Improve wide string (de)serialization in rwm_dynamic_fastrtps_cpp (#740)

* Move type support headers to src Signed-off-by: Miguel Company <[email protected]> * Fix references to moved headers Signed-off-by: Miguel Company <[email protected]> * move macros.hpp to src/serialization_helpers.hpp Signed-off-by: Miguel Company <[email protected]> * Move other non-api headers Signed-off-by: Miguel Company <[email protected]> * Move common code into serialize_wide_string. Signed-off-by: Miguel Company <[email protected]> * Move common code into deserialize_wide_string. Signed-off-by: Miguel Company <[email protected]> * Move serialization into serialization_helpers.hpp Signed-off-by: Miguel Company <[email protected]> * Move deserialization into serialization_helpers.hpp Signed-off-by: Miguel Company <[email protected]> * Fix header guards Signed-off-by: Miguel Company <[email protected]> * Linters Signed-off-by: Miguel Company <[email protected]> * Do not account for extra character on serialized size calculation Signed-off-by: Miguel Company <[email protected]> * Remove dependency on rosidl_typesupport_fastrtps_c(pp) Signed-off-by: Miguel Company <[email protected]> --------- Signed-off-by: Miguel Company <[email protected]>
ros2 · Feb 20, 2024 · e21254c · e21254c
1 parent 117c648
commit e21254c
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Showing 24 changed files with 171 additions and 130 deletions.
diff --git a/rmw_fastrtps_dynamic_cpp/CMakeLists.txt b/rmw_fastrtps_dynamic_cpp/CMakeLists.txt
@@ -44,8 +44,6 @@ find_package(FastRTPS 2.10 REQUIRED MODULE)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
-find_package(rosidl_typesupport_fastrtps_c REQUIRED)
-find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
@@ -108,8 +106,6 @@ target_link_libraries(rmw_fastrtps_dynamic_cpp PUBLIC
   rmw::rmw
   rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
   rosidl_runtime_c::rosidl_runtime_c
-  rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
-  rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
   rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
   rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp
 )
@@ -135,8 +131,6 @@ ament_export_dependencies(
   rmw
   rmw_fastrtps_shared_cpp
   rosidl_runtime_c
-  rosidl_typesupport_fastrtps_c
-  rosidl_typesupport_fastrtps_cpp
   rosidl_typesupport_introspection_c
   rosidl_typesupport_introspection_cpp
 )

diff --git a/rmw_fastrtps_dynamic_cpp/QUALITY_DECLARATION.md b/rmw_fastrtps_dynamic_cpp/QUALITY_DECLARATION.md
@@ -127,8 +127,6 @@ Results of the nightly linter tests can be found [here](https://ci.ros2.org/view
 * `rmw_dds_common`: [QUALITY DECLARATION](https://github.com/ros2/rmw_dds_common/blob/master/rmw_dds_common/QUALITY_DECLARATION.md)
 * `rmw_fastrtps_shared_cpp`: [QUALITY DECLARATION](https://github.com/ros2/rmw_fastrtps/blob/master/rmw_fastrtps_shared_cpp/QUALITY_DECLARATION.md)
 * `rosidl_runtime_c`: [QUALITY DECLARATION](https://github.com/ros2/rosidl/blob/master/rosidl_runtime_c/QUALITY_DECLARATION.md)
-* `rosidl_typesupport_fastrtps_c`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport_fastrtps/blob/master/rosidl_typesupport_fastrtps_c/QUALITY_DECLARATION.md)
-* `rosidl_typesupport_fastrtps_cpp`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport_fastrtps/blob/master/rosidl_typesupport_fastrtps_cpp/QUALITY_DECLARATION.md)
 * `rosidl_typesupport_introspection_c`
 * `rosidl_typesupport_introspection_cpp`
 

diff --git a/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/macros.hpp b/rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/macros.hpp
diff --git a/rmw_fastrtps_dynamic_cpp/package.xml b/rmw_fastrtps_dynamic_cpp/package.xml
@@ -29,8 +29,6 @@
   <build_depend>rmw_dds_common</build_depend>
   <build_depend>rmw_fastrtps_shared_cpp</build_depend>
   <build_depend>rosidl_runtime_c</build_depend>
-  <build_depend>rosidl_typesupport_fastrtps_c</build_depend>
-  <build_depend>rosidl_typesupport_fastrtps_cpp</build_depend>
   <build_depend>rosidl_typesupport_introspection_c</build_depend>
   <build_depend>rosidl_typesupport_introspection_cpp</build_depend>
 
@@ -43,8 +41,6 @@
   <build_export_depend>rmw_dds_common</build_export_depend>
   <build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>
   <build_export_depend>rosidl_runtime_c</build_export_depend>
-  <build_export_depend>rosidl_typesupport_fastrtps_c</build_export_depend>
-  <build_export_depend>rosidl_typesupport_fastrtps_cpp</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_c</build_export_depend>
   <build_export_depend>rosidl_typesupport_introspection_cpp</build_export_depend>
 

diff --git a/...strtps_dynamic_cpp/MessageTypeSupport.hpp → ...ps_dynamic_cpp/src/MessageTypeSupport.hpp b/...strtps_dynamic_cpp/MessageTypeSupport.hpp → ...ps_dynamic_cpp/src/MessageTypeSupport.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_FASTRTPS_DYNAMIC_CPP__MESSAGETYPESUPPORT_HPP_
-#define RMW_FASTRTPS_DYNAMIC_CPP__MESSAGETYPESUPPORT_HPP_
+#ifndef MESSAGETYPESUPPORT_HPP_
+#define MESSAGETYPESUPPORT_HPP_
 
