Update micro-CDR to latest and fix API usage (#9651)

* uorb_microcdr: msg.cpp.template: update API for how the buffer length is obtained
* micrortps_bridge: CMakeLists: temporarily deactivate check endianness option

cmake/common/px4_base.cmake

@@ -454,7 +454,7 @@ function(px4_add_common_flags)
 
 	set(visibility_flags
 		-fvisibility=hidden
-		-include visibility.h
+		-include ${PX4_SOURCE_DIR}/src/include/visibility.h
 		)
 
 	set(added_c_flags

msg/templates/uorb_microcdr/microRTPS_client.cpp.template

@@ -61,7 +61,7 @@ recv_topics = [s.short_name for idx, s in enumerate(spec) if scope[idx] == MsgSc
 #include <ctime>
 #include <pthread.h>
 
-#include <microcdr/microCdr.h>
+#include <microcdr/microcdr.h>
 #include <px4_time.h>
 #include <uORB/uORB.h>
 
@@ -90,13 +90,10 @@ void* send(void* /*unused*/)
     orb_set_interval(fds[@(idx)], _options.update_time_ms);
 @[end for]@
 
-    // microBuffer to serialized using the user defined buffer
+    // MicroBuffer to serialized using the user defined buffer
-    struct microBuffer microBufferWriter;
+    MicroBuffer MicroBufferWriter;
     header_length=transport_node->get_header_length();
-    initStaticAlignedBuffer(&data_buffer[header_length], BUFFER_SIZE-header_length, &microBufferWriter);
+    init_micro_buffer(&MicroBufferWriter, (uint8_t*)&data_buffer[header_length], BUFFER_SIZE - header_length);
-    // microCDR structs for managing the microBuffer
-    struct microCDR microCDRWriter;
-    initMicroCDR(&microCDRWriter, &microBufferWriter);
 
     struct timespec begin;
     px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -113,7 +110,7 @@ void* send(void* /*unused*/)
             // copy raw data into local buffer
             if (orb_copy(ORB_ID(@(topic)), fds[@(idx)], &data) == 0) {
                 /* payload is shifted by header length to make room for header*/
-                serialize_@(topic)(&data, &data_buffer[header_length], &length, &microCDRWriter);
+                serialize_@(topic)(&MicroBufferWriter, &data, &data_buffer[header_length], &length);
 
                 if (0 < (read = transport_node->write((char)@(message_id(topic)), data_buffer, length)))
                 {
@@ -167,12 +164,9 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
     orb_advert_t @(topic)_pub = nullptr;
 @[end for]@
 
-    // microBuffer to deserialized using the user defined buffer
+    // MicroBuffer to deserialized using the user defined buffer
-    struct microBuffer microBufferReader;
+    MicroBuffer MicroBufferReader;
-    initDeserializedAlignedBuffer(data_buffer, BUFFER_SIZE, &microBufferReader);
+    init_micro_buffer(&MicroBufferReader, (uint8_t*)data_buffer, BUFFER_SIZE);
-    // microCDR structs for managing the microBuffer
-    struct microCDR microCDRReader;
-    initMicroCDR(&microCDRReader, &microBufferReader);
 @[end if]@
 
     px4_clock_gettime(CLOCK_REALTIME, &begin);
@@ -195,7 +189,7 @@ void micrortps_start_topics(struct timespec &begin, int &total_read, uint32_t &r
 @[for topic in recv_topics]@
                 case @(message_id(topic)):
                 {
-                    deserialize_@(topic)(&@(topic)_data, data_buffer, &microCDRReader);
+                    deserialize_@(topic)(&MicroBufferReader, &@(topic)_data, data_buffer);
                     if (!@(topic)_pub) {
                         @(topic)_pub = orb_advertise(ORB_ID(@(topic)), &@(topic)_data);
                     } else {

msg/templates/uorb_microcdr/msg.cpp.template

@@ -61,7 +61,7 @@ topic_name = spec.short_name
 }@
 
 #include <px4_config.h>
-#include <microcdr/microCdr.h>
+#include <microcdr/microcdr.h>
 #include <uORB/topics/@(topic_name).h>
 #include <uORB_microcdr/topics/@(topic_name).h>
 
