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Support Fast CDR v2 #114

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merged 5 commits into from
Mar 26, 2024
Merged

Support Fast CDR v2 #114

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12665d8
Require fastcdr version 2
MiguelCompany Feb 12, 2024
d6fb2a2
Adapt for API breaks in rosidl_typesupport_fastrtps_cpp
MiguelCompany Feb 12, 2024
ca20c7a
Adapt for API breaks in rosidl_typesupport_fastrtps_c
MiguelCompany Feb 12, 2024
a725fbb
Remove version requirements from package.xml files
MiguelCompany Mar 21, 2024
7fb44ae
Adapt for API breaks in tests.
MiguelCompany Mar 21, 2024
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2 changes: 1 addition & 1 deletion rosidl_typesupport_fastrtps_c/cmake/rosidl_typesupport_fastrtps_c_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ endif()

find_package(ament_cmake_ros REQUIRED)
find_package(fastrtps_cmake_module QUIET)
find_package(fastcdr REQUIRED CONFIG)
find_package(fastcdr 2 REQUIRED CONFIG)
find_package(rosidl_typesupport_interface REQUIRED)
find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
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4 changes: 2 additions & 2 deletions rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
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Expand Up @@ -237,7 +237,7 @@ if isinstance(type_, AbstractNestedType):
}
}
@[ elif isinstance(member.type.value_type, BasicType)]@
cdr.serializeArray(array_ptr, size);
cdr.serialize_array(array_ptr, size);
@[ else]@
for (size_t i = 0; i < size; ++i) {
if (!callbacks->cdr_serialize(
Expand Down Expand Up @@ -379,7 +379,7 @@ else:
array_ptr[i] = static_cast<char16_t>(tmp);
}
@[ elif isinstance(member.type.value_type, BasicType)]@
cdr.deserializeArray(array_ptr, size);
cdr.deserialize_array(array_ptr, size);
@[ else]@
for (size_t i = 0; i < size; ++i) {
if (!callbacks->cdr_deserialize(
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2 changes: 1 addition & 1 deletion rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in
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Expand Up @@ -2,7 +2,7 @@
# rosidl_typesupport_fastrtps_c/rosidl_typesupport_fastrtps_c-extras.cmake.in

find_package(fastrtps_cmake_module QUIET)
find_package(fastcdr REQUIRED CONFIG)
find_package(fastcdr 2 REQUIRED CONFIG)

if(NOT fastcdr_FOUND)
message(STATUS
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2 changes: 1 addition & 1 deletion rosidl_typesupport_fastrtps_cpp/CMakeLists.txt
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Expand Up @@ -23,7 +23,7 @@ endif()
find_package(ament_cmake_ros REQUIRED)

find_package(fastrtps_cmake_module QUIET)
find_package(fastcdr REQUIRED CONFIG)
find_package(fastcdr 2 REQUIRED CONFIG)
if(FASTRTPS_STATIC_DISABLE)
ament_package()
message(STATUS "fastrtps static rmw implementation explicitly disabled - skipping '${PROJECT_NAME}'")
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2 changes: 1 addition & 1 deletion ..._typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ endif()

find_package(ament_cmake_ros REQUIRED)
find_package(fastrtps_cmake_module QUIET)
find_package(fastcdr REQUIRED CONFIG)
find_package(fastcdr 2 REQUIRED CONFIG)
find_package(rmw REQUIRED)
find_package(rosidl_runtime_c REQUIRED)
find_package(rosidl_runtime_cpp REQUIRED)
Expand Down
4 changes: 2 additions & 2 deletions rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ cdr_serialize(
cdr << static_cast<uint32_t>(size);
@[ if isinstance(member.type.value_type, BasicType) and member.type.value_type.typename not in ('boolean', 'wchar')]@
if (size > 0) {
cdr.serializeArray(&(ros_message.@(member.name)[0]), size);
cdr.serialize_array(&(ros_message.@(member.name)[0]), size);
}
@[ else]@
for (size_t i = 0; i < size; i++) {
Expand Down Expand Up @@ -210,7 +210,7 @@ cdr_deserialize(
ros_message.@(member.name).resize(size);
@[ if isinstance(member.type.value_type, BasicType) and member.type.value_type.typename not in ('boolean', 'wchar')]@
if (size > 0) {
cdr.deserializeArray(&(ros_message.@(member.name)[0]), size);
cdr.deserialize_array(&(ros_message.@(member.name)[0]), size);
}
@[ else]@
for (size_t i = 0; i < size; i++) {
Expand Down
2 changes: 1 addition & 1 deletion rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp-extras.cmake.in
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
# rosidl_typesupport_fastrtps_cpp-extras.cmake.in

find_package(fastrtps_cmake_module QUIET)
find_package(fastcdr REQUIRED CONFIG)
find_package(fastcdr 2 REQUIRED CONFIG)

if(NOT fastcdr_FOUND)
message(STATUS
Expand Down