Migrate to rosidl_dynamic_typesupport and update field IDs

Signed-off-by: methylDragon <methylDragon@gmail.com>

rcl/CMakeLists.txt

@@ -15,7 +15,7 @@ find_package(service_msgs REQUIRED)
 find_package(tracetools REQUIRED)
 
 # TODO(methylDragon): TEMPORARY! REMOVE EVENTUALLY WHEN WE HAVE A TYPE DESCRIPTION MESSAGE IN RMW
-find_package(serialization_support_lib REQUIRED)
+find_package(rosidl_dynamic_typesupport REQUIRED)
 
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 include(cmake/get_default_rcl_logging_implementation.cmake)
@@ -37,7 +37,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 set(${PROJECT_NAME}_sources
-  src/rcl/rcl_typesupport_runtime_type_introspection_c/message_introspection.c
+  src/rcl/rcl_dynamic_typesupport_c/message_introspection.c
 
   src/rcl/arguments.c
   src/rcl/client.c
@@ -82,7 +82,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
 
 # TODO(methylDragon): THIS TARGET_LINK_LIBRARIES IS TEMPORARY! REMOVE EVENTUALLY
 target_link_libraries(${PROJECT_NAME}
-  serialization_support_lib::serialization_support_lib # TODO(methylDragon): TEMPORARY! REMOVE EVENTUALLY
+  rosidl_dynamic_typesupport::rosidl_dynamic_typesupport # TODO(methylDragon): TEMPORARY! REMOVE EVENTUALLY
 )
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
@@ -127,7 +127,7 @@ ament_export_targets(${PROJECT_NAME})
 
 # specific order: dependents before dependencies
 ament_export_dependencies(ament_cmake)
-ament_export_dependencies(serialization_support_lib) # TODO(methylDragon): TEMPORARY! REMOVE EVENTUALLY
+ament_export_dependencies(rosidl_dynamic_typesupport) # TODO(methylDragon): TEMPORARY! REMOVE EVENTUALLY
 ament_export_dependencies(rcl_interfaces)
 ament_export_dependencies(rcl_logging_interface)
 ament_export_dependencies(rcl_yaml_param_parser)

rcl/include/rcl/rcl_typesupport_runtime_type_introspection_c/identifier.h → rcl/include/rcl/rcl_dynamic_typesupport_c/identifier.h

@@ -12,20 +12,20 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCL_TYPESUPPORT_RUNTIME_TYPE_INTROSPECTION_C__IDENTIFIER_H_
-#define RCL_TYPESUPPORT_RUNTIME_TYPE_INTROSPECTION_C__IDENTIFIER_H_
+#ifndef RCL_DYNAMIC_TYPESUPPORT_C__IDENTIFIER_H_
+#define RCL_DYNAMIC_TYPESUPPORT_C__IDENTIFIER_H_
 
-#include "rmw/runtime_type.h"
+#include "rmw/dynamic_typesupport.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
-#define rcl_typesupport_runtime_type_introspection_c__identifier \
-  rmw_typesupport_runtime_type_introspection_c__identifier
+#define rcl_dynamic_typesupport_c__identifier \
+  rmw_dynamic_typesupport_c__identifier
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // RCL_TYPESUPPORT_RUNTIME_TYPE_INTROSPECTION_C__IDENTIFIER_H_
+#endif  // RCL_DYNAMIC_TYPESUPPORT_C__IDENTIFIER_H_

rcl/include/rcl/rcl_typesupport_runtime_type_introspection_c/message_introspection.h → rcl/include/rcl/rcl_dynamic_typesupport_c/message_introspection.h

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCL_TYPESUPPORT_RUNTIME_TYPE_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_
-#define RCL_TYPESUPPORT_RUNTIME_TYPE_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_
+#ifndef RCL_DYNAMIC_TYPESUPPORT_C__MESSAGE_INTROSPECTION_H_
+#define RCL_DYNAMIC_TYPESUPPORT_C__MESSAGE_INTROSPECTION_H_
 
-#include "serialization_support_lib/description.h"
+#include "rosidl_dynamic_typesupport/description.h"
 
