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[feature] CDR primitives serialization and benchmark skeleton #219

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Dec 12, 2023
Merged

[feature] CDR primitives serialization and benchmark skeleton #219

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1,357 changes: 1,357 additions & 0 deletions Native/CSharpCDRImplTemplate.txt
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32 changes: 32 additions & 0 deletions Native/CWrapperHeaderTemplate.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@ EXTERN_METHOD_EXPORT <%SCOPED%>DataWriter_ptr <%SCOPED_METHOD%>DataWriter_Narrow

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_Write_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle);

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_Write_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle);

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_WriteWithTimestamp_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data, int handle, ::DDS::Time_t time);

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataWriter_RegisterInstance_Json(<%SCOPED%>DataWriter_ptr dw, const char* json_data);
Expand All @@ -42,6 +44,8 @@ EXTERN_METHOD_EXPORT <%SCOPED%>DataReader_ptr <%SCOPED_METHOD%>DataReader_Narrow

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataReader_ReadNextSample_Json(<%SCOPED%>DataReader_ptr dr, char* & json_data, ::DDS::SampleInfo* sampleInfo);

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataReader_ReadNextSample_Cdr(<%SCOPED%>DataReader_ptr dr, char* & cdr_data, size_t & size, ::DDS::SampleInfo* sampleInfo);

EXTERN_METHOD_EXPORT int <%SCOPED_METHOD%>DataReader_TakeNextSample_Json(<%SCOPED%>DataReader_ptr dr, char* & json_data, ::DDS::SampleInfo* sampleInfo);

EXTERN_METHOD_EXPORT ::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_Read_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, CORBA::Long maxSamples, ::DDS::SampleStateMask sampleStates, ::DDS::ViewStateMask viewStates, ::DDS::InstanceStateMask instanceStates);
Expand Down Expand Up @@ -124,3 +128,31 @@ char* <%SCOPED_METHOD%>_EncodeJsonSample(<%SCOPED%> sample)
return CORBA::string_dup(buffer);
}

void <%SCOPED_METHOD%>_serialize_to_string(const <%SCOPED%>& idl_value, char* &data, size_t &size)
{
const OpenDDS::DCPS::Encoding encoding(OpenDDS::DCPS::Encoding::KIND_XCDR1, OpenDDS::DCPS::ENDIAN_LITTLE);

const size_t xcdr_size = OpenDDS::DCPS::serialized_size(encoding, idl_value);
ACE_Message_Block mb(xcdr_size);
OpenDDS::DCPS::Serializer serializer(&mb, encoding);
if (!(serializer << idl_value)) {
throw std::runtime_error("failed to serialize");
}
data = (char*)malloc(xcdr_size);
memcpy(data, mb.base(), xcdr_size);
size = xcdr_size;
}

<%SCOPED%> <%SCOPED_METHOD%>_deserialize_from_string(const char* xcdr, size_t size)
{
const OpenDDS::DCPS::Encoding encoding(OpenDDS::DCPS::Encoding::KIND_XCDR1, OpenDDS::DCPS::ENDIAN_LITTLE);
ACE_Message_Block mb(size);
mb.copy(xcdr, size);
OpenDDS::DCPS::Serializer serializer(&mb, encoding);
<%SCOPED%> idl_value;
if (!(serializer >> idl_value)) {
throw std::runtime_error("failed to deserialize");
}
return idl_value;
}

78 changes: 54 additions & 24 deletions Native/CWrapperImplTemplate.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,22 @@ int <%SCOPED_METHOD%>DataWriter_Write_Json(<%SCOPED%>DataWriter_ptr dw, const ch
}
<%SCOPED%> sample = samplev.in();

::DDS::ReturnCode_t ret = dw->write(sample, handle);

::DDS::ReturnCode_t ret = dw->write(sample, handle);

return ret;
}

int <%SCOPED_METHOD%>DataWriter_Write_Cdr(<%SCOPED%>DataWriter_ptr dw, const char* cdr_data, size_t size, int handle)
{
<%SCOPED%> sample = <%SCOPED_METHOD%>_deserialize_from_string(cdr_data, size);
/*if (samplev == NULL)
{
return ::DDS::RETCODE_ERROR;
}
<%SCOPED%> sample = samplev.in();*/

::DDS::ReturnCode_t ret = dw->write(sample, handle);

return ret;
}

Expand Down Expand Up @@ -163,7 +177,23 @@ int <%SCOPED_METHOD%>DataReader_ReadNextSample_Json(<%SCOPED%>DataReader_ptr dr,
{
json_data = <%SCOPED_METHOD%>_EncodeJsonSample(sample);
}


return (int)ret;
}

int <%SCOPED_METHOD%>DataReader_ReadNextSample_Cdr(<%SCOPED%>DataReader_ptr dr, char* & cdr_data, size_t & size, ::DDS::SampleInfo* sampleInfo)
{
<%SCOPED%> sample;
::DDS::ReturnCode_t ret = dr->read_next_sample(sample, *sampleInfo);

if (ret == ::DDS::RETCODE_OK)
{
<%SCOPED_METHOD%>_serialize_to_string(sample, cdr_data, size);
/*cdr_data = (char*)malloc(str.length());
size = str.length();
memcpy(cdr_data, str.c_str(), str.length());*/
}

return (int)ret;
}

Expand All @@ -173,7 +203,7 @@ int <%SCOPED_METHOD%>DataReader_TakeNextSample_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t ret = dr->take_next_sample(sample, *sampleInfo);

if (ret == ::DDS::RETCODE_OK)
{
{
json_data = <%SCOPED_METHOD%>_EncodeJsonSample(sample);
}

