   // DDS document)
   eprosima::fastcdr::Cdr ser(
     fastbuffer, eprosima::fastcdr::Cdr::LITTLE_ENDIANNESS,
-    eprosima::fastcdr::Cdr::DDS_CDR);  // Object that serializes the data.
+    eprosima::fastcdr::CdrVersion::XCDRv1);  // Object that serializes the data.
+  ser.set_encoding_flag(eprosima::fastcdr::PLAIN_CDR);
   payload.encapsulation = CDR_LE;
 
   type_object->serialize(ser);
   payload.length =
-    static_cast<uint32_t>(ser.getSerializedDataLength());  // Get the serialized length
+    static_cast<uint32_t>(ser.get_serialized_data_length());  // Get the serialized length
   MD5 objectHash;
   objectHash.update(reinterpret_cast<char *>(payload.data), payload.length);
   objectHash.finalize();

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
@@ -98,7 +98,8 @@ __rmw_publish_serialized_message(
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
   eprosima::fastcdr::Cdr ser(
-    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
+    buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::XCDRv1);
+  ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
   if (!ser.jump(serialized_message->buffer_length)) {
     RMW_SET_ERROR_MSG("cannot correctly set serialized buffer");
     return RMW_RET_ERROR;

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_request.cpp b/rmw_fastrtps_shared_cpp/src/rmw_request.cpp
@@ -123,8 +123,7 @@ __rmw_take_request(
 
         auto raw_type_support = dynamic_cast<rmw_fastrtps_shared_cpp::TypeSupport *>(
           info->response_type_support_.get());
-        eprosima::fastcdr::Cdr deser(*request.buffer_, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-          eprosima::fastcdr::Cdr::DDS_CDR);
+        eprosima::fastcdr::Cdr deser(*request.buffer_, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
         if (raw_type_support->deserializeROSmessage(
             deser, ros_request, info->request_type_support_impl_))
         {

diff --git a/rmw_fastrtps_shared_cpp/src/rmw_response.cpp b/rmw_fastrtps_shared_cpp/src/rmw_response.cpp
@@ -77,8 +77,7 @@ __rmw_take_response(
           info->response_type_support_.get());
         eprosima::fastcdr::Cdr deser(
           *response.buffer_,
-          eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-          eprosima::fastcdr::Cdr::DDS_CDR);
+          eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
         if (raw_type_support->deserializeROSmessage(
             deser, ros_response, info->response_type_support_impl_))
         {