 #include "rosidl_runtime_c/message_type_support_struct.h"
 #include "rcl/macros.h"
@@ -29,28 +29,28 @@ extern "C" {
 
 // TODO(methylDragon): !!! Document that the user is in charge of the lifetime of the struct...
 // TODO(methylDragon): ...
-// NOTE(methylDragon): My use of the serialization_support_lib::type_description_t struct is for
+// NOTE(methylDragon): My use of the rosidl_dynamic_typesupport::type_description_t struct is for
 //                     convenience only. We should be passing the TypeDescription message
 
 /// If the user passes a NULL desc, it is deferred instead, the middleware is responsibile for
 /// populating the fields on type discovery!!!
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rosidl_message_type_support_t *
-rcl_get_runtime_type_message_typesupport_handle(
+rcl_get_dynamic_message_typesupport_handle(
   const char * serialization_lib_name,
   type_description_t * desc);
 
 /// Finalize a rosidl_message_type_support_t obtained with
-/// rcl_get_runtime_type_message_typesupport_handle
+/// rcl_get_dynamic_message_typesupport_handle
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_runtime_type_message_typesupport_handle_fini(rosidl_message_type_support_t * ts);
+rcl_dynamic_message_typesupport_handle_fini(rosidl_message_type_support_t * ts);
 
 
 #ifdef __cplusplus
 }
 #endif
 
-#endif  // RCL_TYPESUPPORT_RUNTIME_TYPE_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_
+#endif  // RCL_DYNAMIC_TYPESUPPORT_C__MESSAGE_INTROSPECTION_H_

rcl/include/rcl/subscription.h

@@ -30,6 +30,8 @@ extern "C"
 #include "rcl/visibility_control.h"
 
 #include "rmw/message_sequence.h"
+#include "rmw/dynamic_typesupport.h"
+
 
 /// Internal rcl implementation struct.
 typedef struct rcl_subscription_impl_s rcl_subscription_impl_t;
@@ -599,6 +601,43 @@ rcl_take_serialized_message(
   rmw_message_info_t * message_info,
   rmw_subscription_allocation_t * allocation);
 
+/// Take a runtime type message from a topic using a rcl subscription.
+/**
+ * In contrast to rcl_take(), this function takes a runtime type message with dynamic data taken
+ * directly from the middleware.
+ * It is the job of the caller to ensure that the type associated with the subscription
+ * matches, and that the subscription uses the runtime type rosidl_message_type_support_t.
+ *
+ * Apart from the differences above, this function behaves like rcl_take().
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] subscription the handle to the subscription from which to take
+ * \param[inout] dynamic_message pointer to a (pre-allocated) runtime type message.
+ * \param[out] message_info rmw struct which contains meta-data for the message
+ * \param[in] allocation structure pointer used for memory preallocation (may be NULL)
+ * \return #RCL_RET_OK if the message was taken, or
+ * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCL_RET_SUBSCRIPTION_INVALID if the subscription is invalid, or
+ * \return #RCL_RET_BAD_ALLOC if allocating memory failed, or
+ * \return #RCL_RET_SUBSCRIPTION_TAKE_FAILED if take failed but no error
+ *         occurred in the middleware, or
+ * \return #RCL_RET_ERROR if an unspecified error occurs.
+ */
+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);
+
 /// Take a loaned message from a topic using a rcl subscription.
 /**
  * Depending on the middleware, incoming messages can be loaned to the user's callback

rcl/package.xml

@@ -19,7 +19,7 @@
 
   <build_export_depend>rmw</build_export_depend>
 
-  <depend>serialization_support_lib</depend>  <!-- TODO(methylDragon): TEMPORARY. Remove eventually -->
+  <depend>rosidl_dynamic_typesupport</depend>  <!-- TODO(methylDragon): TEMPORARY. Remove eventually -->
   <depend>rcl_interfaces</depend>
   <depend>rcl_logging_interface</depend>
   <depend>rcl_logging_spdlog</depend> <!-- the default logging impl -->

rcl/src/rcl/rcl_typesupport_runtime_type_introspection_c/message_introspection.c → rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c

