Refs #3019. Changes for static typesupport on rmw_fastrtps_cpp.

rmw_fastrtps_cpp/CMakeLists.txt

@@ -37,8 +37,8 @@ find_package(FastRTPS REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
-find_package(rosidl_typesupport_introspection_c REQUIRED)
-find_package(rosidl_typesupport_introspection_cpp REQUIRED)
+find_package(rosidl_typesupport_fastrtps_c REQUIRED)
+find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 
 include_directories(include)
 
@@ -75,7 +75,6 @@ add_library(rmw_fastrtps_cpp
   src/rmw_trigger_guard_condition.cpp
   src/rmw_wait.cpp
   src/rmw_wait_set.cpp
-  src/ros_message_serialization.cpp
   src/type_support_common.cpp
 )
 target_link_libraries(rmw_fastrtps_cpp
@@ -84,8 +83,8 @@ target_link_libraries(rmw_fastrtps_cpp
 # specific order: dependents before dependencies
 ament_target_dependencies(rmw_fastrtps_cpp
   "rcutils"
-  "rosidl_typesupport_introspection_c"
-  "rosidl_typesupport_introspection_cpp"
+  "rosidl_typesupport_fastrtps_c"
+  "rosidl_typesupport_fastrtps_cpp"
   "rmw_fastrtps_shared_cpp"
   "rmw"
   "rosidl_generator_c"
@@ -102,16 +101,16 @@ PRIVATE "RMW_FASTRTPS_CPP_BUILDING_LIBRARY")
 ament_export_include_directories(include)
 ament_export_libraries(rmw_fastrtps_cpp)
 
-ament_export_dependencies(rosidl_typesupport_introspection_cpp)
-ament_export_dependencies(rosidl_typesupport_introspection_c)
+ament_export_dependencies(rosidl_typesupport_fastrtps_cpp)
+ament_export_dependencies(rosidl_typesupport_fastrtps_c)
 ament_export_dependencies(rosidl_generator_c)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw_fastrtps_shared_cpp)
 ament_export_dependencies(rmw)
 
 register_rmw_implementation(
-  "c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
-  "cpp:rosidl_typesupport_cpp:rosidl_typesupport_introspection_cpp")
+"c:rosidl_typesupport_c:rosidl_typesupport_fastrtps_c"
+"cpp:rosidl_typesupport_cpp:rosidl_typesupport_fastrtps_cpp")
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport.hpp

@@ -22,8 +22,6 @@
 #include <memory>
 
 #include "TypeSupport.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_fastrtps_cpp
 {

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport_impl.hpp

@@ -23,29 +23,12 @@
 #include <string>
 
 #include "rmw_fastrtps_cpp/MessageTypeSupport.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_fastrtps_cpp
 {
 
-template<typename MembersType>
-MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
-{
-  assert(members);
-  this->members_ = members;
-
-  std::string name = std::string(members->package_name_) + "::msg::dds_::" +
-    members->message_name_ + "_";
-  this->setName(name.c_str());
-
-  // TODO(wjwwood): this could be more intelligent, setting m_typeSize to the
-  // maximum serialized size of the message, when the message is a bounded one.
-  if (members->member_count_ != 0) {
-    this->m_typeSize = static_cast<uint32_t>(this->calculateMaxSerializedSize(members, 0));
-  } else {
-    this->m_typeSize = 4;
-  }
-}
+template<>
+MessageTypeSupport<message_type_support_callbacks_t>::MessageTypeSupport(const message_type_support_callbacks_t * members);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport.hpp

@@ -20,9 +20,6 @@
 #include <cassert>
 
 #include "TypeSupport.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-
-struct CustomServiceInfo;
 
 namespace rmw_fastrtps_cpp
 {

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport_impl.hpp

@@ -21,7 +21,6 @@
 #include <string>
 
 #include "rmw_fastrtps_cpp/ServiceTypeSupport.hpp"
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_fastrtps_cpp
 {
@@ -31,45 +30,13 @@ ServiceTypeSupport<MembersType>::ServiceTypeSupport()
 {
 }
 
-template<typename ServiceMembersType, typename MessageMembersType>
-RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
-  const ServiceMembersType * members)
-{
-  assert(members);
-  this->members_ = members->request_members_;
-
-  std::string name = std::string(members->package_name_) + "::srv::dds_::" +
-    members->service_name_ + "_Request_";
-  this->setName(name.c_str());
-
-  // TODO(wjwwood): this could be more intelligent, setting m_typeSize to the
-  // maximum serialized size of the message, when the message is a bounded one.
-  if (this->members_->member_count_ != 0) {
-    this->m_typeSize = static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
-  } else {
-    this->m_typeSize = 4;
-  }
-}
+template<>
+RequestTypeSupport<service_type_support_callbacks_t, message_type_support_callbacks_t>::RequestTypeSupport(
+  const service_type_support_callbacks_t * members);
 
