Refs #19760. Coexist fastcdr v1 and v2

Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev>

src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg

@@ -30,8 +30,13 @@ $fileHeader(ctx=ctx, file=[ctx.filename, ".h"], description=["This header file c
 #include <string>
 #include <vector>
 
+#include <fastcdr/config.h>
+#if FASTCDR_VERSION_MAJOR == 1
+#include <fastdds/rtps/common/CdrSerialization.hpp>
+#else
 #include <fastcdr/cdr/fixed_size_string.hpp>
 #include <fastcdr/xcdr/optional.hpp>
+#endif // FASTCDR_VERSION_MAJOR == 1
 
 $if(ctx.printexception)$
 #include <$ctx.product$/exceptions/UserException.h>
@@ -225,6 +230,7 @@ public:
             const $struct.name$& x) const;
 
     $struct.members:{ member | $public_member_declaration(member)$}; separator="\n"$
+
     $serialization_functions(struct)$
     $extensions : { extension | $extension$}; separator="\n"$
 private:
@@ -635,6 +641,23 @@ $endif$
 %>
 
 serialization_functions(type) ::= <<
+$if(ctx.cdr)$
+/*!
+ * @brief This function serializes an object using CDR serialization.
+ * @param cdr CDR serialization object.
+ */
+eProsima_user_DllExport void serialize(
+        eprosima::fastcdr::Cdr& cdr) const;
+
+/*!
+ * @brief This function deserializes an object using CDR serialization.
+ * @param cdr CDR serialization object.
+ */
+eProsima_user_DllExport void deserialize(
+        eprosima::fastcdr::Cdr& cdr);
+
+$endif$
+
 $if(ctx.fastcdr)$
 /*!
  * @brief This function serializes an object using FastCDR serialization.

src/main/java/com/eprosima/fastcdr/idl/templates/TypesSource.stg

@@ -32,32 +32,24 @@ $if(ctx.generateTypeObject)$
 #include "$ctx.filename$TypeObject.h"
 $endif$
 
-$if(ctx.cdr)$
-#include <fastcdr/Cdr.h>
-
-$endif$
+#include <fastdds/rtps/common/CdrSerialization.hpp>
 
-$if(ctx.fastcdr)$
-#include <fastcdr/FastCdr.h>
+#include <utility>
 
+$if(ctx.thereIsStructOrUnion)$
+// Include auxiliary functions like for serializing/deserializing.
+#include "$ctx.filename$CdrAux.ipp"
 $endif$
 
-#include <fastcdr/exceptions/BadParamException.h>
 using namespace eprosima::fastcdr::exception;
 
-#include <utility>
-
 $extensions : { extension | $extension$}; separator="\n"$
 
 $if(ctx.generateTypesC)$
 $ctx.typeCodesToDefine : { type | $sequences_definition(type.value)$ }; separator="\n"$
 $endif$
 
 $definitions; separator="\n"$
-$if(ctx.thereIsStructOrUnion)$
-// Include auxiliary functions like for serializing/deserializing.
-#include "$ctx.filename$CdrAux.ipp"
-$endif$
 >>
 
 module(ctx, parent, module, definition_list) ::= <<
@@ -216,6 +208,21 @@ bool $struct.scopedname$::operator !=(
     return !(*this == x);
 }
 
+$if(ctx.cdr)$
+void $struct.scopedname$::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    eprosima::fastcdr::serialize(scdr, *this);
+}
+
+void $struct.scopedname$::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+    eprosima::fastcdr::deserialize(dcdr, *this);
+}
+
+$endif$
+
 $if(ctx.fastcdr)$
 void $struct.scopedname$::serialize(
         eprosima::fastcdr::FastCdr &scdr) const
@@ -354,6 +361,21 @@ void $bitset.scopedname$::bitset(
     m_bitset = std::bitset<$bitset.bitSize$>(str_value.substr(str_value.length() - base_diff, last_post));
 }
 
+$if(ctx.cdr)$
+void $bitset.scopedname$::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    eprosima::fastcdr::serialize(scdr, *this);
+}
+
+void $bitset.scopedname$::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+    eprosima::fastcdr::deserialize(dcdr, *this);
+}
+
+$endif$
+
 >>
 
 public_bitfield_definition(class, member) ::= <<
@@ -517,6 +539,22 @@ $union.discriminator.cppTypename$& $union.scopedname$::_d()
 }
 
