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update fastcdr types and function names #2

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Mar 26, 2024
Merged

update fastcdr types and function names #2

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27 changes: 14 additions & 13 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
// limitations under the License.

#include <fastcdr/FastBuffer.h>
#include <fastcdr/CdrEncoding.hpp>
#include <fastcdr/Cdr.h>

#include <zenoh.h>
Expand Down Expand Up @@ -915,7 +916,7 @@ rmw_publish(
eprosima::fastcdr::Cdr ser(
fastbuffer,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!publisher_data->type_support->serialize_ros_message(
ros_message,
ser,
Expand All @@ -925,7 +926,7 @@ rmw_publish(
return RMW_RET_ERROR;
}

const size_t data_length = ser.getSerializedDataLength();
const size_t data_length = ser.get_serialized_data_length();

int64_t sequence_number = publisher_data->get_next_sequence_number();

Expand Down Expand Up @@ -1057,7 +1058,7 @@ rmw_publish_serialized_message(
eprosima::fastcdr::FastBuffer buffer(
reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
eprosima::fastcdr::Cdr ser(
buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!ser.jump(serialized_message->buffer_length)) {
RMW_SET_ERROR_MSG("cannot correctly set serialized buffer");
return RMW_RET_ERROR;
Expand All @@ -1077,7 +1078,7 @@ rmw_publish_serialized_message(
z_bytes_map_drop(z_move(map));
});

const size_t data_length = ser.getSerializedDataLength();
const size_t data_length = ser.get_serialized_data_length();

// The encoding is simply forwarded and is useful when key expressions in the
// session use different encoding formats. In our case, all key expressions
Expand Down Expand Up @@ -1162,7 +1163,7 @@ rmw_serialize(
eprosima::fastcdr::FastBuffer buffer(
reinterpret_cast<char *>(serialized_message->buffer), data_length);
eprosima::fastcdr::Cdr ser(
buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::Cdr::DDS_CDR);
buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::DDS_CDR);

auto ret = tss.serialize_ros_message(ros_message, ser, callbacks);
serialized_message->buffer_length = data_length;
Expand All @@ -1189,7 +1190,7 @@ rmw_deserialize(
eprosima::fastcdr::FastBuffer buffer(
reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);

auto ret = tss.deserialize_ros_message(deser, ros_message, callbacks);
return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
Expand Down Expand Up @@ -1665,7 +1666,7 @@ static rmw_ret_t __rmw_take(
eprosima::fastcdr::Cdr deser(
fastbuffer,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!sub_data->type_support->deserialize_ros_message(
deser,
ros_message,
Expand Down Expand Up @@ -2246,7 +2247,7 @@ rmw_send_request(
eprosima::fastcdr::Cdr ser(
fastbuffer,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!client_data->request_type_support->serialize_ros_message(
ros_request,
ser,
Expand All @@ -2255,7 +2256,7 @@ rmw_send_request(
return RMW_RET_ERROR;
}

size_t data_length = ser.getSerializedDataLength();
size_t data_length = ser.get_serialized_data_length();

*sequence_id = client_data->get_next_sequence_number();

Expand Down Expand Up @@ -2342,7 +2343,7 @@ rmw_take_response(
eprosima::fastcdr::Cdr deser(
fastbuffer,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!client_data->response_type_support->deserialize_ros_message(
deser,
ros_response,
Expand Down Expand Up @@ -2791,7 +2792,7 @@ rmw_take_request(
eprosima::fastcdr::Cdr deser(
fastbuffer,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!service_data->request_type_support->deserialize_ros_message(
deser,
ros_request,
Expand Down Expand Up @@ -2893,7 +2894,7 @@ rmw_send_response(
eprosima::fastcdr::Cdr ser(
fastbuffer,
eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::Cdr::DDS_CDR);
eprosima::fastcdr::CdrVersion::DDS_CDR);
if (!service_data->response_type_support->serialize_ros_message(
ros_response,
ser,
Expand All @@ -2902,7 +2903,7 @@ rmw_send_response(
return RMW_RET_ERROR;
}

size_t data_length = ser.getSerializedDataLength();
size_t data_length = ser.get_serialized_data_length();

// Create the queryable payload
std::unique_ptr<ZenohQuery> query =
Expand Down
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