@@ -98,9 +98,9 @@ def add_serialize_functions(fields, scope_name):
         if (not field.is_header):
             if (field.is_builtin):
                 if (not field.is_array):
-                    print("    serialize"+str(get_serialization_type_name(field.type))+"(input->"+scope_name+str(field.name)+", microCDRWriter);")
+                    print("    serialize_" + str(get_serialization_type_name(field.type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ");")
                 else:
-                    print("    serialize"+str(get_serialization_type_name(field.base_type))+"Array(input->"+scope_name+str(field.name)+", "+str(field.array_len)+", microCDRWriter);")
+                    print("    serialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRWriter, input->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
             else:
                 name = field.name
                 children_fields = get_children_fields(field.base_type, search_path)
@@ -116,10 +116,9 @@ def add_deserialize_functions(fields, scope_name):
         if (not field.is_header):
             if (field.is_builtin):
                 if (not field.is_array):
-                    print("    deserialize"+str(get_serialization_type_name(field.type))+"(&output->"+scope_name+str(field.name)+", microCDRReader);")
+                    print("    deserialize_" + str(get_serialization_type_name(field.type)) + "(microCDRReader, &output->" + scope_name+str(field.name) + ");")
                 else:
-                    for i in range(field.array_len):
+                    print("    deserialize_array_" + str(get_serialization_type_name(field.base_type)) + "(microCDRReader, output->" + scope_name+str(field.name) + ", " + str(field.array_len) + ");")
-                        print("    deserialize"+str(get_serialization_type_name(field.base_type))+"(&output->"+scope_name+str(field.name)+ str('[%d]' %i) +", microCDRReader);")
             else:
                 name = field.name
                 children_fields = get_children_fields(field.base_type, search_path)
@@ -141,24 +140,25 @@ def add_code_to_deserialize():
     add_deserialize_functions(sorted_fields, "")
 }@
 
-void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter)
+void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length)
 {
-    if (nullptr == input || nullptr == output || nullptr == length || nullptr == microCDRWriter) return;
+    if (nullptr == microCDRWriter || nullptr == input || nullptr == output || nullptr == length)
+	return;
 
-    resetStaticMicroCDRForSerialize(microCDRWriter);
+    reset_micro_buffer(microCDRWriter);
 
-    serializeUnsignedLong(input->timestamp, microCDRWriter);
+    serialize_uint64_t(microCDRWriter, input->timestamp);
 @add_code_to_serialize()
-
+    (*length) = micro_buffer_length(microCDRWriter);
-    (*length) = microCDRWriter->m_microBuffer->m_serializedBuffer;
 }
 
-void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader)
+void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input)
 {
-    if (nullptr == output || nullptr == input || nullptr == microCDRReader) return;
+    if (nullptr == microCDRReader || nullptr == output || nullptr == input)
+	return;
 
-    resetStaticMicroCDRForDeserialize(microCDRReader);
+    reset_micro_buffer(microCDRReader);
 
-    deserializeUnsignedLong(&output->timestamp, microCDRReader);
+    deserialize_uint64_t(microCDRReader, &output->timestamp);
 @add_code_to_deserialize()
-}
+}

msg/templates/uorb_microcdr/msg.h.template

@@ -68,8 +68,7 @@ topic_name = spec.short_name
 #include <uORB/topics/@(topic_name).h>
 #include <uORB_microcdr/topics/@(topic_name).h>
 
-struct microCDR;
+struct MicroBuffer;
 
-
+void serialize_@(topic_name)(MicroBuffer *microCDRWriter, const struct @(uorb_struct) *input, char *output, uint32_t *length);
-void serialize_@(topic_name)(const struct @(uorb_struct) *input, char *output, uint32_t *length, struct microCDR *microCDRWriter);
+void deserialize_@(topic_name)(MicroBuffer *microCDRReader, struct @(uorb_struct) *output, const char *input);
-void deserialize_@(topic_name)(struct @(uorb_struct) *output, char *input, struct microCDR *microCDRReader);

msg/templates/uorb_microcdr/uORBTopics.cpp.template

@@ -43,4 +43,4 @@
  *
  ****************************************************************************/
 
-#include <uORB/uORB.h>
+#include <uORB/uORB.h>

msg/templates/urtps/Publisher.cpp.template

@@ -92,7 +92,7 @@ bool @(topic)_Publisher::init()
     PublisherAttributes Wparam;
     Wparam.topic.topicKind = NO_KEY;
     Wparam.topic.topicDataType = myType.getName();  //This type MUST be registered
-    Wparam.topic.topicName = "@(topic)";
+    Wparam.topic.topicName = "@(topic)_PubSubTopic";
     mp_publisher = Domain::createPublisher(mp_participant, Wparam, (PublisherListener*) &m_listener);
     if(mp_publisher == nullptr)
         return false;
@@ -100,7 +100,7 @@ bool @(topic)_Publisher::init()
     return true;
 }
 
