Improve wide string (de)serialization

rosidl_typesupport_fastrtps_c/CMakeLists.txt

@@ -35,8 +35,10 @@ endif()
 
 find_package(ament_cmake_python REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
+find_package(fastcdr REQUIRED CONFIG)
 
 ament_export_dependencies(rosidl_runtime_c)
+ament_export_dependencies(fastcdr)
 
 ament_python_install_package(${PROJECT_NAME})
 
@@ -49,6 +51,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(${PROJECT_NAME} PUBLIC
+  fastcdr
   rosidl_runtime_c::rosidl_runtime_c)
 
 # Export old-style CMake variables

rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/serialization_helpers.hpp

@@ -0,0 +1,81 @@
+// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef ROSIDL_TYPESUPPORT_FASTRTPS_C__SERIALIZATION_HELPERS_HPP_
+#define ROSIDL_TYPESUPPORT_FASTRTPS_C__SERIALIZATION_HELPERS_HPP_
+
+#include <limits>
+#include <stdexcept>
+#include <string>
+
+#include "fastcdr/Cdr.h"
+#include "fastcdr/exceptions/BadParamException.h"
+
+#include "rosidl_runtime_c/u16string.h"
+#include "rosidl_runtime_c/u16string_functions.h"
+
+#include "rosidl_typesupport_fastrtps_c/visibility_control.h"
+
+namespace rosidl_typesupport_fastrtps_c
+{
+
+inline void cdr_serialize(
+  eprosima::fastcdr::Cdr & cdr,
+  const rosidl_runtime_c__U16String & u16str)
+{
+  if (u16str.size > std::numeric_limits<uint32_t>::max()) {
+    throw std::overflow_error("String length exceeds does not fit in CDR serialization format");
+  }
+  auto len = static_cast<uint32_t>(u16str.size);
+  cdr << len;
+  for (uint32_t i = 0; i < len; ++i) {
+    // We are serializing a uint32_t for interoperability with other DDS-based implementations.
+    // We might change this to a uint16_t in the future if we don't mind breaking backward
+    // compatibility and we make the change for all the supported DDS implementations at the same
+    // time.
+    uint32_t c = static_cast<uint32_t>(u16str.data[i]);
+    cdr << c;
+  }
+}
+
+inline bool cdr_deserialize(
+  eprosima::fastcdr::Cdr & cdr,
+  rosidl_runtime_c__U16String & u16str)
+{
+  uint32_t len;
+  cdr >> len;
+  bool succeeded = rosidl_runtime_c__U16String__resize(&u16str, len);
+  if (!succeeded) {
+    return false;
+  }
+
+  for (uint32_t i = 0; i < len; ++i) {
+    // We are serializing a uint32_t for interoperability with other DDS-based implementations.
+    // If we change this to a uint16_t in the future, we could remove the check below, since all
+    // serialized values would fit in the destination type.
+    uint32_t c;
+    cdr >> c;
+    if (c > std::numeric_limits<uint_least16_t>::max()) {
+      throw eprosima::fastcdr::exception::BadParamException(
+              "Character value exceeds maximum value");
+    }
+    u16str.data[i] = static_cast<uint_least16_t>(c);
+  }
+
+  return true;
+}
+
+}  // namespace rosidl_typesupport_fastrtps_c
+
+#endif  // ROSIDL_TYPESUPPORT_FASTRTPS_C__SERIALIZATION_HELPERS_HPP_

rosidl_typesupport_fastrtps_c/include/rosidl_typesupport_fastrtps_c/wstring_conversion.hpp

@@ -17,6 +17,7 @@
 
 #include <string>
 
+#include "rcutils/macros.h"
 #include "rosidl_runtime_c/u16string.h"
 #include "rosidl_typesupport_fastrtps_c/visibility_control.h"
 
@@ -29,6 +30,7 @@ namespace rosidl_typesupport_fastrtps_c
  * \param[in,out] wstr The std::wstring to copy to.
  */
 ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC
+  RCUTILS_DEPRECATED_WITH_MSG("not used by core packages")
 void u16string_to_wstring(
   const rosidl_runtime_c__U16String & u16str, std::wstring & wstr);
 
