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Fix type size alignment #550

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merged 2 commits into from
Jul 28, 2021
Merged

Fix type size alignment #550

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92586f4
Prepare type size for alignment requirements.
MiguelCompany Jul 22, 2021
4584b75
Add comments on alignment code.
MiguelCompany Jul 26, 2021
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2 changes: 2 additions & 0 deletions rmw_fastrtps_cpp/src/type_support_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,8 @@ void TypeSupport::set_members(const message_type_support_callbacks_t * members)

// Total size is encapsulation size + data size
m_typeSize = 4 + data_size;
// Account for RTPS submessage alignment
m_typeSize = (m_typeSize + 3) & ~3;
}

size_t TypeSupport::getEstimatedSerializedSize(const void * ros_message, const void * impl) const
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2 changes: 2 additions & 0 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp
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Expand Up @@ -60,6 +60,8 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(
} else {
this->m_typeSize++;
}
// Account for RTPS submessage alignment
this->m_typeSize = (this->m_typeSize + 3) & ~3;
}

} // namespace rmw_fastrtps_dynamic_cpp
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4 changes: 4 additions & 0 deletions rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp
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Expand Up @@ -59,6 +59,8 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
} else {
this->m_typeSize++;
}
// Account for RTPS submessage alignment
this->m_typeSize = (this->m_typeSize + 3) & ~3;
}

template<typename ServiceMembersType, typename MessageMembersType>
Expand Down Expand Up @@ -90,6 +92,8 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
} else {
this->m_typeSize++;
}
// Account for RTPS submessage alignment
this->m_typeSize = (this->m_typeSize + 3) & ~3;
}

} // namespace rmw_fastrtps_dynamic_cpp
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