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Merged
clalancette merged 3 commits into from
Mar 24, 2023
+23 −14
Merged

Type hashes on typesupport (rep2011) #98

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fcef910
Type hashes on typesupport
emersonknapp Mar 22, 2023
8cacab4
Use TYPE_HASH_VAR, fill new service_type_support_t members
emersonknapp Mar 22, 2023
742d495
Move service message typesupports together
emersonknapp Mar 23, 2023
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6 changes: 4 additions & 2 deletions rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
@# Included from rosidl_typesupport_fastrtps_c/resource/idl__type_support_c.cpp.em
@{
from rosidl_generator_c import idl_structure_type_to_c_typename
from rosidl_generator_type_description import TYPE_HASH_VAR
from rosidl_parser.definition import AbstractGenericString
from rosidl_parser.definition import AbstractNestedType
from rosidl_parser.definition import AbstractSequence
Expand All @@ -8,9 +10,9 @@ from rosidl_parser.definition import AbstractWString
from rosidl_parser.definition import ACTION_FEEDBACK_SUFFIX
from rosidl_parser.definition import ACTION_GOAL_SUFFIX
from rosidl_parser.definition import ACTION_RESULT_SUFFIX
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import Array
from rosidl_parser.definition import BasicType
from rosidl_parser.definition import BoundedSequence
Expand Down Expand Up @@ -629,7 +631,6 @@ static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(ch
static message_type_support_callbacks_t __callbacks_@(message.structure.namespaced_type.name) = {
"@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
"@(message.structure.namespaced_type.name)",
@('__'.join(message.structure.namespaced_type.namespaced_name()))__TYPE_VERSION_HASH__INIT,
_@(message.structure.namespaced_type.name)__cdr_serialize,
_@(message.structure.namespaced_type.name)__cdr_deserialize,
_@(message.structure.namespaced_type.name)__get_serialized_size,
Expand All @@ -640,6 +641,7 @@ static rosidl_message_type_support_t _@(message.structure.namespaced_type.name)_
rosidl_typesupport_fastrtps_c__identifier,
&__callbacks_@(message.structure.namespaced_type.name),
get_message_typesupport_handle_function,
&@(idl_structure_type_to_c_typename(message.structure.namespaced_type))__@(TYPE_HASH_VAR),
};

const rosidl_message_type_support_t *
Expand Down
11 changes: 9 additions & 2 deletions rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,11 @@ TEMPLATE(
}@

@{
from rosidl_generator_c import idl_structure_type_to_c_typename
from rosidl_generator_type_description import TYPE_HASH_VAR
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
from rosidl_pycommon import convert_camel_case_to_lower_case_underscore

include_parts = [package_name] + list(interface_path.parents[0].parts) + \
Expand Down Expand Up @@ -54,7 +59,6 @@ extern "C"
static service_type_support_callbacks_t @(service.namespaced_type.name)__callbacks = {
"@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
"@(service.namespaced_type.name)",
@('__'.join(service.namespaced_type.namespaced_name()))__TYPE_VERSION_HASH__INIT,
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name]))_Request)(),
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name]))_Response)(),
};
Expand All @@ -63,6 +67,9 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {
rosidl_typesupport_fastrtps_c__identifier,
&@(service.namespaced_type.name)__callbacks,
get_service_typesupport_handle_function,
&_@(service.namespaced_type.name)@(SERVICE_REQUEST_MESSAGE_SUFFIX)__type_support,
&_@(service.namespaced_type.name)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)__type_support,
&_@(service.namespaced_type.name)@(SERVICE_EVENT_MESSAGE_SUFFIX)__type_support,
ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_CREATE_EVENT_MESSAGE_SYMBOL_NAME(
rosidl_typesupport_c,
@(',\n '.join(service.namespaced_type.namespaced_name()))
Expand All @@ -71,7 +78,7 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {
rosidl_typesupport_c,
@(',\n '.join(service.namespaced_type.namespaced_name()))
),
&_@(service.namespaced_type.name)_Event__type_support
&@(idl_structure_type_to_c_typename(service.namespaced_type))__@(TYPE_HASH_VAR),
};

const rosidl_service_type_support_t *
Expand Down
4 changes: 0 additions & 4 deletions ...l_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,6 @@
#include <fastcdr/Cdr.h>

