Feature: topic keys (#4)

* Refs #20156: Initial infraestructure for get_key_type_support() api method Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20156: Return either true or false depending if the msg has keys Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20156: Update message_type_support_key_callbacks_t structure Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20156: Implement rosidl_typesupport_fastrtps_c generator methods for supporting keys Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20156: Implement rosidl_typesupport_fastrtps_cpp generator methods for supporting keys Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20310: Define v2 ABI identifier Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20310: Replace get_key_type_support() with a raw pointer to the structure Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: Clean unsued old methods Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: set _key as suffix in get_serialized and calculate_max_serialized Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: export key methods to be called from outside in headers Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: source file forward declarations Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: generator refactor: generate_members_for_cdr_serialize Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: generator refactor: generate_members_for_get_serialized_size Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: generator refactor: generate_members_for_max_serialized_size Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: update suffix in __key_callback structure Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_c: avoid generating cdr_serialize_key and cdr_deserialize_key methods that are not going to be used nor exported if the type do not have keys Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: export key methods to be called from outside in headers Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: source file forward declarations Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: generator refactor: generate_members_for_cdr_serialize. Also, generate proxy methods only when the type has a key Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: generator refactor: generate_members_for_get_serialized_size adn proxy Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: generator refactor: generate_members_for_max_serialized_size and proxy Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: dummy cdr_deserialize_key method and proxy Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20151: rosidl_typesupport_fastrtps_cpp: update suffix in __key_callback structure Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20310: Review 2 suggestions on rosidl_typesupport_fastrtps_cpp Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20310: Review 2 suggestions on rosidl_typesupport_fastrtps_c Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #20310: NIT Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> --------- Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
eProsima · Mar 6, 2024 · 7092633 · 7092633
1 parent 03dd8d7
commit 7092633
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diff --git a/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/identifier.h b/rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/identifier.h
@@ -26,6 +26,10 @@ extern "C"
 ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC
 extern const char * rosidl_typesupport_fastrtps_c__identifier;
 
+/// String identifier specific to rosidl_typesupport_fastrtps_c_v2
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC
+extern const char * rosidl_typesupport_fastrtps_c__identifier_v2;
+
 #if __cplusplus
 }
 #endif

diff --git a/rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em b/rosidl_typesupport_fastrtps_c/resource/msg__rosidl_typesupport_fastrtps_c.h.em
@@ -1,10 +1,19 @@
 @# Included from rosidl_typesupport_fastrtps_c/resource/idl__rosidl_typesupport_fastrtps_c.h.em
 @{
+
+from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+
+include_parts = [package_name] + list(interface_path.parents[0].parts) + [
+    'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
+include_base = '/'.join(include_parts)
+
 header_files = [
     'stddef.h',
     'rosidl_runtime_c/message_type_support_struct.h',
     'rosidl_typesupport_interface/macros.h',
     package_name + '/msg/rosidl_typesupport_fastrtps_c__visibility_control.h',
+    include_base + '__struct.h',
+    'fastcdr/Cdr.h',
 ]
 }@
 @[for header_file in header_files]@
@@ -26,6 +35,16 @@ extern "C"
 {
 #endif
 
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
+bool cdr_serialize_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  const @('__'.join(message.structure.namespaced_type.namespaced_name())) * ros_message,
+  eprosima::fastcdr::Cdr & cdr);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
+bool cdr_deserialize_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  eprosima::fastcdr::Cdr &,
+  @('__'.join(message.structure.namespaced_type.namespaced_name())) * ros_message);
+
 ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
 size_t get_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
   const void * untyped_ros_message,
@@ -37,6 +56,27 @@ size_t max_serialized_size_@('__'.join([package_name] + list(interface_path.pare
   bool & is_plain,
   size_t current_alignment);
 
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
+bool cdr_serialize_key_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  const @('__'.join(message.structure.namespaced_type.namespaced_name())) * ros_message,
+  eprosima::fastcdr::Cdr & cdr);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
+bool cdr_deserialize_key_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  eprosima::fastcdr::Cdr &,
+  @('__'.join(message.structure.namespaced_type.namespaced_name())) * ros_message);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
+size_t get_serialized_size_key_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
+size_t max_serialized_size_key_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  bool & full_bounded,
+  bool & is_plain,
+  size_t current_alignment);
+
 ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC_@(package_name)
 const rosidl_message_type_support_t *
 ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name])))();