C#: Properly create protobuf descriptors (#1018)

Properly create Protobuf descriptors when using newer Protobuf Versions which have that feature available.
eclipse-ecal · Mar 20, 2023 · 4ead87d · 4ead87d
1 parent e9665e0
commit 4ead87d
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Showing 5 changed files with 85 additions and 8 deletions.
diff --git a/lang/csharp/Continental/eCAL/Core/ecal_clr.cpp b/lang/csharp/Continental/eCAL/Core/ecal_clr.cpp
@@ -41,6 +41,14 @@ std::string StringToStlString(System::String^ s_)
   return(s);
 }
 
+std::string ByteArrayToStlString(array<Byte>^ array_)
+{
+  GCHandle handle = GCHandle::Alloc(array_, GCHandleType::Pinned);
+  size_t len = array_->Length;
+  std::string ret((const char*)(void*)handle.AddrOfPinnedObject(), len);
+  handle.Free();
+  return(ret);
+}
 
 /////////////////////////////////////////////////////////////////////////////
 /////////////////////////////////////////////////////////////////////////////
@@ -142,6 +150,11 @@ Publisher::Publisher(System::String^ topic_name_, System::String^ topic_type_, S
   m_pub = new ::eCAL::CPublisher(StringToStlString(topic_name_), StringToStlString(topic_type_), StringToStlString(topic_desc_));
 }
 
+Publisher::Publisher(System::String^ topic_name_, System::String^ topic_type_, array<Byte>^ topic_desc_)
+{
+  m_pub = new ::eCAL::CPublisher(StringToStlString(topic_name_), StringToStlString(topic_type_), ByteArrayToStlString(topic_desc_));
+}
+
 Publisher::~Publisher()
 {
   if(m_pub == nullptr) return;
@@ -215,6 +228,11 @@ Subscriber::Subscriber(System::String^ topic_name_, System::String^ topic_type_,
   m_sub = new ::eCAL::CSubscriber(StringToStlString(topic_name_), StringToStlString(topic_type_), StringToStlString(topic_desc_));
 }
 
+Subscriber::Subscriber(System::String^ topic_name_, System::String^ topic_type_, array<Byte>^ topic_desc_)
+{
+  m_sub = new ::eCAL::CSubscriber(StringToStlString(topic_name_), StringToStlString(topic_type_), ByteArrayToStlString(topic_desc_));
+}
+
 Subscriber::~Subscriber()
 {
   if(m_sub == nullptr) return;
@@ -291,7 +309,7 @@ bool Subscriber::AddReceiveCallback(ReceiverCallback^ callback_)
   return(true);
 }
 
-bool Continental::eCAL::Core::Subscriber::AddReceiveCallback(ReceiverCallbackUnsafe^ callback_)
+bool Subscriber::AddReceiveCallback(ReceiverCallbackUnsafe^ callback_)
 {
     if (m_sub == nullptr) return(false);
     if (m_callbacks_unsafe == nullptr)
@@ -316,7 +334,7 @@ bool Subscriber::RemReceiveCallback(ReceiverCallback^ callback_)
   m_callbacks -= callback_;
   return(false);
 }
-bool Continental::eCAL::Core::Subscriber::RemReceiveCallback(ReceiverCallbackUnsafe^ callback_)
+bool Subscriber::RemReceiveCallback(ReceiverCallbackUnsafe^ callback_)
 {
     if (m_sub == nullptr) return(false);
     if (m_callbacks_unsafe == callback_)

diff --git a/lang/csharp/Continental/eCAL/Core/ecal_clr.h b/lang/csharp/Continental/eCAL/Core/ecal_clr.h
@@ -159,6 +159,15 @@ namespace Continental
         **/
         Publisher(System::String^ topic_name_, System::String^ topic_type_, System::String^ topic_desc_);
 
+        /**
+         * @brief Constructor.
+         *
+         * @param topic_name_   Unique topic name.
+         * @param topic_type_   Type name (optional.
+         * @param topic_desc_   Type description (optional.
+        **/
+        Publisher(System::String^ topic_name_, System::String^ topic_type_, array<Byte>^ topic_desc_);
+
         /**
          * @brief Destructor.
         **/
@@ -257,6 +266,15 @@ namespace Continental
         **/
         Subscriber(System::String^ topic_name_, System::String^ topic_type_, System::String^ topic_desc_);
 
