1212// See the License for the specific language governing permissions and
1313// limitations under the License.
1414
15- #include < zenoh.h>
16-
1715#include < cstdlib>
1816#include < cstring>
1917#include < stdexcept>
18+ #include < string>
2019#include < string_view>
2120#include < utility>
21+ #include < vector>
22+
23+ #include < zenoh.hxx>
2224
2325#include " rmw/types.h"
2426
2729
2830namespace rmw_zenoh_cpp
2931{
30- // /=============================================================================
32+
3133AttachmentData::AttachmentData (
32- const int64_t sequence_number,
33- const int64_t source_timestamp,
34- const uint8_t source_gid[RMW_GID_STORAGE_SIZE])
35- : sequence_number_(sequence_number),
36- source_timestamp_ (source_timestamp)
34+ const int64_t _sequence_number,
35+ const int64_t _source_timestamp,
36+ const std::vector<uint8_t > _source_gid)
3737{
38- memcpy (source_gid_, source_gid, RMW_GID_STORAGE_SIZE);
38+ sequence_number_ = _sequence_number;
39+ source_timestamp_ = _source_timestamp;
40+ source_gid_ = _source_gid;
3941 gid_hash_ = hash_gid (source_gid_);
4042}
4143
42- // /=============================================================================
4344AttachmentData::AttachmentData (AttachmentData && data)
44- : sequence_number_(std::move(data.sequence_number_)),
45- source_timestamp_(std::move(data.source_timestamp_)),
46- gid_hash_(std::move(data.gid_hash_))
47- {
48- memcpy (source_gid_, data.source_gid_ , RMW_GID_STORAGE_SIZE);
49- }
50-
51- // /=============================================================================
52- AttachmentData::AttachmentData (const z_loaned_bytes_t * attachment)
5345{
54- ze_deserializer_t deserializer = ze_deserializer_from_bytes (attachment);
55- z_owned_string_t key;
56-
57- // Deserialize the sequence_number
58- ze_deserializer_deserialize_string (&deserializer, &key);
59- if (std::string_view (
60- z_string_data (z_loan (key)),
61- z_string_len (z_loan (key))) != " sequence_number"
62- {
63- throw std::runtime_error (" sequence_number is not found in the attachment."
64- }
65- z_drop (z_move (key));
66- if (ze_deserializer_deserialize_int64 (&deserializer, &this ->sequence_number_ )) {
67- throw std::runtime_error (" Failed to deserialize the sequence_number."
68- }
69-
70- // Deserialize the source_timestamp
71- ze_deserializer_deserialize_string (&deserializer, &key);
72- if (std::string_view (
73- z_string_data (z_loan (key)),
74- z_string_len (z_loan (key))) != " source_timestamp"
75- {
76- throw std::runtime_error (" source_timestamp is not found in the attachment"
77- }
78- z_drop (z_move (key));
79- if (ze_deserializer_deserialize_int64 (&deserializer, &this ->source_timestamp_ )) {
80- throw std::runtime_error (" Failed to deserialize the source_timestamp."
81- }
82-
83- // Deserialize the source_gid
84- ze_deserializer_deserialize_string (&deserializer, &key);
85- if (std::string_view (z_string_data (z_loan (key)), z_string_len (z_loan (key))) != " source_gid"
86- throw std::runtime_error (" Invalid attachment: the key source_gid is not found"
87- }
88- z_drop (z_move (key));
89- z_owned_slice_t slice;
90- if (ze_deserializer_deserialize_slice (&deserializer, &slice)) {
91- throw std::runtime_error (" Failed to deserialize the source_gid."
92- }
93- if (z_slice_len (z_loan (slice)) != RMW_GID_STORAGE_SIZE) {
94- throw std::runtime_error (" The length of source_gid mismatched."
95- }
96- memcpy (this ->source_gid_ , z_slice_data (z_loan (slice)), z_slice_len (z_loan (slice)));
97- z_drop (z_move (slice));
98- gid_hash_ = hash_gid (this ->source_gid_ );
46+ gid_hash_ = std::move (data.gid_hash_ );
47+ sequence_number_ = std::move (data.sequence_number_ );
48+ source_timestamp_ = std::move (data.source_timestamp_ );
49+ source_gid_ = data.source_gid_ ;
9950}
10051
10152// /=============================================================================
@@ -111,9 +62,9 @@ int64_t AttachmentData::source_timestamp() const
11162}
11263
11364// /=============================================================================
114- void AttachmentData::copy_gid (uint8_t out_gid[RMW_GID_STORAGE_SIZE] ) const
65+ std::vector< uint8_t > AttachmentData::copy_gid () const
11566{
116- memcpy (out_gid, source_gid_, RMW_GID_STORAGE_SIZE) ;
67+ return source_gid_;
11768}
11869
11970// /=============================================================================
@@ -122,17 +73,38 @@ size_t AttachmentData::gid_hash() const
12273 return gid_hash_;
12374}
12475
125- // /=============================================================================
126- void AttachmentData::serialize_to_zbytes (z_owned_bytes_t * attachment)
76+ zenoh::Bytes AttachmentData::serialize_to_zbytes ()
77+ {
78+ auto serializer = zenoh::ext::Serializer ();
79+ serializer.serialize (std::string (" sequence_number"
80+ serializer.serialize (this ->sequence_number_ );
81+ serializer.serialize (std::string (" source_timestamp"
82+ serializer.serialize (this ->source_timestamp_ );
83+ serializer.serialize (std::string (" source_gid"
84+ serializer.serialize (this ->source_gid_ );
85+ return std::move (serializer).finish ();
86+ }
87+
88+ AttachmentData::AttachmentData (const zenoh::Bytes & attachment)
12789{
128- ze_owned_serializer_t serializer;
129- ze_serializer_empty (&serializer);
130- ze_serializer_serialize_str (z_loan_mut (serializer), " sequence_number"
131- ze_serializer_serialize_int64 (z_loan_mut (serializer), this ->sequence_number_ );
132- ze_serializer_serialize_str (z_loan_mut (serializer), " source_timestamp"
133- ze_serializer_serialize_int64 (z_loan_mut (serializer), this ->source_timestamp_ );
134- ze_serializer_serialize_str (z_loan_mut (serializer), " source_gid"
135- ze_serializer_serialize_buf (z_loan_mut (serializer), this ->source_gid_ , RMW_GID_STORAGE_SIZE);
136- ze_serializer_finish (z_move (serializer), attachment);
90+ zenoh::ext::Deserializer deserializer (std::move (attachment));
91+ const auto sequence_number_str = deserializer.deserialize <std::string>();
92+ if (sequence_number_str != " sequence_number"
93+ throw std::runtime_error (" sequence_number is not found in the attachment."
94+ }
95+ this ->sequence_number_ = deserializer.deserialize <int64_t >();
96+
97+ const auto source_timestamp_str = deserializer.deserialize <std::string>();
98+ if (source_timestamp_str != " source_timestamp"
99+ throw std::runtime_error (" source_timestamp is not found in the attachment."
100+ }
101+ this ->source_timestamp_ = deserializer.deserialize <int64_t >();
102+
103+ const auto source_gid_str = deserializer.deserialize <std::string>();
104+ if (source_gid_str != " source_gid"
105+ throw std::runtime_error (" source_gid is not found in the attachment."
106+ }
107+ this ->source_gid_ = deserializer.deserialize <std::vector<uint8_t >>();
108+ gid_hash_ = hash_gid (this ->source_gid_ );
137109}
138110} // namespace rmw_zenoh_cpp
0 commit comments