 $union.members:{ member | $public_unionmember_declaration(class=union.scopedname, member=member, defaultvalue=union.defaultvalue, totallabels=union.totallabels)$}; separator="\n"$
+
+$if(ctx.cdr)$
+void $union.scopedname$::serialize(
+        eprosima::fastcdr::Cdr& scdr) const
+{
+    eprosima::fastcdr::serialize(scdr, *this);
+}
+
+void $union.scopedname$::deserialize(
+        eprosima::fastcdr::Cdr& dcdr)
+{
+    eprosima::fastcdr::deserialize(dcdr, *this);
+}
+
+$endif$
+
 $if(ctx.fastcdr)$
 void $union.scopedname$::serialize(
         eprosima::fastcdr::FastCdr& scdr) const

src/main/java/com/eprosima/fastdds/idl/templates/DDSPubSubTypeSource.stg

@@ -19,10 +19,7 @@ import "eprosima.stg"
 main(ctx, definitions) ::= <<
 $fileHeader(ctx=ctx,  file=[ctx.filename, "PubSubTypes.cpp"], description=["This header file contains the implementation of the serialization functions."])$
 
-
-#include <fastcdr/FastBuffer.h>
-#include <fastcdr/Cdr.h>
-#include <fastcdr/CdrSizeCalculator.hpp>
+#include <fastdds/rtps/common/CdrSerialization.hpp>
 
 #include "$ctx.filename$PubSubTypes.h"
 #include "$ctx.filename$CdrAux.hpp"
@@ -107,10 +104,12 @@ bool $if (parent.IsInterface)$$parent.name$_$endif$$struct.name$PubSubType::seri
             data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
             eprosima::fastcdr::CdrVersion::XCDRv1 : eprosima::fastcdr::CdrVersion::XCDRv2);
     payload->encapsulation = ser.endianness() == eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
+#if FASTCDR_VERSION_MAJOR > 1
     ser.set_encoding_flag(
         data_representation == DataRepresentationId_t::XCDR_DATA_REPRESENTATION ?
         $if(struct.annotationFinal || struct.annotationAppendable)$eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR $elseif(struct.annotationMutable)$eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR$endif$ :
         $if(struct.annotationFinal)$eprosima::fastcdr::EncodingAlgorithmFlag::PLAIN_CDR2$elseif(struct.annotationAppendable)$eprosima::fastcdr::EncodingAlgorithmFlag::DELIMIT_CDR2$elseif(struct.annotationMutable)$eprosima::fastcdr::EncodingAlgorithmFlag::PL_CDR2$endif$);
+#endif // FASTCDR_VERSION_MAJOR > 1
 
     try
     {
@@ -125,7 +124,11 @@ bool $if (parent.IsInterface)$$parent.name$_$endif$$struct.name$PubSubType::seri
     }
 
     // Get the serialized length
+#if FASTCDR_VERSION_MAJOR == 1
+    payload->length = static_cast<uint32_t>(ser.getSerializedDataLength());
+#else
     payload->length = static_cast<uint32_t>(ser.get_serialized_data_length());
+#endif // FASTCDR_VERSION_MAJOR == 1
     return true;
 }
 
@@ -142,7 +145,11 @@ bool $if (parent.IsInterface)$$parent.name$_$endif$$struct.name$PubSubType::dese
         eprosima::fastcdr::FastBuffer fastbuffer(reinterpret_cast<char*>(payload->data), payload->length);
 
         // Object that deserializes the data.
-        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);
+        eprosima::fastcdr::Cdr deser(fastbuffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN
+#if FASTCDR_VERSION_MAJOR == 1
+                , eprosima::fastcdr::Cdr::CdrType::DDS_CDR
+#endif // FASTCDR_VERSION_MAJOR == 1
+                );
 
         // Deserialize encapsulation.
         deser.read_encapsulation();
@@ -203,12 +210,16 @@ bool $if (parent.IsInterface)$$parent.name$_$endif$$struct.name$PubSubType::getK
             $struct.cScopedname$_max_key_cdr_typesize);
 
     // Object that serializes the data.
-    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS);
+    eprosima::fastcdr::Cdr ser(fastbuffer, eprosima::fastcdr::Cdr::BIG_ENDIANNESS, eprosima::fastcdr::CdrVersion::XCDRv1);
     eprosima::fastcdr::serialize_key(ser, *p_type);
     if (force_md5 || $struct.cScopedname$_max_key_cdr_typesize > 16)
     {
         m_md5.init();
+#if FASTCDR_VERSION_MAJOR == 1
+        m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.getSerializedDataLength()));
+#else
         m_md5.update(m_keyBuffer, static_cast<unsigned int>(ser.get_serialized_data_length()));
+#endif // FASTCDR_VERSION_MAJOR == 1
         m_md5.finalize();
         for (uint8_t i = 0; i < 16; ++i)
         {