feat(LibCarla/ros2): [5/7] add unified CDR serialization and GenericCdrPubSubType#9643
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JesusAnaya wants to merge 6 commits intocarla-simulator:ue4-devfrom
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feat(LibCarla/ros2): [5/7] add unified CDR serialization and GenericCdrPubSubType#9643JesusAnaya wants to merge 6 commits intocarla-simulator:ue4-devfrom
JesusAnaya wants to merge 6 commits intocarla-simulator:ue4-devfrom
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…ackend support Introduce a strategy-pattern abstraction that decouples PublisherImpl and SubscriberImpl from the FastDDS API, enabling future integration of additional DDS middleware implementations (e.g. CycloneDDS). New abstraction layer (LibCarla/source/carla/ros2/dds/): - DDSMiddleware enum and string conversion utilities - IDDSPublisherMiddleware / IDDSSubscriberMiddleware pure virtual interfaces - DDSMiddlewareFactory with thread-safe middleware selection and creation - FastDDSPublisherMiddleware<T> / FastDDSSubscriberMiddleware<S> template implementations behind the new interfaces - FastDDSTypeMap<T> identity-mapping type traits (to be replaced with real conversions when POD message types are introduced) Modified files: - PublisherImpl.h: replaced direct FastDDS inheritance and members with delegation to IDDSPublisherMiddleware via the factory (public API unchanged) - SubscriberImpl.h: same pattern for subscriber side - cmake/fast_dds/CMakeLists.txt: added CARLA_ROS2_DDS_FASTDDS compile definition, new header globs, and fixed missing include directories in the debug build target No behavior change — FastDDS remains the only compiled middleware. Concrete publishers and subscribers are unaffected.
…real TypeMap specializations Introduce backend-neutral POD message structs and to_fastdds/from_fastdds conversion functions, completing the type abstraction layer started in PR carla-simulator#1 without touching any concrete publisher or subscriber. New files (LibCarla/source/carla/ros2/types/): - 31 plain C++ structs in types/msg/ - one per ROS2 message type, no DDS dependency, standard library headers only, all members value-initialized - FastDDSConversions.h: inline to_fastdds/from_fastdds overload pairs for all 31 type pairs, ordered bottom-up so composites call primitives; move overloads for msg::Image and msg::PointCloud2 to avoid copying large data vectors New test file (LibCarla/source/test/server/test_dds_middleware.cpp): - 45 unit tests across 10 groups covering the middleware enum, factory, interfaces, PublisherImpl, and SubscriberImpl using hand-written mocks; no DDS daemon required (CARLA_ROS2_DDS_TESTING suppresses real includes) Modified files: - FastDDSTypeMap.h: 28 real specializations mapping msg::X to FastDDS types, coexisting with the existing identity specializations (different key types, no ODR conflict) - DDSMiddleware.h: add ToROS2DDSTypeName() for use in PR carla-simulator#3 - DDSMiddlewareFactory.h: add CARLA_ROS2_DDS_TESTING guard to FastDDS include/create blocks so test binary compiles without real DDS headers - PublisherImpl.h / SubscriberImpl.h: LIBCARLA_WITH_GTEST test seams for middleware injection and message simulation - cmake/fast_dds/CMakeLists.txt: added glob for types/msg/*.h install No behavior change - identity TypeMap specializations remain active; all concrete publishers and subscribers compile and work unchanged.
…e types Switch all concrete publishers and subscribers from FastDDS-generated types to middleware-neutral POD structs (carla::ros2::msg::*). Remove identity TypeMap specializations and generic identity converters from FastDDSTypeMap, leaving only real POD-to-FastDDS mappings. Convert FastDDS accessor syntax (.field(val) / .field()) to direct member access (.field = val / .field). Fix DVS descriptor4 bug where fields were set on descriptor3. Add log_warning on Init failure for all publishers and subscribers. Add missing copyright headers to subscriber CPP files.
…tests Register CycloneDDS as a recognized middleware option in DDSMiddleware enum, DDSMiddlewareToString, DDSMiddlewareFromString, and GetAvailableMiddlewareString. Add CycloneDDS case to DDSMiddlewareFactory for IsMiddlewareAvailable, CreatePublisher, and CreateSubscriber, all guarded by CARLA_ROS2_DDS_CYCLONEDDS. Add stub CycloneDDSPublisherMiddleware and CycloneDDSSubscriberMiddleware that compile and satisfy the factory interface but return failure on all operations until the real implementation lands. Add 7 new unit tests for CycloneDDS enum parsing, availability checks, and factory routing when the middleware is not compiled in.
