Refs #3043. Max bounded size support.

ros2 · Jun 18, 2018 · 9897857 · 9897857
1 parent 74a6164
commit 9897857
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Showing 4 changed files with 27 additions and 15 deletions.
diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport_impl.hpp
@@ -38,12 +38,14 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
     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));
+  // Fully bound by default
+  this->max_size_bound_ = true;
+  // Encapsulation size
+  this->m_typeSize = 4;
+  if (this->members_->member_count_ != 0) {
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(members, 4));
   } else {
-    this->m_typeSize = 5;
+    this->m_typeSize++;
   }
 }
 

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport_impl.hpp
@@ -42,12 +42,14 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
     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.
+  // Fully bound by default
+  this->max_size_bound_ = true;
+  // Encapsulation size
+  this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {
-    this->m_typeSize = static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 4));
   } else {
-    this->m_typeSize = 5;
+    this->m_typeSize++;
   }
 }
 
@@ -62,12 +64,14 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
     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.
+  // Fully bound by default
+  this->max_size_bound_ = true;
+  // Encapsulation size
+  this->m_typeSize = 4;
   if (this->members_->member_count_ != 0) {
-    this->m_typeSize = static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 0));
+    this->m_typeSize += static_cast<uint32_t>(this->calculateMaxSerializedSize(this->members_, 4));
   } else {
-    this->m_typeSize = 5;
+    this->m_typeSize++;
   }
 }
 

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp
@@ -154,6 +154,7 @@ class TypeSupport : public eprosima::fastrtps::TopicDataType
   size_t calculateMaxSerializedSize(const MembersType * members, size_t current_alignment);
 
   const MembersType * members_;
+  bool max_size_bound_;
 
 private:
   size_t getEstimatedSerializedSize(

diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.hpp
@@ -108,6 +108,7 @@ template<typename MembersType>
 TypeSupport<MembersType>::TypeSupport()
 {
   m_isGetKeyDefined = false;
+  max_size_bound_ = false;
 }
 
 template<typename MembersType>
@@ -853,9 +854,7 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
 
   size_t initial_alignment = current_alignment;
 
-  // Encapsulation
   const size_t padding = 4;
-  current_alignment += padding;
 
   for (uint32_t i = 0; i < members->member_count_; ++i) {
     const auto * member = members->members_ + i;
@@ -865,6 +864,7 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
       array_size = member->array_size_;
       // Whether it is a sequence.
       if (0 == array_size || member->is_upper_bound_) {
+        this->max_size_bound_ = false;
         current_alignment += padding +
           eprosima::fastcdr::Cdr::alignment(current_alignment, padding);
       }
@@ -897,6 +897,7 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
         break;
       case ::rosidl_typesupport_introspection_cpp::ROS_TYPE_STRING:
         {
+          this->max_size_bound_ = false;
           for (size_t index = 0; index < array_size; ++index) {
             current_alignment += padding +
               eprosima::fastcdr::Cdr::alignment(current_alignment, padding) +
@@ -924,6 +925,10 @@ template<typename MembersType>
 size_t TypeSupport<MembersType>::getEstimatedSerializedSize(
   const void * ros_message)
 {
+  if (max_size_bound_) {
+    return m_typeSize;
+  }
+
   assert(ros_message);
 
   // Encapsulation size