@@ -39,6 +41,7 @@ void u16string_to_wstring(
  * \return true if resizing u16str and assignment succeeded, otherwise false.
  */
 ROSIDL_TYPESUPPORT_FASTRTPS_C_PUBLIC
+  RCUTILS_DEPRECATED_WITH_MSG("not used by core packages")
 bool wstring_to_u16string(
   const std::wstring & wstr, rosidl_runtime_c__U16String & u16str);
 

rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em

@@ -32,6 +32,7 @@ header_files = [
     'string',
     # Provides the rosidl_typesupport_fastrtps_c__identifier symbol declaration.
     'rosidl_typesupport_fastrtps_c/identifier.h',
+    'rosidl_typesupport_fastrtps_c/serialization_helpers.hpp',
     'rosidl_typesupport_fastrtps_c/wstring_conversion.hpp',
     # Provides the definition of the message_type_support_callbacks_t struct.
     'rosidl_typesupport_fastrtps_cpp/message_type_support.h',
@@ -215,7 +216,6 @@ if isinstance(type_, AbstractNestedType):
       cdr << str->data;
     }
 @[    elif isinstance(member.type.value_type, AbstractWString)]@
-    std::wstring wstr;
     for (size_t i = 0; i < size; ++i) {
       const rosidl_runtime_c__U16String * str = &array_ptr[i];
       if (str->capacity == 0 || str->capacity <= str->size) {
@@ -226,8 +226,7 @@ if isinstance(type_, AbstractNestedType):
         fprintf(stderr, "string not null-terminated\n");
         return false;
       }
-      rosidl_typesupport_fastrtps_c::u16string_to_wstring(*str, wstr);
-      cdr << wstr;
+      rosidl_typesupport_fastrtps_c::cdr_serialize(cdr, *str);
     }
 @[    elif isinstance(member.type.value_type, BasicType) and member.type.value_type.typename == 'wchar']@
     for (size_t i = 0; i < size; ++i) {
@@ -260,9 +259,7 @@ if isinstance(type_, AbstractNestedType):
     }
     cdr << str->data;
 @[  elif isinstance(member.type, AbstractWString)]@
-    std::wstring wstr;
-    rosidl_typesupport_fastrtps_c::u16string_to_wstring(ros_message->@(member.name), wstr);
-    cdr << wstr;
+    rosidl_typesupport_fastrtps_c::cdr_serialize(cdr, ros_message->@(member.name));
 @[  elif isinstance(member.type, BasicType) and member.type.typename == 'boolean']@
     cdr << (ros_message->@(member.name) ? true : false);
 @[  elif isinstance(member.type, BasicType) and member.type.typename == 'wchar']@
@@ -362,8 +359,7 @@ else:
       if (!ros_i.data) {
         rosidl_runtime_c__U16String__init(&ros_i);
       }
-      cdr >> wstr;
-      bool succeeded = rosidl_typesupport_fastrtps_c::wstring_to_u16string(wstr, ros_i);
+      bool succeeded = rosidl_typesupport_fastrtps_c::cdr_deserialize(cdr, ros_i);
       if (!succeeded) {
         fprintf(stderr, "failed to create wstring from u16string\n");
         rosidl_runtime_c__U16String__fini(&ros_i);
@@ -410,9 +406,7 @@ else:
     if (!ros_message->@(member.name).data) {
       rosidl_runtime_c__U16String__init(&ros_message->@(member.name));
     }
-    std::wstring wstr;
-    cdr >> wstr;
-    bool succeeded = rosidl_typesupport_fastrtps_c::wstring_to_u16string(wstr, ros_message->@(member.name));
+    bool succeeded = rosidl_typesupport_fastrtps_c::cdr_deserialize(cdr, ros_message->@(member.name));
     if (!succeeded) {
       fprintf(stderr, "failed to create wstring from u16string\n");
       rosidl_runtime_c__U16String__fini(&ros_message->@(member.name));

rosidl_typesupport_fastrtps_c/test/benchmark/benchmark_string_conversions.cpp

@@ -14,12 +14,13 @@
 
 #include <string>
 
+#include "fastcdr/Cdr.h"
 #include "rcutils/macros.h"
 
