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Serialize encapsulation header on buffer aware topics (backport #891) #893

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Serialize encapsulation header on buffer aware topics (backport #891) #893

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1 change: 1 addition & 0 deletions rmw_fastrtps_cpp/src/rmw_publish.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -182,6 +182,7 @@ publish_to_buffer_endpoints(
fast_buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::CdrVersion::XCDRv1);
ser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
ser.serialize_encapsulation();

auto * backend_context =
static_cast<const rmw_fastrtps_cpp::BufferBackendContext *>(info->serialization_context_);
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14 changes: 11 additions & 3 deletions rmw_fastrtps_cpp/src/rmw_take.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -137,9 +137,17 @@ take_buffer_aware(
}

eprosima::fastcdr::Cdr deser(
receive_buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
eprosima::fastcdr::CdrVersion::XCDRv1);
deser.set_encoding_flag(eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR);
receive_buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
try {
deser.read_encapsulation();
} catch (...) {
RCUTILS_LOG_ERROR_ONCE_NAMED(
"rmw_fastrtps_cpp",
"Failed to read encapsulation in buffer-aware topic from publisher '%s': "
"Please ensure that the publisher is using the last version of rmw_fastrtps_cpp",
writer_hex.c_str());
return RMW_RET_OK;
}

auto * backend_context =
static_cast<const rmw_fastrtps_cpp::BufferBackendContext *>(info->serialization_context_);
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