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Merge pull request #232 from ros2/array-terminology
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rename dynamic array to sequence
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@dirk-thomas
dirk-thomas committed Nov 2, 2018
2 parents 8a85bfd + 07bbfc5 commit 96d0ed8
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Showing 2 changed files with 59 additions and 59 deletions.
108 changes: 54 additions & 54 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/TypeSupport_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,43 +30,43 @@
#include "rosidl_typesupport_introspection_c/message_introspection.h"
#include "rosidl_typesupport_introspection_c/service_introspection.h"

#include "rosidl_generator_c/primitives_array_functions.h"
#include "rosidl_generator_c/primitives_sequence_functions.h"

namespace rmw_fastrtps_dynamic_cpp
{

template<typename T>
struct GenericCArray;
struct GenericCSequence;

// multiple definitions of ambiguous primitive types
SPECIALIZE_GENERIC_C_ARRAY(bool, bool)
SPECIALIZE_GENERIC_C_ARRAY(byte, uint8_t)
SPECIALIZE_GENERIC_C_ARRAY(char, char)
SPECIALIZE_GENERIC_C_ARRAY(float32, float)
SPECIALIZE_GENERIC_C_ARRAY(float64, double)
SPECIALIZE_GENERIC_C_ARRAY(int8, int8_t)
SPECIALIZE_GENERIC_C_ARRAY(int16, int16_t)
SPECIALIZE_GENERIC_C_ARRAY(uint16, uint16_t)
SPECIALIZE_GENERIC_C_ARRAY(int32, int32_t)
SPECIALIZE_GENERIC_C_ARRAY(uint32, uint32_t)
SPECIALIZE_GENERIC_C_ARRAY(int64, int64_t)
SPECIALIZE_GENERIC_C_ARRAY(uint64, uint64_t)

typedef struct rosidl_generator_c__void__Array
SPECIALIZE_GENERIC_C_SEQUENCE(bool, bool)
SPECIALIZE_GENERIC_C_SEQUENCE(byte, uint8_t)
SPECIALIZE_GENERIC_C_SEQUENCE(char, char)
SPECIALIZE_GENERIC_C_SEQUENCE(float32, float)
SPECIALIZE_GENERIC_C_SEQUENCE(float64, double)
SPECIALIZE_GENERIC_C_SEQUENCE(int8, int8_t)
SPECIALIZE_GENERIC_C_SEQUENCE(int16, int16_t)
SPECIALIZE_GENERIC_C_SEQUENCE(uint16, uint16_t)
SPECIALIZE_GENERIC_C_SEQUENCE(int32, int32_t)
SPECIALIZE_GENERIC_C_SEQUENCE(uint32, uint32_t)
SPECIALIZE_GENERIC_C_SEQUENCE(int64, int64_t)
SPECIALIZE_GENERIC_C_SEQUENCE(uint64, uint64_t)

typedef struct rosidl_generator_c__void__Sequence
{
void * data;
/// The number of valid items in data
size_t size;
/// The number of allocated items in data
size_t capacity;
} rosidl_generator_c__void__Array;
} rosidl_generator_c__void__Sequence;

inline
bool
rosidl_generator_c__void__Array__init(
rosidl_generator_c__void__Array * array, size_t size, size_t member_size)
rosidl_generator_c__void__Sequence__init(
rosidl_generator_c__void__Sequence * sequence, size_t size, size_t member_size)
{
if (!array) {
if (!sequence) {
return false;
}
void * data = nullptr;
Expand All @@ -76,31 +76,31 @@ rosidl_generator_c__void__Array__init(
return false;
}
}
array->data = data;
array->size = size;
array->capacity = size;
sequence->data = data;
sequence->size = size;
sequence->capacity = size;
return true;
}

inline
void
rosidl_generator_c__void__Array__fini(rosidl_generator_c__void__Array * array)
rosidl_generator_c__void__Sequence__fini(rosidl_generator_c__void__Sequence * sequence)
{
if (!array) {
if (!sequence) {
return;
}
if (array->data) {
if (sequence->data) {
// ensure that data and capacity values are consistent
assert(array->capacity > 0);
// finalize all array elements
free(array->data);
array->data = nullptr;
array->size = 0;
array->capacity = 0;
assert(sequence->capacity > 0);
// finalize all sequence elements
free(sequence->data);
sequence->data = nullptr;
sequence->size = 0;
sequence->capacity = 0;
} else {
// ensure that data, size, and capacity values are consistent
assert(0 == array->size);
assert(0 == array->capacity);
assert(0 == sequence->size);
assert(0 == sequence->capacity);
}
}