 #include "rosidl_runtime_c/string_functions.h"
 #include "rosidl_runtime_c/u16string_functions.h"
 
-#include "rosidl_typesupport_fastrtps_c/wstring_conversion.hpp"
+#include "rosidl_typesupport_fastrtps_c/serialization_helpers.hpp"
 
 #include "performance_test_fixture/performance_test_fixture.hpp"
 
@@ -32,7 +33,13 @@ constexpr const uint64_t kSize = 1024;
 
 BENCHMARK_F(PerformanceTest, wstring_to_u16string)(benchmark::State & st)
 {
+  namespace fastcdr = eprosima::fastcdr;
+
   std::wstring wstring(kSize, '*');
+  char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
+  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  cdr << wstring;
 
   rosidl_runtime_c__U16String s;
   if (!rosidl_runtime_c__U16String__init(&s)) {
@@ -44,15 +51,22 @@ BENCHMARK_F(PerformanceTest, wstring_to_u16string)(benchmark::State & st)
 
   for (auto _ : st) {
     RCUTILS_UNUSED(_);
-    rosidl_typesupport_fastrtps_c::wstring_to_u16string(wstring, s);
+    cdr.reset();
+    rosidl_typesupport_fastrtps_c::cdr_deserialize(cdr, s);
   }
 
   rosidl_runtime_c__U16String__fini(&s);
 }
 
 BENCHMARK_F(PerformanceTest, u16string_to_wstring)(benchmark::State & st)
 {
+  namespace fastcdr = eprosima::fastcdr;
+
   std::wstring data(kSize, '*');
+  char raw_buffer[kSize * 4 + 4];  // 4 bytes per character + 4 bytes for the length
+  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+  cdr << data;
 
   rosidl_runtime_c__U16String s;
   if (!rosidl_runtime_c__U16String__init(&s)) {
@@ -61,14 +75,15 @@ BENCHMARK_F(PerformanceTest, u16string_to_wstring)(benchmark::State & st)
   }
 
   // Just do a copy
-  rosidl_typesupport_fastrtps_c::wstring_to_u16string(data, s);
+  cdr.reset();
+  rosidl_typesupport_fastrtps_c::cdr_deserialize(cdr, s);
 
   reset_heap_counters();
 
   for (auto _ : st) {
     RCUTILS_UNUSED(_);
-    std::wstring actual;
-    rosidl_typesupport_fastrtps_c::u16string_to_wstring(s, actual);
+    cdr.reset();
+    rosidl_typesupport_fastrtps_c::cdr_serialize(cdr, s);
   }
 
   rosidl_runtime_c__U16String__fini(&s);

rosidl_typesupport_fastrtps_c/test/test_wstring_conversion.cpp

@@ -16,37 +16,43 @@
 
 #include "gtest/gtest.h"
 
+#include "fastcdr/Cdr.h"
 #include "rosidl_runtime_c/u16string_functions.h"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 
-#include "rosidl_typesupport_fastrtps_c/wstring_conversion.hpp"
+#include "rosidl_typesupport_fastrtps_c/serialization_helpers.hpp"
 
-using rosidl_typesupport_fastrtps_c::u16string_to_wstring;
-using rosidl_typesupport_fastrtps_c::wstring_to_u16string;
+using rosidl_typesupport_fastrtps_c::cdr_serialize;
+using rosidl_typesupport_fastrtps_c::cdr_deserialize;
 
-TEST(test_wstring_conversion, wstring_to_u16string)
+void test_ser_des(const rosidl_runtime_c__U16String & input)
 {
-  rosidl_runtime_c__U16String actual;
-  ASSERT_TRUE(rosidl_runtime_c__U16String__init(&actual));
-  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  namespace fastcdr = eprosima::fastcdr;
+  char raw_buffer[1024];
+
   {
-    rosidl_runtime_c__U16String__fini(&actual);
-  });
+    fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
+    fastcdr::Cdr serializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
 
-  // Default string
-  EXPECT_TRUE(wstring_to_u16string(std::wstring(), actual));
-  EXPECT_EQ(0, memcmp(u"", actual.data, actual.size));
+    cdr_serialize(serializer, input);
+  }
 
