Serialization Refactor (#30)

* make c++ ts work up to arrays Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * c++ sequences & wstring Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * test pass Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * cleanup code Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * rename variables Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * cleanup c typesupport Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * remove superfluous test code Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * message fixtures for typesupport c Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * remove superfluous code Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * all tests pass Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com> * adapt ros2_bridge to new serialization api Signed-off-by: Knese Karsten <karsten.knese@us.bosch.com>
ros2 · Jun 1, 2020 · c5ef31a · c5ef31a
1 parent 26a82d8
commit c5ef31a
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Showing 19 changed files with 2,630 additions and 952 deletions.
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1 @@
+*.swp
diff --git a/iceoryx_ros2_bridge/CMakeLists.txt b/iceoryx_ros2_bridge/CMakeLists.txt
@@ -27,38 +27,22 @@ find_package(rosidl_generator_cpp REQUIRED)
 find_package(rosidl_typesupport_cpp REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
-add_library(iceoryx_typesupport_helpers
-  src/typesupport_helpers.cpp
-)
-ament_target_dependencies(iceoryx_typesupport_helpers
-  ament_index_cpp
-  rclcpp
-  rcpputils
-  rosidl_generator_cpp
-  rosidl_typesupport_introspection_cpp
-  rosidl_typesupport_cpp
-)
-
-add_library(iceoryx_generic_transport
-  src/generic_publisher.cpp
-  src/generic_subscription.cpp
-)
-target_link_libraries(iceoryx_generic_transport
-  iceoryx_typesupport_helpers
-)
-ament_target_dependencies(iceoryx_generic_transport
-  rclcpp
-)
-
 add_executable(iceoryx_ros2_bridge
   src/iceoryx_ros2_bridge.cpp
+  src/generic_publisher.cpp
+  src/generic_subscription.cpp
+  src/typesupport_helpers.cpp
 )
 target_link_libraries(iceoryx_ros2_bridge
-  iceoryx_generic_transport
   iceoryx_posh::iceoryx_posh
 )
 ament_target_dependencies(iceoryx_ros2_bridge
+  ament_index_cpp
   rclcpp
+  rcpputils
+  rosidl_generator_cpp
+  rosidl_typesupport_introspection_cpp
+  rosidl_typesupport_cpp
   rmw_iceoryx_cpp
 )
 install(

diff --git a/iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp b/iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp
@@ -87,7 +87,7 @@ void publish_to_iceoryx(
     std::vector<char> payload_vector{};
     rmw_iceoryx_cpp::serialize(
       ros_msg,
-      introspection_ts,
+      ts,
       payload_vector);
     free(ros_msg);
 
@@ -140,7 +140,7 @@ void publish_to_ros2(
     introspection_ts->init_function(ros_msg, rosidl_runtime_cpp::MessageInitialization::ALL);
     rmw_iceoryx_cpp::deserialize(
       static_cast<const char *>(chunk),
-      introspection_ts,
+      ts,
       ros_msg);
 
     if (false == serialize_into(ros_msg, ts, &serialized_msg)) {

diff --git a/rmw_iceoryx_cpp/CMakeLists.txt b/rmw_iceoryx_cpp/CMakeLists.txt
@@ -142,9 +142,15 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(${PROJECT_NAME}_tests test/iceoryx_name_conversion_test.cpp)
+  find_package(test_msgs REQUIRED)
+  ament_add_gtest(test_name_conversion test/iceoryx_name_conversion_test.cpp)
+  target_link_libraries(test_name_conversion ${PROJECT_NAME})
 
-  target_link_libraries(${PROJECT_NAME}_tests ${PROJECT_NAME})
+  ament_add_gtest(test_message_serialization test/iceoryx_serialization_test.cpp)
+  target_link_libraries(test_message_serialization ${PROJECT_NAME})
+  ament_target_dependencies(test_message_serialization
+    test_msgs
+  )
 endif()
 
 ament_export_include_directories(include)

diff --git a/rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_deserialize.hpp b/rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_deserialize.hpp
@@ -15,25 +15,15 @@
 #ifndef RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_
 #define RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_
 
-struct rosidl_typesupport_introspection_c__MessageMembers;
-
-namespace rosidl_typesupport_introspection_cpp
-{
-struct MessageMembers;
-}
+struct rosidl_message_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
 
 // TODO(karsten1987): This should be `uint8`, really
-const char * deserialize(
-  const char * serialized_msg,
-  const rosidl_typesupport_introspection_c__MessageMembers * members,
-  void * ros_message);
-
-const char * deserialize(
+void deserialize(
   const char * serialized_msg,
-  const rosidl_typesupport_introspection_cpp::MessageMembers * members,
+  const rosidl_message_type_support_t * type_supports,
   void * ros_message);
 
 }  // namespace rmw_iceoryx_cpp

diff --git a/rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_serialize.hpp b/rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_serialize.hpp
@@ -17,25 +17,15 @@
 
 #include <vector>
 
-struct rosidl_typesupport_introspection_c__MessageMembers;
-
-namespace rosidl_typesupport_introspection_cpp
-{
-struct MessageMembers;
-}
+struct rosidl_message_type_support_t;
 
 namespace rmw_iceoryx_cpp
 {
 
 void serialize(
   const void * ros_message,
-  const rosidl_typesupport_introspection_c__MessageMembers * members,
-  std::vector<char> & payloadVector);
-
-void serialize(
-  const void * ros_message,
-  const rosidl_typesupport_introspection_cpp::MessageMembers * members,
-  std::vector<char> & payloadVector);
+  const rosidl_message_type_support_t * type_supports,
+  std::vector<char> & payload_vector);
 
 }  // namespace rmw_iceoryx_cpp
 #endif  // RMW_ICEORYX_CPP__ICEORYX_SERIALIZE_HPP_
diff --git a/rmw_iceoryx_cpp/package.xml b/rmw_iceoryx_cpp/package.xml
@@ -23,6 +23,7 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+  <test_depend>test_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>