Keep implementation for rosidl_typesupport_introspection_c__MessageMe…

…mber Signed-off-by: Chen.Lihui <[email protected]> Co-authored-by: Ivan Santiago Paunovic <[email protected]>
ros2 · Sep 1, 2020 · 4d55d82 · 4d55d82
1 parent 39a0e92
commit 4d55d82
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Showing 2 changed files with 34 additions and 20 deletions.
diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport.hpp b/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;
   }
 };

diff --git a/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp b/rmw_cyclonedds_cpp/include/rmw_cyclonedds_cpp/TypeSupport_impl.hpp
@@ -405,18 +405,12 @@ inline size_t get_submessage_array_deserialize(
   cycdeser & deser,
   void * field,
   void * & subros_message,
-  bool call_new,
-  size_t sub_members_size,
-  size_t max_align)
+  size_t,
+  size_t)
 {
-  (void)member;
   uint32_t vsize = deser.deserialize_len(1);
-  auto vector = reinterpret_cast<std::vector<unsigned char> *>(field);
-  if (call_new) {
-    new(vector) std::vector<unsigned char>;
-  }
-  vector->resize(vsize * align_int_(max_align, sub_members_size));
-  subros_message = reinterpret_cast<void *>(vector->data());
+  member->resize_function(field, vsize);
+  subros_message = member->get_function(field, 0);
   return vsize;
 }
 
@@ -425,7 +419,6 @@ inline size_t get_submessage_array_deserialize(
   cycdeser & deser,
   void * field,
   void * & subros_message,
-  bool,
   size_t sub_members_size,
   size_t)
 {
@@ -437,6 +430,29 @@ inline size_t get_submessage_array_deserialize(
   return vsize;
 }
 
+inline void * get_submessage_pointer(
+  const rosidl_typesupport_introspection_cpp::MessageMember * member,
+  void * field,
+  size_t index,
+  void *,
+  size_t,
+  size_t)
+{
+  return member->get_function(field, index);
+}
+
+inline void * get_submessage_pointer(
+  const rosidl_typesupport_introspection_c__MessageMember *,
+  void *,
+  size_t,
+  void * subros_message,
+  size_t sub_members_size,
+  size_t max_align)
+{
+  subros_message = static_cast<char *>(subros_message) + sub_members_size;
+  return align_ptr_(max_align, subros_message);
+}
+
 template<typename MembersType>
 bool TypeSupport<MembersType>::deserializeROSmessage(
   cycdeser & deser, const MembersType * members, void * ros_message)
@@ -504,15 +520,16 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
               subros_message = field;
               array_size = member->array_size_;
             } else {
-              array_size = deser.deserialize_len(1);
-              member->resize_function(field, array_size);
-              subros_message = member->get_function(field, 0);
+              array_size = get_submessage_array_deserialize(
+                member, deser, field, subros_message,
+                sub_members_size, max_align);
             }
 
             for (size_t index = 0; index < array_size; ++index) {
               deserializeROSmessage(deser, sub_members, subros_message);
-              subros_message = static_cast<char *>(subros_message) + sub_members_size;
-              subros_message = align_ptr_(max_align, subros_message);
+              subros_message = get_submessage_pointer(
+                member, field, index + 1, subros_message,
+                sub_members_size, max_align);
             }
           }
         }