wip

rmw_cyclonedds_cpp/src/CDR.hpp

@@ -8,6 +8,8 @@
 #include <cstddef>
 #include <cstdint>
 
+
+// https://www.omg.org/spec/DDS-XTypes/1.3/PDF
 #include "bytewise.hpp"
 namespace rmw_cyclonedds_cpp
 {
@@ -18,21 +20,31 @@ enum class EncodingVersion
   CDR2,
 };
 
+enum class EncodingType
+{
+  PLAIN_CDR,
+  PL_CDR,
+  PLAIN_CDR2,
+  PL_CDR2,
+  DELIMIT_CDR,
+  XML,
+};
+
 /// aka ENC_HEADER
 struct EncapsulationHeader
 {
   /// stream endianness
   endian m_endian = native_endian();
-  /// encoding version
-  EncodingVersion m_eversion;
+  /// encoding type
+  EncodingType m_enc_type;
   /// encoding options
   std::array<byte, 2> m_options;
 };
 
 /// aka DHEADER
 struct DelimiterHeaderData
 {
-  int32_t size;
+  uint32_t size;
 };
 
 /// aka LC

rmw_cyclonedds_cpp/src/Deserialization.hpp

@@ -22,7 +22,16 @@ namespace rmw_cyclonedds_cpp
 
 void deserialize_top_level(void * destination_object, const void * data, const StructValueType * ts)
 {
-  EncapsulationHeader enc_hdr; // todo
+  EncapsulationHeader enc_hdr;
+  auto bdata = static_cast<const byte *>(data);
+  uint16_t benc_hdr = (((uint16_t)data[0])<<8) | data[1];
+  enc_hdr.m_endian = (enc_hdr & 1) ? little_endian : big_endian;
+  switch(benc_hdr ) {
+    case 0x0000:
+      enc_hdr.m_endian
+  }
+  if (bdata[0] == 1)
+  enc_hdr.m_endian =
   // todo: create deserialization stream using the encapsulation header (endian, eversion)
   // todo: pull data out of that stream, structurally recursing on data and types
 }

rmw_cyclonedds_cpp/src/Serialization.cpp

@@ -339,7 +339,8 @@ class CDRWriter : public AbstractCDRWriter
   }
 
   void serialize(
-    AbstractCDRWritingCursor * cursor, const void * data, const PrimitiveValueType & value_type) const
+    AbstractCDRWritingCursor * cursor, const void * data,
+    const PrimitiveValueType & value_type) const
   {
     cursor->align(get_cdr_alignof_primitive(value_type.type_kind()));
     size_t n_bytes = get_cdr_size_of_primitive(value_type.type_kind());
@@ -385,7 +386,8 @@ class CDRWriter : public AbstractCDRWriter
   }
 
   void serialize(
-    AbstractCDRWritingCursor * cursor, const void * data, const U8StringValueType & value_type) const
+    AbstractCDRWritingCursor * cursor, const void * data,
+    const U8StringValueType & value_type) const
   {
     auto str = value_type.data(data);
     serialize_u32(cursor, str.size() + 1);
@@ -395,7 +397,8 @@ class CDRWriter : public AbstractCDRWriter
   }
 
   void serialize(
-    AbstractCDRWritingCursor * cursor, const void * data, const U16StringValueType & value_type) const
+    AbstractCDRWritingCursor * cursor, const void * data,
+    const U16StringValueType & value_type) const
   {
     auto str = value_type.data(data);
     if (eversion == EncodingVersion::CDR_Legacy) {

rmw_cyclonedds_cpp/src/TypeSupport2.hpp

@@ -187,8 +187,8 @@ class StructValueType : public AnyValueType
   virtual size_t n_members() const = 0;
   virtual const Member * get_member(size_t) const = 0;
   EValueType e_value_type() const final {return EValueType::StructValueType;}
-  virtual void ctor (void * obj) const = 0;
-  virtual void dtor (void * obj) const = 0;
+  virtual void ctor(void * obj) const = 0;
+  virtual void dtor(void * obj) const = 0;
 };
 