-  // Empty string
-  EXPECT_TRUE(wstring_to_u16string(std::wstring(L""), actual));
-  EXPECT_EQ(0, memcmp(u"", actual.data, actual.size));
+  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
+  fastcdr::Cdr deserializer(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
 
-  // Non-empty string
-  EXPECT_TRUE(wstring_to_u16string(std::wstring(L"¡Hola, Mundo!"), actual));
-  EXPECT_EQ(0, memcmp(u"¡Hola, Mundo!", actual.data, actual.size));
+  rosidl_runtime_c__U16String output;
+  ASSERT_TRUE(rosidl_runtime_c__U16String__init(&output));
+  OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
+  {
+    rosidl_runtime_c__U16String__fini(&output);
+  });
+
+  ASSERT_TRUE(cdr_deserialize(deserializer, output));
+  EXPECT_EQ(input.size, output.size);
+  EXPECT_EQ(0, memcmp(input.data, output.data, input.size));
 }
 
-TEST(test_wstring_conversion, u16string_to_wstring)
+TEST(test_wstring_conversion, serialize_deserialize)
 {
   std::wstring actual;
   rosidl_runtime_c__U16String input;
@@ -57,16 +63,13 @@ TEST(test_wstring_conversion, u16string_to_wstring)
   });
 
   // Default string
-  u16string_to_wstring(input, actual);
-  EXPECT_EQ(std::wstring(), actual);
+  test_ser_des(input);
 
   // Empty string
   ASSERT_TRUE(rosidl_runtime_c__U16String__assign(&input, (const uint16_t *)u""));
-  u16string_to_wstring(input, actual);
-  EXPECT_EQ(std::wstring(L""), actual);
+  test_ser_des(input);
 
   // Non-empty string
   ASSERT_TRUE(rosidl_runtime_c__U16String__assign(&input, (const uint16_t *)u"¡Hola, Mundo!"));
-  u16string_to_wstring(input, actual);
-  EXPECT_EQ(std::wstring(L"¡Hola, Mundo!"), actual);
+  test_ser_des(input);
 }

rosidl_typesupport_fastrtps_c/test/test_wstring_conversion_mem.cpp

@@ -16,23 +16,33 @@
 
 #include "gtest/gtest.h"
 
+#include "fastcdr/Cdr.h"
 #include "rosidl_runtime_c/u16string_functions.h"
 #include "osrf_testing_tools_cpp/memory_tools/memory_tools.hpp"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 
-#include "rosidl_typesupport_fastrtps_c/wstring_conversion.hpp"
+#include "rosidl_typesupport_fastrtps_c/serialization_helpers.hpp"
 
-using rosidl_typesupport_fastrtps_c::wstring_to_u16string;
+using rosidl_typesupport_fastrtps_c::cdr_deserialize;
 
 TEST(test_wstring_conversion, u16string_resize_failure)
 {
+  namespace fastcdr = eprosima::fastcdr;
+
   osrf_testing_tools_cpp::memory_tools::initialize();
   OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
   {
     osrf_testing_tools_cpp::memory_tools::uninitialize();
   });
 
   std::wstring wstring(L"¡Hola, Mundo!");
+  char raw_buffer[1024];
+  {
+    fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
+    fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
+    cdr << wstring;
+  }
+
   rosidl_runtime_c__U16String u16string;
   ASSERT_TRUE(rosidl_runtime_c__U16String__init(&u16string));
 
@@ -50,8 +60,10 @@ TEST(test_wstring_conversion, u16string_resize_failure)
   osrf_testing_tools_cpp::memory_tools::on_unexpected_realloc(on_unexpected_operation);
   osrf_testing_tools_cpp::memory_tools::enable_monitoring();
 
+  fastcdr::FastBuffer buffer(raw_buffer, sizeof(raw_buffer));
+  fastcdr::Cdr cdr(buffer, fastcdr::Cdr::DEFAULT_ENDIAN, fastcdr::Cdr::DDS_CDR);
   EXPECT_NO_MEMORY_OPERATIONS(
   {
-    EXPECT_FALSE(wstring_to_u16string(wstring, u16string));
+    EXPECT_FALSE(cdr_deserialize(cdr, u16string));
   });
 }