#include "rosidl_runtime_c/message_type_support_struct.h"
#include "rosidl_runtime_c/type_hash.h"

/// Feature define to allow API version detection
#define ROSIDL_TYPESUPPORT_FASTRTPS_HAS_PLAIN_TYPES
Expand All @@ -39,9 +38,6 @@ typedef struct message_type_support_callbacks_t
/// The typename of this message.
const char * message_name_;

/// The hash of the description of the type of this message.
const rosidl_type_hash_t type_hash_;

/// Callback function for message serialization
/**
* \param[in] untyped_ros_message Type erased pointer to message instance.
Expand Down
2 changes: 0 additions & 2 deletions ...l_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/service_type_support.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,8 +28,6 @@ typedef struct service_type_support_callbacks_t
const char * service_namespace_;
/// The typename of this service.
const char * service_name_;
/// The hash of the description of the type of this service.
const rosidl_type_hash_t type_hash_;
/// Pointer to the request message typesupport members.
const rosidl_message_type_support_t * request_members_;
/// Pointer to the response message typesupport members.
Expand Down
4 changes: 3 additions & 1 deletion rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
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Original file line number Diff line number Diff line change
@@ -1,5 +1,7 @@
@# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
@{
from rosidl_generator_c import idl_structure_type_to_c_typename
from rosidl_generator_type_description import TYPE_HASH_VAR
from rosidl_parser.definition import AbstractGenericString
from rosidl_parser.definition import AbstractNestedType
from rosidl_parser.definition import AbstractSequence
Expand Down Expand Up @@ -495,7 +497,6 @@ static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(ch
static message_type_support_callbacks_t _@(message.structure.namespaced_type.name)__callbacks = {
"@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
"@(message.structure.namespaced_type.name)",
@('::'.join(message.structure.namespaced_type.namespaced_name()))::TYPE_VERSION_HASH,
_@(message.structure.namespaced_type.name)__cdr_serialize,
_@(message.structure.namespaced_type.name)__cdr_deserialize,
_@(message.structure.namespaced_type.name)__get_serialized_size,
Expand All @@ -506,6 +507,7 @@ static rosidl_message_type_support_t _@(message.structure.namespaced_type.name)_
rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
&_@(message.structure.namespaced_type.name)__callbacks,
get_message_typesupport_handle_function,
&@('::'.join(message.structure.namespaced_type.namespaced_name()))::@(TYPE_HASH_VAR),
};

} // namespace typesupport_fastrtps_cpp
Expand Down
10 changes: 7 additions & 3 deletions rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,8 +1,10 @@
@# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
@{
from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
from rosidl_generator_type_description import TYPE_HASH_VAR
from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
from rosidl_pycommon import convert_camel_case_to_lower_case_underscore

include_parts = [package_name] + list(interface_path.parents[0].parts) + [
'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
Expand Down Expand Up @@ -59,7 +61,6 @@ namespace typesupport_fastrtps_cpp
static service_type_support_callbacks_t _@(service.namespaced_type.name)__callbacks = {
"@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
"@(service.namespaced_type.name)",
@('::'.join(service.namespaced_type.namespaced_name()))::TYPE_VERSION_HASH,
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_REQUEST_MESSAGE_SUFFIX))(),
ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_RESPONSE_MESSAGE_SUFFIX))(),
};
Expand All @@ -73,9 +74,12 @@ static const rosidl_service_type_support_t _@(service.namespaced_type.name)__han
rosidl_typesupport_fastrtps_cpp::typesupport_identifier,
&_@(service.namespaced_type.name)__callbacks,
get_service_typesupport_handle_function,
::rosidl_typesupport_fastrtps_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))@(SERVICE_REQUEST_MESSAGE_SUFFIX)>(),
::rosidl_typesupport_fastrtps_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))@(SERVICE_RESPONSE_MESSAGE_SUFFIX)>(),
::rosidl_typesupport_fastrtps_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))@(SERVICE_EVENT_MESSAGE_SUFFIX)>(),
&::rosidl_typesupport_cpp::service_create_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
&::rosidl_typesupport_cpp::service_destroy_event_message<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))>,
::rosidl_typesupport_fastrtps_cpp::get_message_type_support_handle<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))_Event>(),
&@('::'.join(service.namespaced_type.namespaced_name()))::@(TYPE_HASH_VAR),
};

#ifdef __cplusplus
Expand Down