From 318f951d6d271122973564ac5d0a7cf347cf6dc0 Mon Sep 17 00:00:00 2001
From: methylDragon <methylDragon@gmail.com>
Date: Thu, 16 Mar 2023 18:15:43 -0700
Subject: [PATCH] Fix const

Signed-off-by: methylDragon <methylDragon@gmail.com>
---
 .../rcl/rcl_dynamic_typesupport_c/message_introspection.h     | 4 ++--
 rcl/include/rcl/subscription.h                                | 3 ++-
 rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c | 4 ++--
 rcl/src/rcl/subscription.c                                    | 4 +---
 4 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/rcl/include/rcl/rcl_dynamic_typesupport_c/message_introspection.h b/rcl/include/rcl/rcl_dynamic_typesupport_c/message_introspection.h
index 7b079cea7..cc1cec12e 100644
--- a/rcl/include/rcl/rcl_dynamic_typesupport_c/message_introspection.h
+++ b/rcl/include/rcl/rcl_dynamic_typesupport_c/message_introspection.h
@@ -38,8 +38,8 @@ RCL_WARN_UNUSED
 rosidl_message_type_support_t *
 rcl_get_dynamic_message_typesupport_handle(
   const char * serialization_lib_name,
-  // TODO(methylDragon): This should be type_description_interfaces__msg__TypeDescription
-  rosidl_runtime_c__type_description__TypeDescription * desc);
+  // TODO(methylDragon): This should be const type_description_interfaces__msg__TypeDescription
+  const rosidl_runtime_c__type_description__TypeDescription * desc);
 
 /// Finalize a rosidl_message_type_support_t obtained with
 /// rcl_get_dynamic_message_typesupport_handle
diff --git a/rcl/include/rcl/subscription.h b/rcl/include/rcl/subscription.h
index b807c9694..bc0acfe34 100644
--- a/rcl/include/rcl/subscription.h
+++ b/rcl/include/rcl/subscription.h
@@ -630,10 +630,11 @@ rcl_take_serialized_message(
  *         occurred in the middleware, or
  * \return #RCL_RET_ERROR if an unspecified error occurs.
  */
+RCL_PUBLIC
+RCL_WARN_UNUSED
 rcl_ret_t
 rcl_take_dynamic_message(
   const rcl_subscription_t * subscription,
-  // TODO(methylDragon): Replace this with rcl_dynamic_message_t
   rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
   rmw_message_info_t * message_info,
   rmw_subscription_allocation_t * allocation);
diff --git a/rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c b/rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c
index 422c7efa2..1ad9fbc72 100644
--- a/rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c
+++ b/rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c
@@ -36,8 +36,8 @@ RCL_WARN_UNUSED
 rosidl_message_type_support_t *
 rcl_get_dynamic_message_typesupport_handle(
   const char * serialization_lib_name,
-  // TODO(methylDragon): This should be type_description_interfaces__msg__TypeDescription
-  rosidl_runtime_c__type_description__TypeDescription * description)
+  // TODO(methylDragon): This should be const type_description_interfaces__msg__TypeDescription
+  const rosidl_runtime_c__type_description__TypeDescription * description)
 {
   return rmw_get_dynamic_message_typesupport_handle(
     rmw_get_serialization_support(serialization_lib_name),
diff --git a/rcl/src/rcl/subscription.c b/rcl/src/rcl/subscription.c
index a48d8385a..f01fc8fd0 100644
--- a/rcl/src/rcl/subscription.c
+++ b/rcl/src/rcl/subscription.c
@@ -624,11 +624,9 @@ rcl_take_serialized_message(
 rcl_ret_t
 rcl_take_dynamic_message(
   const rcl_subscription_t * subscription,
-  // TODO(methylDragon): Replace this with rclcpp::DynamicMessage
   rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
   rmw_message_info_t * message_info,
-  rmw_subscription_allocation_t * allocation
-)
+  rmw_subscription_allocation_t * allocation)
 {
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking dynamic message");
   if (!rcl_subscription_is_valid(subscription)) {