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ros2 · Apr 8, 2020 · 397a859 · 397a859
1 parent 7ab017d
commit 397a859
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Showing 3 changed files with 17 additions and 7 deletions.
diff --git a/rmw_cyclonedds_cpp/src/CDR.hpp b/rmw_cyclonedds_cpp/src/CDR.hpp
@@ -4,8 +4,11 @@
 #ifndef ROS2_MASTER_CDR_HPP
 #define ROS2_MASTER_CDR_HPP
 
+#include <array>
 #include <cstddef>
 #include <cstdint>
+
+#include "bytewise.hpp"
 namespace rmw_cyclonedds_cpp
 {
 enum class EncodingVersion {

diff --git a/rmw_cyclonedds_cpp/src/Deserialization.cpp b/rmw_cyclonedds_cpp/src/Deserialization.cpp
@@ -15,22 +15,25 @@
 
 #include "CDR.hpp"
 #include "CDRCursor.hpp"
+
 namespace rmw_cyclonedds_cpp
 {
 class CDRReader : public AbstractCDRReader
 {
 protected:
+  std::unique_ptr<StructValueType> m_value_type;
   CDREncodingInfo m_cdr;
 
 public:
   explicit CDRReader(std::unique_ptr<StructValueType> value_type)
-  : m_cdr{EncodingVersion::CDR_Legacy}
-  {
-    std::ignore = (value_type);  //todo
-  }
+  : m_cdr{EncodingVersion::CDR_Legacy},
+    m_value_type{ std::move(value_type)}
+  {  }
 
   void deserialize_top_level(
-    void * destination_object, const void * data, const StructValueType * ts);
+    void * destination_object, const void * data, const StructValueType * ts) {
+
+  }
 
   uint32_t read_u32(CDRReadCursor * data_cursor)
   {

diff --git a/rmw_cyclonedds_cpp/src/Deserialization.hpp b/rmw_cyclonedds_cpp/src/Deserialization.hpp
@@ -14,13 +14,17 @@
 #ifndef ROS2_MASTER_DESERIALIZATION_HPP
 #define ROS2_MASTER_DESERIALIZATION_HPP
 
+#include "CDR.hpp"
 #include "TypeSupport2.hpp"
 #include "serdata.hpp"
 namespace rmw_cyclonedds_cpp
 {
 
-void deserialize_top_level(
-  void * destination_object, const void * data, const StructValueType * ts);
+void deserialize_top_level(void * destination_object, const void * data, const StructValueType * ts) {
+  EncapsulationHeader enc_hdr; // todo
+  // todo: create deserialization stream using the encapsulation header (endian, eversion)
+  // todo: pull data out of that stream, structurally recursing on data and types
+}
 
 class AbstractCDRReader
 {