micro-ros / rosidl_typesupport_microxrcedds Goto Github PK

export RMW_IMPLEMENTATION=rmw_microxrcedds
source install/local_setup.bash
ros2 run rclc_examples serialization_test

	if (!callbacks->cdr_serialize(&instanceBefore, &mb_writer))
		Ros_Debug_BroadcastMsg("FAILED TO SERIALIZE");
	else
		Ros_Debug_BroadcastMsg("serialization OK");

	if ((mb_writer.iterator - mb_writer.init) != topic_size)
		Ros_Debug_BroadcastMsg("INVALID SERIALIZED SIZE: topic_size = %d, mb_writer size = %d", topic_size, mb_writer.iterator - mb_writer.init);

	if (callbacks->cdr_deserialize(&mb_reader, &instanceAfter))
		Ros_Debug_BroadcastMsg("FAILED TO DE-SERIALIZE");
	else
		Ros_Debug_BroadcastMsg("de-serialization OK");

ted@ted-Ubuntu:~/jta_size_testing$ ros2 run rclc_examples serialization_test
Testing CDR for FJT
size of instanceBefore = 373560
instanceBefore has been allocated
instanceBefore joint names have been set
instanceBefore point 1 data set
instanceBefore point 2 data set
instanceBefore point 3 data set
instanceBefore point 4 data set
instanceBefore point 5 data set
size of instanceAfter = 373560
instanceAfter has been allocated
function pointers obtained
topic_size = 768
ucdr_init_buffer complete
serialization OK
INVALID SERIALIZED SIZE: topic_size = 768, mb_writer size = 692
FAILED TO DE-SERIALIZE
****** joint name 0 is wrong: 
****** joint name 1 is wrong: 
****** joint name 2 is wrong: 
****** joint name 3 is wrong: 
****** joint name 4 is wrong: 
****** joint name 5 is wrong: 
****** joint name 6 is wrong: 
****** joint name 7 is wrong: 
****** joint name 8 is wrong: 
****** joint name 9 is wrong: 
****** joint name 10 is wrong: 
****** joint name 11 is wrong: 
CDR Testing complete

$ ros2 run micro_ros_demos_rcl int32_publisher
UDP mode => ip: 127.0.0.1 - port: 8888
Failed to find library 'rcl_interfaces__rosidl_typesupport_microxrcedds_c'
Failed status on line 24: 1. Aborting.

static bool _JointState__cdr_deserialize(
  ucdrBuffer * cdr,
  void * untyped_ros_message)
{
  (void) cdr;
  bool rv = false;
  if (!untyped_ros_message) {
    fprintf(stderr, "ros message handle is null\n");
    return false;
  }
  _JointState__ros_msg_type * ros_message = (_JointState__ros_msg_type *)(untyped_ros_message);
  (void)ros_message;
  // Field name: header
  rv = ((const message_type_support_callbacks_t *)(
      ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_microxrcedds_c, std_msgs, msg, Header
      )()->data))->cdr_deserialize(cdr, &ros_message->header);
  // Field name: name // Is it necessary?
  {
  }
  // Field name: position
  {
    uint32_t size;
    const size_t capacity = ros_message->position.capacity;
    rv = ucdr_deserialize_sequence_double(cdr, ros_message->position.data, capacity, &size);
  }
  // Field name: velocity
  {
    uint32_t size;
    const size_t capacity = ros_message->velocity.capacity;
    rv = ucdr_deserialize_sequence_double(cdr, ros_message->velocity.data, capacity, &size);
  }
  // Field name: effort
  {
    uint32_t size;
    const size_t capacity = ros_message->effort.capacity;
    rv = ucdr_deserialize_sequence_double(cdr, ros_message->effort.data, capacity, &size);
  }
  return rv;
}

   const size_t capacity = ros_message->name.capacity;
    rv = ucdr_deserialize_string(cdr, ros_message->name.data, capacity);
     if (rv) {
      ros_message->name.size = strlen(ros_message->name.data);
    }