-template<typename ServiceMembersType, typename MessageMembersType>
-ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport(
-  const ServiceMembersType * members)
-{
-  assert(members);
-  this->members_ = members->response_members_;
-
-  std::string name = std::string(members->package_name_) + "::srv::dds_::" +
-    members->service_name_ + "_Response_";
-  this->setName(name.c_str());
-
-  // TODO(wjwwood): this could be more intelligent, setting m_typeSize to the
-  // maximum serialized size of the message, when the message is a bounded one.
-  if (this->members_->member_count_ != 0) {
-    this->m_typeSize = static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
-  } else {
-    this->m_typeSize = 4;
-  }
-}
+template<>
+ResponseTypeSupport<service_type_support_callbacks_t, message_type_support_callbacks_t>::ResponseTypeSupport(
+  const service_type_support_callbacks_t * members);
 
 }  // namespace rmw_fastrtps_cpp
 

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp

@@ -27,94 +27,16 @@
 
 #include "rcutils/logging_macros.h"
 
-#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
-#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/service_introspection.hpp"
-#include "rosidl_typesupport_introspection_cpp/visibility_control.h"
-
-#include "rosidl_typesupport_introspection_c/field_types.h"
-#include "rosidl_typesupport_introspection_c/identifier.h"
-#include "rosidl_typesupport_introspection_c/message_introspection.h"
-#include "rosidl_typesupport_introspection_c/service_introspection.h"
-#include "rosidl_typesupport_introspection_c/visibility_control.h"
-
 namespace rmw_fastrtps_cpp
 {
 
-// Helper class that uses template specialization to read/write string types to/from a
-// eprosima::fastcdr::Cdr
 template<typename MembersType>
-struct StringHelper;
-
-// For C introspection typesupport we create intermediate instances of std::string so that
-// eprosima::fastcdr::Cdr can handle the string properly.
-template<>
-struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
-{
-  using type = rosidl_generator_c__String;
-
-  static std::string convert_to_std_string(void * data)
-  {
-    auto c_string = static_cast<rosidl_generator_c__String *>(data);
-    if (!c_string) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rmw_fastrtps_cpp",
-        "Failed to cast data as rosidl_generator_c__String")
-      return "";
-    }
-    if (!c_string->data) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rmw_fastrtps_cpp",
-        "rosidl_generator_c_String had invalid data")
-      return "";
-    }
-    return std::string(c_string->data);
-  }
-
-  static std::string convert_to_std_string(rosidl_generator_c__String & data)
-  {
-    return std::string(data.data);
-  }
-
-  static void assign(eprosima::fastcdr::Cdr & deser, void * field, bool)
-  {
-    std::string str;
-    deser >> str;
-    rosidl_generator_c__String * c_str = static_cast<rosidl_generator_c__String *>(field);
-    rosidl_generator_c__String__assign(c_str, str.c_str());
-  }
-};
-
-// For C++ introspection typesupport we just reuse the same std::string transparently.
-template<>
-struct StringHelper<rosidl_typesupport_introspection_cpp::MessageMembers>
-{
-  using type = std::string;
-
-  static std::string & convert_to_std_string(void * data)
-  {
-    return *(static_cast<std::string *>(data));
-  }
-
-  static void assign(eprosima::fastcdr::Cdr & deser, void * field, bool call_new)
-  {
-    std::string & str = *(std::string *)field;
-    if (call_new) {
-      new(&str) std::string;
-    }
-    deser >> str;
-  }
-};
+class TypeSupport;
 
 template<typename MembersType>
 class TypeSupport : public eprosima::fastrtps::TopicDataType
 {
 public:
-  bool serializeROSmessage(const void * ros_message, eprosima::fastcdr::Cdr & ser);
-
-  bool deserializeROSmessage(eprosima::fastcdr::FastBuffer * data, void * ros_message);
-
   bool serialize(void * data, eprosima::fastrtps::rtps::SerializedPayload_t * payload);
 
   bool deserialize(eprosima::fastrtps::rtps::SerializedPayload_t * payload, void * data);
@@ -131,14 +53,7 @@ class TypeSupport : public eprosima::fastrtps::TopicDataType
   size_t calculateMaxSerializedSize(const MembersType * members, size_t current_alignment);
 
   const MembersType * members_;
-
-private:
-  bool serializeROSmessage(
-    eprosima::fastcdr::Cdr & ser, const MembersType * members, const void * ros_message);
-
-  bool deserializeROSmessage(
-    eprosima::fastcdr::Cdr & deser, const MembersType * members, void * ros_message,
-    bool call_new);
+  bool max_size_bound_;
 };
 
 }  // namespace rmw_fastrtps_cpp