Update loans, serialize_into for Cyclone master

Signed-off-by: Erik Boasson <eb@ilities.com>

Author: eboasson

rmw_cyclonedds_cpp/src/rmw_node.cpp

@@ -1583,7 +1583,11 @@ static void * init_and_alloc_sample(
   // the header will be initialized and the chunk pointer will be returned
   auto chunk_ptr = dds_data_allocator_alloc(&entity->data_allocator, sample_size);
 #else
-  auto chunk_ptr = dds_request_loan_of_size(entity->enth, sample_size);
+  static_cast<void>(alloc_on_heap);
+  void *chunk_ptr;
+  if (dds_request_loan_of_size(entity->enth, sample_size, &chunk_ptr) != DDS_RETCODE_OK) {
+    chunk_ptr = nullptr;
+  }
 #endif
   RMW_CHECK_FOR_NULL_WITH_MSG(
     chunk_ptr,
@@ -1612,7 +1616,7 @@ static rmw_ret_t fini_and_free_sample(entityT & entity, void * loaned_message)
     return RMW_RET_ERROR;
   }
 #else
-  if (dds_return_loan(entity->enth, loaned_message) != DDS_RETCODE_OK) {
+  if (dds_return_loan(entity->enth, 1, &loaned_message) != DDS_RETCODE_OK) {
     RMW_SET_ERROR_MSG("Failed to free the loaned message");
     return RMW_RET_ERROR;
   }

rmw_cyclonedds_cpp/src/serdata.cpp

@@ -730,7 +730,7 @@ uint32_t sertype_rmw_hash(const struct ddsi_sertype * tpcmn)
   return h1 ^ h2;
 }
 
-size_t sertype_get_serialized_size(const struct ddsi_sertype * d, const void * sample)
+static size_t sertype_get_serialized_size_impl(const struct ddsi_sertype * d, const void * sample)
 {
   const struct sertype_rmw * type = static_cast<const struct sertype_rmw *>(d);
   size_t serialized_size = 0;
@@ -750,16 +750,13 @@ size_t sertype_get_serialized_size(const struct ddsi_sertype * d, const void * s
   return serialized_size;
 }
 
-bool sertype_serialize_into(
+static bool sertype_serialize_into_impl(
   const struct ddsi_sertype * d,
   const void * sample,
-  void * dst_buffer,
-  size_t dst_size)
+  void * dst_buffer)
 {
   const struct sertype_rmw * type = static_cast<const struct sertype_rmw *>(d);
   try {
-    // ignore destination size (assuming that the destination buffer is resized before correctly)
-    static_cast<void>(dst_size);
     // ROS 2 doesn't support keys, so its all data (?)
     if (!type->is_request_header) {
       type->cdr_writer->serialize(dst_buffer, sample);
@@ -776,6 +773,53 @@ bool sertype_serialize_into(
   return true;
 }
 
+#if CDDS_VERSION == CDDS_VERSION_0_10
+size_t sertype_get_serialized_size(const struct ddsi_sertype * d, const void * sample)
+{
+  return sertype_get_serialized_size_impl(d, sample);
+}
+
+bool sertype_serialize_into(
+  const struct ddsi_sertype * d,
+  const void * sample,
+  void * dst_buffer,
+  size_t dst_size)
+{
+  static_cast<void>(dst_size);
+  return sertype_serialize_into_impl(d, sample, dst_buffer);
+}
+#else
+dds_return_t sertype_get_serialized_size(
+  const struct ddsi_sertype * d,
+  enum ddsi_serdata_kind sdkind,
+  const void * sample,
+  size_t * size,
+  uint16_t * enc_identifier)
+{
+  static_cast<void>(sdkind);
+  size_t serialized_size = sertype_get_serialized_size_impl(d, sample);
+  // encoding identifier is always plain CDR for this serializer
+  *enc_identifier = (native_endian() == endian::little) ? DDSI_RTPS_CDR_LE : DDSI_RTPS_CDR_BE;
+  // Cyclone's including or excluding the CDR encoding header in the various situations is
+  // painfully inconsistent ...
+  assert (serialized_size >= 4);
+  *size = serialized_size - 4;
+  return DDS_RETCODE_OK;
+}
+
+bool sertype_serialize_into(
+  const struct ddsi_sertype * d,
+  enum ddsi_serdata_kind sdkind,
+  const void * sample,
+  void * dst_buffer,
+  size_t dst_size)
+{
+  static_cast<void>(sdkind);
+  static_cast<void>(dst_size);
+  return sertype_serialize_into_impl(d, sample, dst_buffer);
+}
+#endif
+
 #if DDS_HAS_TYPELIB
 static ddsi_typeid_t * sertype_rmw_typeid(const struct ddsi_sertype * d, ddsi_typeid_kind_t kind)
 {