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Adding interfaces to support @key annotation #116

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merged 7 commits into from
Apr 8, 2024

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MiguelCompany
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This PR adds the necessary interfaces to support @key annotation in RMW implementations using Fast CDR

Part of ros2/ros2#1538

Depends on ros2/rosidl#796

Mario-DL and others added 6 commits April 7, 2024 13:03
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@MiguelCompany MiguelCompany force-pushed the feature/rolling/keys branch from 7dffcb9 to 61072ed Compare April 7, 2024 11:04
@[ if key[0] != package_name]@
ROSIDL_TYPESUPPORT_FASTRTPS_C_IMPORT_@(package_name)
@[ end if]@
size_t get_serialized_size_key_@('__'.join(key))(
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add include cstddef

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* \param [in,out] is_unbounded Whether the key has any unbounded member.
* \return The maximum key serialized size, in bytes.
*/
size_t (* max_serialized_size_key)(
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include cstddef

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/// Callback function for key serialization
/**
* \param[in] untyped_ros_message Type erased pointer to message instance.
* \param [in,out] Fast CDR serializer.
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Suggested change
* \param [in,out] Fast CDR serializer.
* \param [in,out] cdr Fast CDR serializer.

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ROSIDL_TYPESUPPORT_FASTRTPS_CPP_PUBLIC_@(package_name)
get_serialized_size_key(
const @('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name])) & ros_message,
size_t current_alignment);
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include <cstddef>

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bool cdr_serialize_key(
const @('::'.join(type_.namespaced_name())) &,
eprosima::fastcdr::Cdr &);
size_t get_serialized_size_key(
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include <cstddef>

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Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
@MiguelCompany
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@ahcorde I applied your suggestions in cbd7a48

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ahcorde commented Apr 8, 2024

  • Linux Build Status
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@ahcorde ahcorde merged commit 5fdc817 into ros2:rolling Apr 8, 2024
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mjcarroll added a commit that referenced this pull request Apr 9, 2024
Bug introduced in #116

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
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3 participants