Support Fast CDR v2 (#141)

* camelCase to snake_case method changes. * Constructor constants changes. Signed-off-by: Miguel Company <[email protected]>
ros2 · Mar 26, 2024 · e11d404 · e11d404
1 parent a127514
commit e11d404
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/rmw_connextdds_common/src/common/rmw_type_support.cpp b/rmw_connextdds_common/src/common/rmw_type_support.cpp
@@ -297,9 +297,9 @@ rmw_ret_t RMW_Connext_MessageTypeSupport::serialize(
   eprosima::fastcdr::Cdr cdr_stream(
     cdr_buffer,
     eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-    eprosima::fastcdr::Cdr::DDS_CDR);
-  cdr_stream.setDDSCdrPlFlag(
-    eprosima::fastcdr::Cdr::DDSCdrPlFlag::DDS_CDR_WITHOUT_PL);
+    eprosima::fastcdr::CdrVersion::XCDRv1);
+  cdr_stream.set_encoding_flag(
+    eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
 
   RMW_CONNEXT_LOG_TRACE_A(
     "[type support] %s serialize: "
@@ -364,7 +364,7 @@ rmw_ret_t RMW_Connext_MessageTypeSupport::serialize(
     return RMW_RET_ERROR;
   }
 
-  to_buffer->buffer_length = cdr_stream.getSerializedDataLength();
+  to_buffer->buffer_length = cdr_stream.get_serialized_data_length();
 
   RMW_CONNEXT_LOG_DEBUG_A(
     "[type support] %s serialized: "
@@ -392,7 +392,7 @@ RMW_Connext_MessageTypeSupport::deserialize(
   eprosima::fastcdr::Cdr cdr_stream(
     cdr_buffer,
     eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
-    eprosima::fastcdr::Cdr::DDS_CDR);
+    eprosima::fastcdr::CdrVersion::XCDRv1);
 
   RMW_CONNEXT_LOG_TRACE_A(
     "[type support] %s deserialize: "
@@ -475,7 +475,7 @@ RMW_Connext_MessageTypeSupport::deserialize(
     return RMW_RET_ERROR;
   }
 
-  size_out = cdr_stream.getSerializedDataLength();
+  size_out = cdr_stream.get_serialized_data_length();
 
   RMW_CONNEXT_LOG_DEBUG_A(
     "[type support] %s deserialized: "