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Update serialization/deserialization API documentation. (#258)
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* Update rmw_(de)serialize() API documentation.
* Add rmw_serialize_message_t API documentation.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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hidmic authored and ahcorde committed Oct 13, 2020
1 parent 326cd2f commit da129f9
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42 changes: 38 additions & 4 deletions rmw/include/rmw/rmw.h
Original file line number Diff line number Diff line change
Expand Up @@ -558,7 +558,25 @@ rmw_publisher_assert_liveliness(const rmw_publisher_t * publisher);
/**
* The ROS message is serialized into a byte stream contained within the
* rmw_serialized_message_t structure.
* The serialization format depends on the underlying middleware.
* The serialization format depends on the underlying implementation.
*
* \pre Given ROS message must be a valid non-null instance, initialized
* by the caller and matching the provided typesupport.
* \pre Given typesupport must be a valid non-null instance, as provided
* by `rosidl` APIs.
* \pre Given serialized message must be a valid non-null instance, initialized
* by the caller.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Maybe [1]
* Thread-Safe | No
* Uses Atomics | Maybe [2]
* Lock-Free | Maybe [2]
* <i>[1] if the given serialized message does not have enough capacity to hold
* the ROS message serialization</i>
* <i>[2] rmw implementation defined, check the implementation documentation</i>
*
* \param[in] ros_message the typed ROS message
* \param[in] type_support the typesupport for the ROS message
Expand All @@ -579,10 +597,26 @@ rmw_serialize(
/**
* The given rmw_serialized_message_t's internal byte stream buffer is deserialized
* into the given ROS message.
* The ROS message must already be allocated and initialized, and must match
* the given typesupport structure.
* The serialization format expected in the rmw_serialized_message_t depends on the
* underlying middleware.
* underlying implementation.
*
* \pre Given serialized message must be a valid non-null instance, such
* as that returned by `rmw_serialize()`, matching provided typesupport
* and ROS message.
* \pre Given typesupport must be a valid non-null instance, as provided
* by `rosidl` APIs.
* \pre Given ROS message must be a valid non-null instance, initialized
* by the caller.
*
* <hr>
* Attribute | Adherence
* ------------------ | -------------
* Allocates Memory | Maybe [1]
* Thread-Safe | No
* Uses Atomics | Maybe [2]
* Lock-Free | Maybe [2]
* <i>[1] if the given ROS message contains unbounded fields</i>
* <i>[2] rmw implementation defined, check the implementation documentation</i>
*
* \param[in] serialized_message the serialized message holding the byte stream
* \param[in] type_support the typesupport for the typed ros message
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76 changes: 70 additions & 6 deletions rmw/include/rmw/serialized_message.h
Original file line number Diff line number Diff line change
Expand Up @@ -22,17 +22,81 @@ extern "C"

#include "rcutils/types/uint8_array.h"

// aliases for rcutils_uint8_array_t
/*
* For now this is a simple aliasing from a serialized message to a uint8 array.
/**
* \struct rmw_serialized_message_t
*
* \brief Serialized message as a string of bytes.
*
* It includes (but it is not limited to) the following members:
* \i \c buffer the reference to internal storage, as a pointer
* \i \c buffer_length the size of stored contents, as an unsigned integer
* \i \c buffer_capacity the capacity of internal storage, as an unsigned integer
*/

/* For now this is a simple aliasing from a serialized message to a uint8 array.
* However, in future developments this serialized message can become something
* more complex and is therefore aliased.
*/
typedef rcutils_uint8_array_t rmw_serialized_message_t;

/// Return a zero initialized serialized message struct.
#define rmw_get_zero_initialized_serialized_message rcutils_get_zero_initialized_uint8_array
#define rmw_serialized_message_init rcutils_uint8_array_init
#define rmw_serialized_message_fini rcutils_uint8_array_fini
#define rmw_serialized_message_resize rcutils_uint8_array_resize

/// Initialize a serialized message, zero initializing its contents.
/**
* \pre Given serialized message must have been zero initialized.
*
* \param[inout] serialized_message a pointer to the serialized message to initialize
* \param[in] message_capacity the size of the memory to allocate
* \param[in] allocator the allocator to use for the memory allocation
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if any arguments are invalid, or
* \return 'RMW_RET_BAD_ALLOC` if no memory could be allocated correctly, or
* \return `RMW_RET_ERROR` if an unexpected error occurs
*/
#define rmw_serialized_message_init(serialized_message, message_capacity, allocator) \
rcutils_uint8_array_init(serialized_message, message_capacity, allocator)

/// Finalize a serialized message.
/**
* \pre Given serialized message must have been initialized with `rmw_serialized_message_init()`.
*
* \remarks If serialized message is zero initialized, then `RMW_RET_INVALID_ARGUMENT` is returned.
*
* \param[in] serialized_message pointer to the serialized message to be cleaned up
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if serialized_message is invalid, or
* \return `RMW_RET_ERROR` if an unexpected error occurs
*/
#define rmw_serialized_message_fini(serialized_message) \
rcutils_uint8_array_fini(serialized_message)

/// Resize the internal buffer of the serialized message.
/**
* The internal buffer of the serialized message can be resized dynamically
* if needed.
* If the new size is smaller than the current capacity, then the memory is
* truncated.
*
* \pre Given serialized message must have been initialized with `rmw_serialized_message_init()`.
*
* \remarks If serialized message is zero initialized, then `RMW_RET_INVALID_ARGUMENT`
* is returned.
*
* \warning Be aware that this might deallocate the memory and therefore
* invalidate any pointers to the internal buffer.
*
* \param[inout] serialized_message pointer to the serialized message
* to be resized
* \param[in] new_size the new size of the internal buffer
* \return `RMW_RET_OK` if successful, or
* \return `RMW_RET_INVALID_ARGUMENT` if serialized_message is invalid
* or new_size is set to zero, or
* \return `RMW_RET_BAD_ALLOC` if memory allocation failed, or
* \return `RMW_RET_ERROR` if an unexpected error occurs
*/
#define rmw_serialized_message_resize(serialized_message, new_size) \
rcutils_uint8_array_resize(serialized_message, new_size)

#if __cplusplus
}
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