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Account for alignment on is_plain calculations (#108)
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* Account for alignment on is_plain calculation in rosidl_typesupport_fastrtps_cpp.

* Account for alignment on is_plain calculation in rosidl_typesupport_fastrtps_c.

Signed-off-by: Miguel Company <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>
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@MiguelCompany @clalancette
MiguelCompany and clalancette authored Oct 4, 2023
1 parent e21c859 commit ae6f065
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Showing 2 changed files with 67 additions and 4 deletions.
36 changes: 34 additions & 2 deletions rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em
View file
Original file line number Diff line number Diff line change
Expand Up @@ -530,13 +530,21 @@ size_t max_serialized_size_@('__'.join([package_name] + list(interface_path.pare

const size_t padding = 4;
const size_t wchar_size = 4;
size_t last_member_size = 0;
(void)last_member_size;
(void)padding;
(void)wchar_size;

full_bounded = true;
is_plain = true;

@{
last_member_name_ = None
}@
@[for member in message.structure.members]@
@{
last_member_name_ = member.name
}@
// member: @(member.name)
{
@[ if isinstance(member.type, AbstractNestedType)]@
Expand Down Expand Up @@ -581,35 +589,59 @@ if isinstance(type_, AbstractNestedType):
}
@[ elif isinstance(type_, BasicType)]@
@[ if type_.typename in ('boolean', 'octet', 'char', 'uint8', 'int8')]@
last_member_size = array_size * sizeof(uint8_t);
current_alignment += array_size * sizeof(uint8_t);
@[ elif type_.typename in ('wchar', 'int16', 'uint16')]@
last_member_size = array_size * sizeof(uint16_t);
current_alignment += array_size * sizeof(uint16_t) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint16_t));
@[ elif type_.typename in ('int32', 'uint32', 'float')]@
last_member_size = array_size * sizeof(uint32_t);
current_alignment += array_size * sizeof(uint32_t) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint32_t));
@[ elif type_.typename in ('int64', 'uint64', 'double')]@
last_member_size = array_size * sizeof(uint64_t);
current_alignment += array_size * sizeof(uint64_t) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint64_t));
@[ elif type_.typename == 'long double']@
last_member_size = array_size * sizeof(long double);
current_alignment += array_size * sizeof(long double) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(long double));
@[ end if]@
@[ else]
last_member_size = 0;
for (size_t index = 0; index < array_size; ++index) {
bool inner_full_bounded;
bool inner_is_plain;
current_alignment +=
size_t inner_size;
inner_size =
max_serialized_size_@('__'.join(type_.namespaced_name()))(
inner_full_bounded, inner_is_plain, current_alignment);
last_member_size += inner_size;
current_alignment += inner_size;
full_bounded &= inner_full_bounded;
is_plain &= inner_is_plain;
}
@[ end if]@
}
@[end for]@

return current_alignment - initial_alignment;
size_t ret_val = current_alignment - initial_alignment;
@[if last_member_name_ is not None]@
if (is_plain) {
// All members are plain, and type is not empty.
// We still need to check that the in-memory alignment
// is the same as the CDR mandated alignment.
using DataType = @('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]));
is_plain =
(
offsetof(DataType, @(last_member_name_)) +
last_member_size
) == ret_val;
}

@[end if]@
return ret_val;
}

static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(char & bounds_info)
Expand Down
35 changes: 33 additions & 2 deletions rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em
View file
Original file line number Diff line number Diff line change
Expand Up @@ -376,13 +376,21 @@ max_serialized_size_@(message.structure.namespaced_type.name)(

const size_t padding = 4;
const size_t wchar_size = 4;
size_t last_member_size = 0;
(void)last_member_size;
(void)padding;
(void)wchar_size;

full_bounded = true;
is_plain = true;

@{
last_member_name_ = None
}@
@[for member in message.structure.members]@
@{
last_member_name_ = member.name
}@

// Member: @(member.name)
{
Expand Down Expand Up @@ -428,35 +436,58 @@ if isinstance(type_, AbstractNestedType):
}
@[ elif isinstance(type_, BasicType)]@
@[ if type_.typename in ('boolean', 'octet', 'char', 'uint8', 'int8')]@
last_member_size = array_size * sizeof(uint8_t);
current_alignment += array_size * sizeof(uint8_t);
@[ elif type_.typename in ('wchar', 'int16', 'uint16')]@
last_member_size = array_size * sizeof(uint16_t);
current_alignment += array_size * sizeof(uint16_t) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint16_t));
@[ elif type_.typename in ('int32', 'uint32', 'float')]@
last_member_size = array_size * sizeof(uint32_t);
current_alignment += array_size * sizeof(uint32_t) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint32_t));
@[ elif type_.typename in ('int64', 'uint64', 'double')]@
last_member_size = array_size * sizeof(uint64_t);
current_alignment += array_size * sizeof(uint64_t) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(uint64_t));
@[ elif type_.typename == 'long double']@
last_member_size = array_size * sizeof(long double);
current_alignment += array_size * sizeof(long double) +
eprosima::fastcdr::Cdr::alignment(current_alignment, sizeof(long double));
@[ end if]@
@[ else]
last_member_size = 0;
for (size_t index = 0; index < array_size; ++index) {
bool inner_full_bounded;
bool inner_is_plain;
current_alignment +=
size_t inner_size =
@('::'.join(type_.namespaces))::typesupport_fastrtps_cpp::max_serialized_size_@(type_.name)(
inner_full_bounded, inner_is_plain, current_alignment);
last_member_size += inner_size;
current_alignment += inner_size;
full_bounded &= inner_full_bounded;
is_plain &= inner_is_plain;
}
@[ end if]@
}
@[end for]@

return current_alignment - initial_alignment;
size_t ret_val = current_alignment - initial_alignment;
@[if last_member_name_ is not None]@
if (is_plain) {
// All members are plain, and type is not empty.
// We still need to check that the in-memory alignment
// is the same as the CDR mandated alignment.
using DataType = @('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]));
is_plain =
(
offsetof(DataType, @(last_member_name_)) +
last_member_size
) == ret_val;
}

@[end if]@
return ret_val;
}

static bool _@(message.structure.namespaced_type.name)__cdr_serialize(
Expand Down

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