 class ArrayValueType : public AnyValueType
@@ -247,16 +247,17 @@ class ROSIDLCPP_SpanSequenceValueType : public SpanSequenceValueType
   }
   const void * sequence_contents(const void * ptr_to_sequence) const override
   {
-      return nullptr;
+    return nullptr;
     if (sequence_size(ptr_to_sequence) == 0) {
     }
-    return m_message_member->get_const_function(ptr_to_sequence,0);
+    return m_message_member->get_const_function(ptr_to_sequence, 0);
   }
   void * sequence_contents(void * ptr_to_sequence) const override
   {
     return m_message_member->get_function(ptr_to_sequence, 0);
   }
-  void resize(void * ptr_to_sequence, size_t new_size) const final {
+  void resize(void * ptr_to_sequence, size_t new_size) const final
+  {
     m_message_member->resize_function(ptr_to_sequence, new_size);
   }
 };
@@ -284,10 +285,10 @@ class ROSIDLC_SpanSequenceValueType : public SpanSequenceValueType
     return static_cast<ROSIDLC_SequenceObject *>(ptr_to_sequence);
   }
 
-
 public:
-  explicit ROSIDLC_SpanSequenceValueType(const rosidl_typesupport_introspection_c__MessageMember * message_member,
-                                         const AnyValueType * element_value_type)
+  explicit ROSIDLC_SpanSequenceValueType(
+    const rosidl_typesupport_introspection_c__MessageMember * message_member,
+    const AnyValueType * element_value_type)
   : m_message_member(message_member),
     m_element_value_type(element_value_type)
   {
@@ -303,12 +304,14 @@ class ROSIDLC_SpanSequenceValueType : public SpanSequenceValueType
   {
     return get_value(ptr_to_sequence)->data;
   }
-  void * sequence_contents(void * ptr_to_sequence) const final {
+  void * sequence_contents(void * ptr_to_sequence) const final
+  {
     return get_value(ptr_to_sequence)->data;
   }
 
-  void resize(void * ptr_to_sequence, size_t new_size) const final {
-    if (!m_message_member->resize_function(ptr_to_sequence, new_size)){
+  void resize(void * ptr_to_sequence, size_t new_size) const final
+  {
+    if (!m_message_member->resize_function(ptr_to_sequence, new_size)) {
       throw std::runtime_error("Failed to resize");
     }
   }
@@ -446,7 +449,8 @@ struct ROSIDLC_StringValueType : public U8StringValueType
     return {str->data, str->size};
   }
   size_t sizeof_type() const override {return sizeof(type);}
-  void assign(void * obj, const char * s, size_t count) const final {
+  void assign(void * obj, const char * s, size_t count) const final
+  {
     rosidl_generator_c__String__assignn(static_cast<type *>(obj), s, count);
   }
 };
@@ -467,8 +471,11 @@ class ROSIDLC_WStringValueType : public U16StringValueType
     return {reinterpret_cast<char_traits::char_type *>(str->data), str->size};
   }
   size_t sizeof_type() const override {return sizeof(type);}
-  void assign(void * obj, const uint16_t * s, size_t count) const final {
-    rosidl_generator_c__U16String__assignn(static_cast<type *>(obj), static_cast<const uint16_t *>(s), count);
+  void assign(void * obj, const uint16_t * s, size_t count) const final
+  {
+    rosidl_generator_c__U16String__assignn(
+      static_cast<type *>(obj),
+      static_cast<const uint16_t *>(s), count);
   }
 };
 
@@ -489,8 +496,9 @@ class ROSIDLCPP_StringValueType : public U8StringValueType
   }
   size_t sizeof_type() const override {return sizeof(type);}
 
-  void assign(void * obj, const char * s, size_t count) const final {
-    static_cast<type *>(obj)->assign(s,count);
+  void assign(void * obj, const char * s, size_t count) const final
+  {
+    static_cast<type *>(obj)->assign(s, count);
   }
 };
 
@@ -510,11 +518,12 @@ class ROSIDLCPP_U16StringValueType : public U16StringValueType
     return {str->data(), str->size()};
   }
   size_t sizeof_type() const override {return sizeof(type);}
-  void assign(void * obj, const uint16_t * s, size_t count) const final {
+  void assign(void * obj, const uint16_t * s, size_t count) const final
+  {
 //    std::u16string x;
 //    uint16_t * y;
 //    x.assign(y,y+4);
-    static_cast<type *>(obj)->assign(s,s+count);
+    static_cast<type *>(obj)->assign(s, s + count);
   }
 };