Expand All @@ -190,7 +220,7 @@ int <%SCOPED_METHOD%>DataReader_TakeNextSample_Json(<%SCOPED%>DataReader_ptr dr,
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -213,7 +243,7 @@ int <%SCOPED_METHOD%>DataReader_TakeNextSample_Json(<%SCOPED%>DataReader_ptr dr,
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -229,13 +259,13 @@ int <%SCOPED_METHOD%>DataReader_TakeNextSample_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_Take_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, CORBA::Long maxSamples, ::DDS::SampleStateMask sampleStates, ::DDS::ViewStateMask viewStates, ::DDS::InstanceStateMask instanceStates)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->take(received_data, info_seq, maxSamples, sampleStates, viewStates, instanceStates);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -258,7 +288,7 @@ int <%SCOPED_METHOD%>DataReader_TakeNextSample_Json(<%SCOPED%>DataReader_ptr dr,
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand Down Expand Up @@ -286,13 +316,13 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_ReadInstance_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, ::DDS::InstanceHandle_t handle, CORBA::Long maxSamples, ::DDS::SampleStateMask sampleStates, ::DDS::ViewStateMask viewStates, ::DDS::InstanceStateMask instanceStates)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->read_instance(received_data, info_seq, maxSamples, handle, sampleStates, viewStates, instanceStates);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -315,7 +345,7 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -331,13 +361,13 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_TakeInstance_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, ::DDS::InstanceHandle_t handle, CORBA::Long maxSamples, ::DDS::SampleStateMask sampleStates, ::DDS::ViewStateMask viewStates, ::DDS::InstanceStateMask instanceStates)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->take_instance(received_data, info_seq, maxSamples, handle, sampleStates, viewStates, instanceStates);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -360,7 +390,7 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -376,13 +406,13 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_ReadNextInstance_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, ::DDS::InstanceHandle_t handle, CORBA::Long maxSamples, ::DDS::SampleStateMask sampleStates, ::DDS::ViewStateMask viewStates, ::DDS::InstanceStateMask instanceStates)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->read_next_instance(received_data, info_seq, maxSamples, handle, sampleStates, viewStates, instanceStates);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -398,13 +428,13 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_ReadNextInstanceWithCondition_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, ::DDS::InstanceHandle_t handle, CORBA::Long maxSamples, ::DDS::ReadCondition_ptr condition)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->read_next_instance_w_condition(received_data, info_seq, maxSamples, handle, condition);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -420,13 +450,13 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_TakeNextInstance_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, ::DDS::InstanceHandle_t handle, CORBA::Long maxSamples, ::DDS::SampleStateMask sampleStates, ::DDS::ViewStateMask viewStates, ::DDS::InstanceStateMask instanceStates)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->take_next_instance(received_data, info_seq, maxSamples, handle, sampleStates, viewStates, instanceStates);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -442,13 +472,13 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
::DDS::ReturnCode_t <%SCOPED_METHOD%>DataReader_TakeNextInstanceWithCondition_Json(<%SCOPED%>DataReader_ptr dr, void*& receivedData, void*& receivedInfo, ::DDS::InstanceHandle_t handle, CORBA::Long maxSamples, ::DDS::ReadCondition_ptr condition)
{
<%SCOPED%>Seq received_data;
::DDS::SampleInfoSeq info_seq;
::DDS::SampleInfoSeq info_seq;
::DDS::ReturnCode_t ret = dr->take_next_instance_w_condition(received_data, info_seq, maxSamples, handle, condition);
if (ret == ::DDS::RETCODE_OK)
{
TAO::unbounded_value_sequence<char*> seq(received_data.length());
seq.length(received_data.length());
for (unsigned int i = 0; i < received_data.length(); i++) {
for (unsigned int i = 0; i < received_data.length(); i++) {
seq[i] = <%SCOPED_METHOD%>_EncodeJsonSample(received_data[i]);;
}

Expand All @@ -462,7 +492,7 @@ int <%SCOPED_METHOD%>DataReader_LookupInstance_Json(<%SCOPED%>DataReader_ptr dr,
}

int <%SCOPED_METHOD%>DataReader_GetKeyValue_Json(<%SCOPED%>DataReader_ptr dr, char* & json_data, int handle)
{
{
<%SCOPED%> sample_key;
::DDS::ReturnCode_t ret = dr->get_key_value(sample_key, handle);