@@ -17,30 +17,30 @@ extern "C"
 {
 #endif
 
-#include "serialization_support_lib/description.h"
-#include "rmw/runtime_type.h"
+#include "rosidl_dynamic_typesupport/description.h"
+#include "rmw/dynamic_typesupport.h"
 
 #include "rcl/types.h"
 #include "rcl/error_handling.h"
-#include "rcl/rcl_typesupport_runtime_type_introspection_c/identifier.h"
-#include "rcl/rcl_typesupport_runtime_type_introspection_c/message_introspection.h"
+#include "rcl/rcl_dynamic_typesupport_c/identifier.h"
+#include "rcl/rcl_dynamic_typesupport_c/message_introspection.h"
 
 #include "rcutils/logging_macros.h"
 #include "rosidl_runtime_c/message_type_support_struct.h"
 
 
-// NOTE(methylDragon): My use of the serialization_support_lib::type_description_t struct is for
+// NOTE(methylDragon): My use of the rosidl_dynamic_typesupport::type_description_t struct is for
 //                     convenience only. We should be passing the TypeDescription message
 
 /// Create a rosidl_message_type_support_t from a TypeDescription message
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rosidl_message_type_support_t *
-rcl_get_runtime_type_message_typesupport_handle(
+rcl_get_dynamic_message_typesupport_handle(
   const char * serialization_lib_name,
   type_description_t * desc)
 {
-  return rmw_get_runtime_type_message_typesupport_handle(
+  return rmw_get_dynamic_message_typesupport_handle(
     rmw_get_serialization_support(serialization_lib_name),
     rmw_feature_supported(RMW_MIDDLEWARE_SUPPORTS_TYPE_DISCOVERY),
     rmw_feature_supported(RMW_MIDDLEWARE_CAN_TAKE_DYNAMIC_DATA),
@@ -50,10 +50,10 @@ rcl_get_runtime_type_message_typesupport_handle(
 
 
 rcl_ret_t
-rcl_runtime_type_message_typesupport_handle_fini(rosidl_message_type_support_t * ts)
+rcl_dynamic_message_typesupport_handle_fini(rosidl_message_type_support_t * ts)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(ts, RCL_RET_INVALID_ARGUMENT);
-  return rmw_runtime_type_message_typesupport_handle_fini(ts);
+  return rmw_dynamic_message_typesupport_handle_fini(ts);
 }
 
 #ifdef __cplusplus

rcl/src/rcl/subscription.c

@@ -27,6 +27,7 @@ extern "C"
 #include "rcutils/strdup.h"
 #include "rcutils/types/string_array.h"
 #include "rmw/error_handling.h"
+#include "rmw/dynamic_typesupport.h"
 #include "rmw/subscription_content_filter_options.h"
 #include "rmw/validate_full_topic_name.h"
 #include "tracetools/tracetools.h"
@@ -620,6 +621,40 @@ rcl_take_serialized_message(
   return RCL_RET_OK;
 }
 
+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
+)
+{
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking runtime type message");
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;  // error already set
+  }
+  RCL_CHECK_ARGUMENT_FOR_NULL(dynamic_message, RCL_RET_INVALID_ARGUMENT);
+  // If message_info is NULL, use a place holder which can be discarded.
+  rmw_message_info_t dummy_message_info;
+  rmw_message_info_t * message_info_local = message_info ? message_info : &dummy_message_info;
+  *message_info_local = rmw_get_zero_initialized_message_info();
+  // Call take with info
+  bool taken = false;
+  rmw_ret_t ret = rmw_take_dynamic_message_with_info(
+    subscription->impl->rmw_handle, dynamic_message, &taken, message_info_local, allocation);
+  if (ret != RMW_RET_OK) {
+    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
+    return rcl_convert_rmw_ret_to_rcl_ret(ret);
+  }
+  RCUTILS_LOG_DEBUG_NAMED(
+    ROS_PACKAGE_NAME, "Subscription runtime type take succeeded: %s", taken ? "true" : "false");
+  if (!taken) {
+    return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
+  }
+  return RCL_RET_OK;
+}
+
 rcl_ret_t
 rcl_take_loaned_message(
   const rcl_subscription_t * subscription,