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Serialized message move constructor #1097

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merged 5 commits into from
Apr 28, 2020
Merged

Serialized message move constructor #1097

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e94dac4
correct use of move semantics
Karsten1987 Apr 27, 2020
fe790c1
more tests
Karsten1987 Apr 27, 2020
d5262ff
make error message more exact
Karsten1987 Apr 28, 2020
205ab58
use std::exchange
Karsten1987 Apr 28, 2020
31d3add
fix typo
Karsten1987 Apr 28, 2020
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7 changes: 5 additions & 2 deletions rclcpp/src/rclcpp/serialization.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,8 +55,11 @@ void SerializationBase::deserialize_message(
rcpputils::check_true(nullptr != type_support_, "Typesupport is nullpointer.");
rcpputils::check_true(nullptr != serialized_message, "Serialized message is nullpointer.");
rcpputils::check_true(
0 != serialized_message->capacity() && 0 != serialized_message->size(),
"Serialized message is wrongly initialized.");
0u != serialized_message->capacity(),
"Wrongly initialized. Serializaed message has a capacity of zero.");
rcpputils::check_true(
0u != serialized_message->size(),
"Wrongly initialized. Serialized message has a size of zero.");
rcpputils::check_true(nullptr != ros_message, "ROS message is a nullpointer.");

const auto ret = rmw_deserialize(
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2 changes: 1 addition & 1 deletion rclcpp/src/rclcpp/serialized_message.cpp
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Expand Up @@ -66,7 +66,7 @@ SerializedMessage::SerializedMessage(const rcl_serialized_message_t & other)
}

SerializedMessage::SerializedMessage(SerializedMessage && other)
: SerializedMessage(other.serialized_message_)
: SerializedMessage(static_cast<rcl_serialized_message_t &&>(other.serialized_message_))
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{
other.serialized_message_ = rmw_get_zero_initialized_serialized_message();
}
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37 changes: 33 additions & 4 deletions rclcpp/test/test_serialized_message.cpp
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Expand Up @@ -52,6 +52,7 @@ TEST(TestSerializedMessage, various_constructors) {
rcl_handle.buffer_length = content_size;
EXPECT_STREQ(content.c_str(), reinterpret_cast<char *>(rcl_handle.buffer));
EXPECT_EQ(content_size, serialized_message.capacity());
EXPECT_EQ(content_size, serialized_message.size());

// Copy Constructor
rclcpp::SerializedMessage other_serialized_message(serialized_message);
Expand Down Expand Up @@ -158,22 +159,50 @@ TEST(TestSerializedMessage, serialization) {
}
}

template<typename MessageT>
void test_empty_msg_serialize()
void serialize_default_ros_msg()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
rclcpp::SerializedMessage serialized_msg;

serializer.serialize_message(&ros_msg, &serialized_msg);
}

template<typename MessageT>
void test_empty_msg_deserialize()
void serialize_default_ros_msg_into_nullptr()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;

serializer.serialize_message(&ros_msg, nullptr);
}

void deserialize_default_serialized_message()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
rclcpp::SerializedMessage serialized_msg;

serializer.deserialize_message(&serialized_msg, &ros_msg);
}

void deserialize_nullptr()
{
using MessageT = test_msgs::msg::BasicTypes;
rclcpp::Serialization<MessageT> serializer;
MessageT ros_msg;
rclcpp::SerializedMessage serialized_msg;

serializer.deserialize_message(&serialized_msg, &ros_msg);
}

TEST(TestSerializedMessage, serialization_empty_messages)
{
EXPECT_NO_THROW(serialize_default_ros_msg());
EXPECT_THROW(serialize_default_ros_msg_into_nullptr(), rcpputils::IllegalStateException);
EXPECT_THROW(serialize_default_ros_msg_into_nullptr(), rcpputils::IllegalStateException);
EXPECT_THROW(deserialize_default_serialized_message(), rcpputils::IllegalStateException);
EXPECT_THROW(deserialize_nullptr(), rcpputils::IllegalStateException);
}