Expand Down
1 change: 1 addition & 0 deletions Native/OpenDDSharp.IdlGenerator/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@ add_executable(openddsharp_idl
be_util.h be_util.cpp
cli_generator.h cli_generator.cpp
csharp_json_generator.h csharp_json_generator.cpp
csharp_cdr_generator.h csharp_cdr_generator.cpp
cwrapper_generator.h cwrapper_generator.cpp
dds_generator.h dds_generator.cpp
dds_visitor.h dds_visitor.cpp
Expand Down
16 changes: 14 additions & 2 deletions Native/OpenDDSharp.IdlGenerator/be_global.cpp
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Expand Up @@ -39,7 +39,7 @@ using namespace std;
BE_GlobalData *be_global = 0;

BE_GlobalData::BE_GlobalData()
: filename_(0), java_(false), cppcli_(true), csharp_(false), csharp_json_(false), cwrapper_(false),
: filename_(0), java_(false), cppcli_(true), csharp_(false), csharp_json_(false), csharp_cdr_(false),cwrapper_(false),
suppress_idl_(false), suppress_typecode_(false), no_default_gen_(false), generate_itl_(false),
generate_v8_(false), generate_rapidjson_(true), face_ts_(false), seq_("Seq"), language_mapping_(LANGMAP_NONE),
root_default_nested_(true), warn_about_dcps_data_type_(true) {
Expand Down Expand Up @@ -182,6 +182,14 @@ bool BE_GlobalData::csharp_json() const {
return this->csharp_json_;
}

void BE_GlobalData::csharp_cdr(bool b) {
this->csharp_cdr_ = b;
}

bool BE_GlobalData::csharp_cdr() const {
return this->csharp_cdr_;
}

void BE_GlobalData::cwrapper(bool b) {
this->cwrapper_ = b;
}
Expand Down Expand Up @@ -247,7 +255,7 @@ BE_GlobalData::open_streams(const char *filename) {
filebase = filebase.substr(idx + 1);
}

if (csharp_ || csharp_json_) {
if (csharp_ || csharp_json_ || csharp_cdr_) {
impl_name_ = (filebase + "TypeSupport.cs").c_str();
} else {
header_name_ = (filebase + "TypeSupport.h").c_str();
Expand Down Expand Up @@ -321,12 +329,16 @@ BE_GlobalData::parse_args(long &i, char **av) {
case 'c': {
csharp_ = false;
csharp_json_ = false;
csharp_cdr_ = false;
cwrapper_ = false;
cppcli_ = false;

if (0 == ACE_OS::strcmp(av[i], "-csharp"))
csharp_ = true;
else if (0 == ACE_OS::strcmp(av[i], "-csharp_json"))
csharp_json_ = true;
else if (0 == ACE_OS::strcmp(av[i], "-csharp_cdr"))
csharp_cdr_ = true;
else if (0 == ACE_OS::strcmp(av[i], "-cwrapper"))
cwrapper_ = true;
else if (0 == ACE_OS::strcmp(av[i], "-cppcli"))
Expand Down
6 changes: 5 additions & 1 deletion Native/OpenDDSharp.IdlGenerator/be_global.h
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Original file line number Diff line number Diff line change
Expand Up @@ -169,6 +169,10 @@ class BE_GlobalData {

void csharp_json(bool b);

bool csharp_cdr() const;

void csharp_cdr(bool b);

bool cwrapper() const;

void cwrapper(bool b);
Expand Down Expand Up @@ -255,7 +259,7 @@ class BE_GlobalData {
bool java_, suppress_idl_, suppress_typecode_,
no_default_gen_, generate_itl_, generate_v8_,
generate_rapidjson_, face_ts_,
cppcli_, csharp_, csharp_json_, cwrapper_;
cppcli_, csharp_, csharp_json_, csharp_cdr_, cwrapper_;

ACE_CString export_macro_, export_include_,
versioning_name_, versioning_begin_, versioning_end_,
Expand Down
6 changes: 3 additions & 3 deletions Native/OpenDDSharp.IdlGenerator/be_produce.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -211,7 +211,7 @@ namespace {
}
break;
case BE_GlobalData::STREAM_CPP:
if (!be_global->csharp() && !be_global->csharp_json()) {
if (!be_global->csharp() && !be_global->csharp_json() && !be_global->csharp_cdr()) {
out << "#include \"" << be_global->header_name_.c_str() << "\"\n\n";
} else {
out << "using System;\n"
Expand All @@ -220,7 +220,7 @@ namespace {
<< "using System.Collections.Generic;\n"
<< "using System.Runtime.InteropServices;\n";

if (be_global->csharp_json()) {
if (be_global->csharp_json() || be_global->csharp_cdr()) {
out << "using System.Text.Json;\n"
<< "using System.Text.Json.Serialization;\n"
<< "using OpenDDSharp.Marshaller.Json;\n";
Expand Down Expand Up @@ -337,7 +337,7 @@ void BE_produce() {
BE_abort();
}

if (!java_ts_only && !be_global->csharp() && !be_global->csharp_json()) {
if (!java_ts_only && !be_global->csharp() && !be_global->csharp_json() && !be_global->csharp_cdr()) {
postprocess(be_global->header_name_.c_str(),
be_global->header_, BE_GlobalData::STREAM_H);
}
Expand Down
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