 #include <cassert>
 #include <memory>
@@ -39,4 +39,4 @@ class MessageTypeSupport : public TypeSupport<MembersType>
 
 #include "MessageTypeSupport_impl.hpp"
 
-#endif  // RMW_FASTRTPS_DYNAMIC_CPP__MESSAGETYPESUPPORT_HPP_
+#endif  // MESSAGETYPESUPPORT_HPP_
diff --git a/...s_dynamic_cpp/MessageTypeSupport_impl.hpp → ...namic_cpp/src/MessageTypeSupport_impl.hpp b/...s_dynamic_cpp/MessageTypeSupport_impl.hpp → ...namic_cpp/src/MessageTypeSupport_impl.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_FASTRTPS_DYNAMIC_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
-#define RMW_FASTRTPS_DYNAMIC_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
+#ifndef MESSAGETYPESUPPORT_IMPL_HPP_
+#define MESSAGETYPESUPPORT_IMPL_HPP_
 
 #include <cassert>
 #include <memory>
@@ -25,7 +25,7 @@
 
 #include "rcpputils/find_and_replace.hpp"
 
-#include "rmw_fastrtps_dynamic_cpp/MessageTypeSupport.hpp"
+#include "MessageTypeSupport.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_fastrtps_dynamic_cpp
@@ -66,4 +66,4 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(
 
 }  // namespace rmw_fastrtps_dynamic_cpp
 
-#endif  // RMW_FASTRTPS_DYNAMIC_CPP__MESSAGETYPESUPPORT_IMPL_HPP_
+#endif  // MESSAGETYPESUPPORT_IMPL_HPP_
diff --git a/...strtps_dynamic_cpp/ServiceTypeSupport.hpp → ...ps_dynamic_cpp/src/ServiceTypeSupport.hpp b/...strtps_dynamic_cpp/ServiceTypeSupport.hpp → ...ps_dynamic_cpp/src/ServiceTypeSupport.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_FASTRTPS_DYNAMIC_CPP__SERVICETYPESUPPORT_HPP_
-#define RMW_FASTRTPS_DYNAMIC_CPP__SERVICETYPESUPPORT_HPP_
+#ifndef SERVICETYPESUPPORT_HPP_
+#define SERVICETYPESUPPORT_HPP_
 
 #include <cassert>
 
@@ -44,4 +44,4 @@ class ResponseTypeSupport : public TypeSupport<MessageMembersType>
 
 #include "ServiceTypeSupport_impl.hpp"
 
-#endif  // RMW_FASTRTPS_DYNAMIC_CPP__SERVICETYPESUPPORT_HPP_
+#endif  // SERVICETYPESUPPORT_HPP_
diff --git a/...s_dynamic_cpp/ServiceTypeSupport_impl.hpp → ...namic_cpp/src/ServiceTypeSupport_impl.hpp b/...s_dynamic_cpp/ServiceTypeSupport_impl.hpp → ...namic_cpp/src/ServiceTypeSupport_impl.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_FASTRTPS_DYNAMIC_CPP__SERVICETYPESUPPORT_IMPL_HPP_
-#define RMW_FASTRTPS_DYNAMIC_CPP__SERVICETYPESUPPORT_IMPL_HPP_
+#ifndef SERVICETYPESUPPORT_IMPL_HPP_
+#define SERVICETYPESUPPORT_IMPL_HPP_
 
 #include <cassert>
 #include <sstream>
@@ -24,7 +24,7 @@
 
 #include "rcpputils/find_and_replace.hpp"
 
-#include "rmw_fastrtps_dynamic_cpp/ServiceTypeSupport.hpp"
+#include "ServiceTypeSupport.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
 namespace rmw_fastrtps_dynamic_cpp
@@ -98,4 +98,4 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
 
 }  // namespace rmw_fastrtps_dynamic_cpp
 
-#endif  // RMW_FASTRTPS_DYNAMIC_CPP__SERVICETYPESUPPORT_IMPL_HPP_
+#endif  // SERVICETYPESUPPORT_IMPL_HPP_
diff --git a/.../rmw_fastrtps_dynamic_cpp/TypeSupport.hpp → rmw_fastrtps_dynamic_cpp/src/TypeSupport.hpp b/.../rmw_fastrtps_dynamic_cpp/TypeSupport.hpp → rmw_fastrtps_dynamic_cpp/src/TypeSupport.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RMW_FASTRTPS_DYNAMIC_CPP__TYPESUPPORT_HPP_
-#define RMW_FASTRTPS_DYNAMIC_CPP__TYPESUPPORT_HPP_
+#ifndef TYPESUPPORT_HPP_
+#define TYPESUPPORT_HPP_
 
 #include <cassert>
 #include <string>
@@ -198,4 +198,4 @@ class TypeSupport : public BaseTypeSupport
 
 #include "TypeSupport_impl.hpp"
 
-#endif  // RMW_FASTRTPS_DYNAMIC_CPP__TYPESUPPORT_HPP_
+#endif  // TYPESUPPORT_HPP_