-void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub,MatchingInfo& info)
+void @(topic)_Publisher::PubListener::onPublicationMatched(Publisher* pub, MatchingInfo& info)
 {
     if (info.status == MATCHED_MATCHING)
     {

msg/templates/urtps/Subscriber.cpp.template

@@ -90,14 +90,14 @@ bool @(topic)_Subscriber::init()
     SubscriberAttributes Rparam;
     Rparam.topic.topicKind = NO_KEY;
     Rparam.topic.topicDataType = myType.getName(); //Must be registered before the creation of the subscriber
-    Rparam.topic.topicName = "@(topic)";
+    Rparam.topic.topicName = "@(topic)_PubSubTopic";
     mp_subscriber = Domain::createSubscriber(mp_participant, Rparam, (SubscriberListener*) &m_listener);
     if(mp_subscriber == nullptr)
         return false;
     return true;
 }
 
-void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub,MatchingInfo& info)
+void @(topic)_Subscriber::SubListener::onSubscriptionMatched(Subscriber* sub, MatchingInfo& info)
 {
     if (info.status == MATCHED_MATCHING)
     {

msg/tools/px_generate_uorb_topic_helper.py

@@ -24,18 +24,18 @@ type_map = {
 }
 
 type_serialize_map = {
-    'int8': 'SignedChar',
+    'int8': 'char',
-    'int16': 'Short',
+    'int16': 'int16_t',
-    'int32': 'Int',
+    'int32': 'int32_t',
-    'int64': 'Long',
+    'int64': 'int64_t',
-    'uint8': 'UnsignedChar',
+    'uint8': 'uint8_t',
-    'uint16': 'UnsignedShort',
+    'uint16': 'uint16_t',
-    'uint32': 'UnsignedInt',
+    'uint32': 'uint32_t',
-    'uint64': 'UnsignedLong',
+    'uint64': 'uint64_t',
-    'float32': 'Float',
+    'float32': 'float',
-    'float64': 'Double',
+    'float64': 'double',
-    'bool': 'Bool',
+    'bool': 'bool',
-    'char': 'Char',
+    'char': 'char',
 }
 
 type_idl_map = {

src/modules/micrortps_bridge/CMakeLists.txt

@@ -61,6 +61,9 @@ endif()
 
 if (GENERATE_RTPS_BRIDGE)
 
+	# temporarily set to OFF
+	option(CHECK_ENDIANNESS OFF)
+
 	add_subdirectory(micrortps_client)
 
 	###############################################################################
@@ -132,15 +135,16 @@ if (GENERATE_RTPS_BRIDGE)
 	add_dependencies(uorb_msgs_microcdr
 		uorb_headers_microcdr_gen
 		git_micro_cdr
-		lib__micro-CDR
+		microcdr
 	)
 
-	target_link_libraries(uorb_msgs_microcdr PRIVATE lib__micro-CDR)
-
 	# microCDR
 	target_include_directories(uorb_msgs_microcdr
 		PUBLIC
 			${CMAKE_CURRENT_SOURCE_DIR}/micro-CDR/include
+			${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include
 			${CMAKE_CURRENT_BINARY_DIR}/micro-CDR/include/microcdr
 	)
+
+	target_link_libraries(uorb_msgs_microcdr PRIVATE microcdr)
 endif()

src/modules/micrortps_bridge/micro-CDR

@@ -1 +1 @@
-Subproject commit 50776f4ab7895e47af535a6d6e7ec697ddf443f3
+Subproject commit 890b118196a253540bc175096fa53d7733005d7b

src/modules/micrortps_bridge/micrortps_client/CMakeLists.txt

@@ -100,4 +100,4 @@ if (NOT "${config_rtps_send_topics}" STREQUAL "" OR NOT "${config_rtps_receive_t
 			topic_bridge_files
 	)
 	target_link_libraries(modules__micrortps_bridge__micrortps_client PRIVATE uorb_msgs_microcdr)
-endif()
+endif()

src/modules/micrortps_bridge/micrortps_client/microRTPS_client.h

@@ -40,7 +40,7 @@
 #include <pthread.h>
 #include <termios.h>
 
-#include <microcdr/microCdr.h>
+#include <microcdr/microcdr.h>
 #include <px4_config.h>
 #include <px4_getopt.h>
 #include <px4_posix.h>