+        /**
+         * @brief Constructor.
+         *
+         * @param topic_name_   Unique topic name.
+         * @param topic_type_   Type name (optional for type checking by monitoring app).
+         * @param topic_desc_   Descriptor (optional for dynamic reflection by monitoring app).
+        **/
+        Subscriber(System::String^ topic_name_, System::String^ topic_type_, array<Byte>^ topic_desc_);
+
         /**
          * @brief Destructor.
         **/

diff --git a/lang/csharp/Continental/eCAL/Protobuf/CMakeLists.txt b/lang/csharp/Continental/eCAL/Protobuf/CMakeLists.txt
@@ -35,6 +35,10 @@ set_target_properties(${PROJECT_NAME} PROPERTIES
   VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1"
 )
 
+if (ECAL_CSHARP_PROTOBUF_VERSION VERSION_GREATER "3.16.0")
+target_compile_definitions(${PROJECT_NAME} PRIVATE "ProtobufReflectionSupport")
+endif()
+
 set_property(TARGET ${PROJECT_NAME} PROPERTY
   VS_PACKAGE_REFERENCES "Google.Protobuf_${ECAL_CSHARP_PROTOBUF_VERSION}"
 )

diff --git a/lang/csharp/Continental/eCAL/Protobuf/ProtoHelper.cs b/lang/csharp/Continental/eCAL/Protobuf/ProtoHelper.cs
@@ -1,5 +1,4 @@
-using Google.Protobuf;
-using System;
+using System.Collections;
 
 namespace Continental
 {
@@ -9,10 +8,48 @@ namespace Common
     {
       internal static class ProtobufHelper
       {
-        public static string GetProtoMessageDescription(Google.Protobuf.IMessage message)
+
+#if ProtobufReflectionSupport
+        public static void AddProtoDescriptor(Google.Protobuf.Reflection.FileDescriptorSet descriptor_set, Google.Protobuf.Reflection.FileDescriptor descriptor, System.Collections.Generic.HashSet<string> inserted_files)
+        {
+          string name = descriptor.Name;
+          if (!inserted_files.Contains(name))
+          {
+            inserted_files.Add(name);
+            foreach (var dependency in descriptor.Dependencies)
+            {
+              AddProtoDescriptor(descriptor_set, dependency, inserted_files);
+            }
+            descriptor_set.File.Add(descriptor.ToProto());
+          }
+        }
+
+        public static byte[] GetProtoMessageDescription(Google.Protobuf.IMessage message)
+        {
+
+          var descriptor_set = new Google.Protobuf.Reflection.FileDescriptorSet();
+          var descriptor = message.Descriptor.File;
+          var inserted_files = new System.Collections.Generic.HashSet<string>();
+
+          AddProtoDescriptor(descriptor_set, descriptor, inserted_files);
+
+          var memory_stream = new System.IO.MemoryStream();
+          var stream = new Google.Protobuf.CodedOutputStream(memory_stream);
+          descriptor_set.WriteTo(stream);
+          stream.Flush();
+          memory_stream.Flush();
+
+          byte[] descriptor_array = memory_stream.ToArray();
+          return descriptor_array;
+        }
+#else
+        public static byte[] GetProtoMessageDescription(Google.Protobuf.IMessage message)
         {
-          return "";
+          return new byte[0];
         }
+#endif
+
+
 
         public static string GetProtoMessageTypeName(Google.Protobuf.IMessage message)
         {
@@ -21,4 +58,4 @@ public static string GetProtoMessageTypeName(Google.Protobuf.IMessage message)
       }
     }
   }
-}
+}
diff --git a/lang/csharp/Continental/eCAL/Protobuf/ProtoPublisher.cs b/lang/csharp/Continental/eCAL/Protobuf/ProtoPublisher.cs
@@ -35,7 +35,7 @@ public ProtobufPublisher(string topicName)
         public bool Send(T message)
         {
           var serialized = message.ToByteArray();
-          return (binaryPublisher.Send(Encoding.Default.GetString(serialized), -1) > 0);
+          return (binaryPublisher.Send(serialized, -1) > 0);
         }
       }
     }