Add extra logic for array of C typesupport to get pointer

Signed-off-by: Chen.Lihui <[email protected]>
Co-authored-by: Ivan Santiago Paunovic <[email protected]>

rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp

@@ -98,12 +98,9 @@ struct StringHelper<rosidl_typesupport_introspection_cpp::MessageMembers>
     return *(static_cast<std::string *>(data));
   }
 
-  static void assign(cycdeser & deser, void * field, bool call_new)
+  static void assign(cycdeser & deser, void * field)
   {
     std::string & str = *(std::string *)field;
-    if (call_new) {
-      new(&str) std::string;
-    }
     deser >> str;
   }
 };

rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp

@@ -127,6 +127,32 @@ align_int_(size_t __align, T __int) noexcept
   return (__int - 1u + __align) & ~(__align - 1);
 }
 
+inline
+void * get_subros_message(
+  const rosidl_typesupport_introspection_cpp::MessageMember * member,
+  void * field,
+  size_t index,
+  size_t,
+  bool)
+{
+  return member->get_function(field, index);
+}
+
+inline
+void * get_subros_message(
+  const rosidl_typesupport_introspection_c__MessageMember * member,
+  void * field,
+  size_t index,
+  size_t array_size,
+  bool is_upper_bound)
+{
+  if (array_size && !is_upper_bound) {
+    return member->get_function(&field, index);
+  }
+
+  return member->get_function(field, index);
+}
+
 template<typename T>
 void deserialize_field(
   const rosidl_typesupport_introspection_cpp::MessageMember * member,
@@ -359,7 +385,11 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
               return false;
             }
             for (size_t index = 0; index < array_size; ++index) {
-              deserializeROSmessage(deser, sub_members, member->get_function(field, index));
+              deserializeROSmessage(
+                deser, sub_members,
+                get_subros_message(
+                  member, field, index, member->array_size_,
+                  member->is_upper_bound_));
             }
           }
         }