Expand Down Expand Up @@ -224,7 +224,7 @@ void serialize_field(
} else if (member->array_size_ && !member->is_upper_bound_) {
ser.serializeArray(static_cast<T *>(field), member->array_size_);
} else {
auto & data = *reinterpret_cast<typename GenericCArray<T>::type *>(field);
auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
ser.serializeSequence(reinterpret_cast<T *>(data.data), data.size);
}
}
Expand Down Expand Up @@ -257,11 +257,11 @@ void serialize_field<std::string>(
ser.serialize(tmpstring);
}
} else {
auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
auto & string_sequence_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
std::vector<std::string> cpp_string_vector;
for (size_t i = 0; i < string_array_field.size; ++i) {
for (size_t i = 0; i < string_sequence_field.size; ++i) {
cpp_string_vector.push_back(
CStringHelper::convert_to_std_string(string_array_field.data[i]));
CStringHelper::convert_to_std_string(string_sequence_field.data[i]));
}
ser << cpp_string_vector;
}
Expand Down Expand Up @@ -293,12 +293,12 @@ size_t get_array_size_and_assign_field(
void * & subros_message,
size_t, size_t)
{
auto tmparray = static_cast<rosidl_generator_c__void__Array *>(field);
if (member->is_upper_bound_ && tmparray->size > member->array_size_) {
auto tmpsequence = static_cast<rosidl_generator_c__void__Sequence *>(field);
if (member->is_upper_bound_ && tmpsequence->size > member->array_size_) {
throw std::runtime_error("vector overcomes the maximum length");
}
subros_message = reinterpret_cast<void *>(tmparray->data);
return tmparray->size;
subros_message = reinterpret_cast<void *>(tmpsequence->data);
return tmpsequence->size;
}

template<typename MembersType>
Expand Down Expand Up @@ -474,7 +474,7 @@ size_t next_field_align(
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;

auto & data = *reinterpret_cast<typename GenericCArray<T>::type *>(field);
auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, item_size);
current_alignment += item_size * data.size;
}
Expand Down Expand Up @@ -503,10 +503,10 @@ size_t next_field_align<std::string>(
} else {
current_alignment += eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
current_alignment += padding;
auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
for (size_t i = 0; i < string_array_field.size; ++i) {
auto & string_sequence_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
for (size_t i = 0; i < string_sequence_field.size; ++i) {
current_alignment = CStringHelper::next_field_align(
&(string_array_field.data[i]), current_alignment);
&(string_sequence_field.data[i]), current_alignment);
}
}
}
Expand Down Expand Up @@ -662,10 +662,10 @@ void deserialize_field(
} else if (member->array_size_ && !member->is_upper_bound_) {
deser.deserializeArray(static_cast<T *>(field), member->array_size_);
} else {
auto & data = *reinterpret_cast<typename GenericCArray<T>::type *>(field);
auto & data = *reinterpret_cast<typename GenericCSequence<T>::type *>(field);
int32_t dsize = 0;
deser >> dsize;
GenericCArray<T>::init(&data, dsize);
GenericCSequence<T>::init(&data, dsize);
deser.deserializeArray(reinterpret_cast<T *>(data.data), dsize);
}
}
Expand Down Expand Up @@ -697,13 +697,13 @@ inline void deserialize_field<std::string>(
std::vector<std::string> cpp_string_vector;
deser >> cpp_string_vector;

auto & string_array_field = *reinterpret_cast<rosidl_generator_c__String__Array *>(field);
if (!rosidl_generator_c__String__Array__init(&string_array_field, cpp_string_vector.size())) {
auto & string_sequence_field = *reinterpret_cast<rosidl_generator_c__String__Sequence *>(field);
if (!rosidl_generator_c__String__Sequence__init(&string_sequence_field, cpp_string_vector.size())) {
throw std::runtime_error("unable to initialize rosidl_generator_c__String array");
}

for (size_t i = 0; i < cpp_string_vector.size(); ++i) {
if (!rosidl_generator_c__String__assign(&string_array_field.data[i],
if (!rosidl_generator_c__String__assign(&string_sequence_field.data[i],
cpp_string_vector[i].c_str()))
{
throw std::runtime_error("unable to assign rosidl_generator_c__String");
Expand Down Expand Up @@ -749,9 +749,9 @@ inline size_t get_submessage_array_deserialize(
// Deserialize length
uint32_t vsize = 0;
deser >> vsize;
auto tmparray = static_cast<rosidl_generator_c__void__Array *>(field);
rosidl_generator_c__void__Array__init(tmparray, vsize, sub_members_size);
subros_message = reinterpret_cast<void *>(tmparray->data);
auto tmpsequence = static_cast<rosidl_generator_c__void__Sequence *>(field);
rosidl_generator_c__void__Sequence__init(tmpsequence, vsize, sub_members_size);
subros_message = reinterpret_cast<void *>(tmpsequence->data);
return vsize;
}

Expand Down
10 changes: 5 additions & 5 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/macros.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,18 +18,18 @@
#include <limits>
#include <string>

#define SPECIALIZE_GENERIC_C_ARRAY(C_NAME, C_TYPE) \
#define SPECIALIZE_GENERIC_C_SEQUENCE(C_NAME, C_TYPE) \
template<> \
struct GenericCArray<C_TYPE> \
struct GenericCSequence<C_TYPE> \
{ \
using type = rosidl_generator_c__ ## C_NAME ## __Array; \
using type = rosidl_generator_c__ ## C_NAME ## __Sequence; \
\
static void fini(type * array) { \
rosidl_generator_c__ ## C_NAME ## __Array__fini(array); \
rosidl_generator_c__ ## C_NAME ## __Sequence__fini(array); \
} \
\
static bool init(type * array, size_t size) { \
return rosidl_generator_c__ ## C_NAME ## __Array__init(array, size); \
return rosidl_generator_c__ ## C_NAME ## __Sequence__init(array, size); \
} \
};

Expand Down

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