…d-trip tests Add CdrSerialization.h with serialize_to_cdr() / deserialize_from_cdr() helpers for all 31 msg::* POD types using Fast-CDR (XCDR1 LE with DDS encapsulation header). The resulting buffers are wire-compatible with all ROS2 distros and can be handed directly to FastDDS write_serialized_payload() or CycloneDDS dds_writecdr(), removing the need for per-vendor generated type files. Add CdrTopicInfo.h with type_name() and max_serialized_size() template specializations for all 31 types, providing the metadata the DDS middleware layer needs to register topics and pre-allocate payload buffers. Add 14 CDR round-trip tests across two new groups (cdr_topic_info, cdr_serialization) covering fixed-size, string, array, and vector-of-struct types. Update cmake/test/CMakeLists.txt to link libfastcdr into the server test binary and enable exceptions, which Fast-CDR templates require. Server test count: 97 → 111. Blocked on: feature/ros2-cyclonedds-enum-factory (carla-simulator#9620)
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Thanks for opening this pull request! The maintainers of this repository would appreciate it if you would update our CHANGELOG.md based on your changes. |
…e to CDR, add 6 tests Replace 30 fastddsgen-generated PubSubType classes (and FastDDSTypeMap.h) with a single GenericCdrPubSubType<T> template that implements TopicDataType by delegating serialize()/deserialize() to CdrSerialization.h, and type_name()/ m_typeSize to CdrTopicInfo<T>. Rewrite FastDDSPublisherMiddleware and FastDDSSubscriberMiddleware to use GenericCdrPubSubType instead of FastDDSTypeMap. Remove to_fastdds()/from_fastdds() conversion calls. Publishers now pass the POD msg pointer directly to DataWriter::write(); subscribers receive CDR payloads directly into _message_ptr. Add 6 generic_cdr_pubsubtype tests covering: type name contract, m_typeSize, serialize/deserialize round-trip via SerializedPayload_t (fixed-size and string types), createData/deleteData, and getKey(). Update cmake/test/CMakeLists.txt to also link libfastrtps.a and libfoonathan_memory (required by TopicDataType static initializers). Server test count: 111 to 117.
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Delete 125 auto-generated FastDDS type files from
LibCarla/source/carla/ros2/types/: 31 type-definition pairs
({TypeName}.h + {TypeName}.cpp), 31 PubSubType pairs
({TypeName}PubSubTypes.h + {TypeName}PubSubTypes.cpp), and
FastDDSConversions.h.
These files were generated by fastddsgen from IDL definitions and are no
longer referenced anywhere in the codebase. GenericCdrPubSubType<T>
(introduced in carla-simulator#9643) replaces all 31 hand-generated PubSubType classes by
serializing carla::ros2::msg::* POD structs directly to CDR bytes via
CdrSerialization.h, with no dependency on these files.
Both cmake/fast_dds/CMakeLists.txt and cmake/cyclone_dds/CMakeLists.txt
collect type files via file(GLOB) patterns (types/*.h, types/*.cpp), so no
CMake changes are needed. The globs self-adjust on the next configure pass.
After this change, LibCarla/source/carla/ros2/types/ contains only:
CdrSerialization.h, CdrTopicInfo.h, and msg/ (31 POD struct headers).
Tests: 120/120 server + 56/56 client + 2/2 smoke.
This was referenced Apr 5, 2026
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Description
Relates to #9294 - DDS middleware decoupling PR series. Blocked on #9620.
What this PR does
Introduces a vendor-agnostic CDR serialization layer that bridges the 31
carla::ros2::msg::*POD structs to the DDS wire format used by ROS2.New files (4):
LibCarla/source/carla/ros2/types/CdrSerialization.hserialize_to_cdr<T>()/deserialize_from_cdr<T>()for all 31 msg types. Uses Fast-CDR XCDR1 LE with DDS encapsulation header. Handles primitives, strings, arrays, vectors, and nested structs.LibCarla/source/carla/ros2/types/CdrTopicInfo.hCdrTopicInfo<T>template specializations:type_name()(ROS2-compatible DDS type name) andmax_serialized_size()(conservative CDR payload bound without encapsulation).LibCarla/source/test/server/test_dds_middleware.cppcdr_topic_info(2) +cdr_serialization(12 round-trips).LibCarla/cmake/test/CMakeLists.txtlibfastcdr.alink, and-fexceptionsto the server test binary (Fast-CDR templates usetry/catch).Serialization architecture
Tests
Run CDR tests only:
./Build/libcarla-server-build.debug/test/libcarla_test_server_debug \ --gtest_filter='*cdr_*'PR series
This PR is part of the DDS middleware decoupling series (#9294). Each PR in the chain inherits the commits of all prior PRs. The Commits column lists only the commits introduced by that PR, and the Files column counts only the files changed by those new commits.
feature/dds-middleware-abstraction-layer0ab35ee6feature/ros2-pod-types-and-fastdds-conversionse665d2affeature/ros2-publishers-pod-types-migration98b6f7aafeature/ros2-cyclonedds-enum-factory2a4a8db3GenericCdrPubSubType(this PR)feature/ros2-cdr-serialization5a9dd3b4,0a9ca585feature/ros2-cyclonedds-cdr-middlewared3f2a45b,2d80046bfeature/ros2-remove-fastdds-generated-typeseea4e0a4Checklist
make LibCarla ARGS="--ros2"passesmake check.LibCarlapasses (111 server + 56 client)This change is