Migrate to type description interfaces

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

rcl/CMakeLists.txt

@@ -13,9 +13,7 @@ find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 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(rosidl_dynamic_typesupport REQUIRED)
+find_package(type_description_interfaces REQUIRED)
 
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 include(cmake/get_default_rcl_logging_implementation.cmake)
@@ -79,10 +77,8 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
-
-# TODO(methylDragon): THIS TARGET_LINK_LIBRARIES IS TEMPORARY! REMOVE EVENTUALLY
 target_link_libraries(${PROJECT_NAME}
-  rosidl_dynamic_typesupport::rosidl_dynamic_typesupport # TODO(methylDragon): TEMPORARY! REMOVE EVENTUALLY
+  ${type_description_interfaces__TARGETS}
 )
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
@@ -127,7 +123,6 @@ ament_export_targets(${PROJECT_NAME})
 
 # specific order: dependents before dependencies
 ament_export_dependencies(ament_cmake)
-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)
@@ -138,6 +133,7 @@ ament_export_dependencies(${RCL_LOGGING_IMPL})
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(service_msgs)
 ament_export_dependencies(tracetools)
+ament_export_dependencies(type_description_interfaces)
 
 
 if(BUILD_TESTING)

rcl/include/rcl/rcl_dynamic_typesupport_c/message_introspection.h

@@ -15,22 +15,21 @@
 #ifndef RCL_DYNAMIC_TYPESUPPORT_C__MESSAGE_INTROSPECTION_H_
 #define RCL_DYNAMIC_TYPESUPPORT_C__MESSAGE_INTROSPECTION_H_
 
-#include "rosidl_dynamic_typesupport/description.h"
-
 #include "rosidl_runtime_c/message_type_support_struct.h"
 #include "rcl/macros.h"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
+#include <rosidl_runtime_c/type_description/type_description__struct.h>  // TEMPORARY
+// #include <type_description_interfaces/msg/type_description.h>  // Use this when conversion is ok
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 
 // TODO(methylDragon): !!! Document that the user is in charge of the lifetime of the struct...
 // TODO(methylDragon): ...
-// 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!!!
@@ -39,7 +38,8 @@ RCL_WARN_UNUSED
 rosidl_message_type_support_t *
 rcl_get_dynamic_message_typesupport_handle(
   const char * serialization_lib_name,
-  type_description_t * desc);
+  // TODO(methylDragon): This should be type_description_interfaces__msg__TypeDescription
+  rosidl_runtime_c__type_description__TypeDescription * desc);
 
 /// Finalize a rosidl_message_type_support_t obtained with
 /// rcl_get_dynamic_message_typesupport_handle

rcl/include/rcl/subscription.h

@@ -601,12 +601,12 @@ 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.
+/// Take a dynamic 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
+ * In contrast to rcl_take(), this function takes a dynamic 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.
+ * matches, and that the subscription uses the dynamic type rosidl_message_type_support_t.
  *
  * Apart from the differences above, this function behaves like rcl_take().
  *
@@ -619,7 +619,7 @@ rcl_take_serialized_message(
  * 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[inout] dynamic_message pointer to a (pre-allocated) dynamic 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

rcl/package.xml

@@ -19,7 +19,6 @@
 
   <build_export_depend>rmw</build_export_depend>
 
-  <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 -->
@@ -29,6 +28,7 @@
   <depend>rosidl_runtime_c</depend>
   <depend>service_msgs</depend>
   <depend>tracetools</depend>
+  <depend>type_description_interfaces</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

rcl/src/rcl/rcl_dynamic_typesupport_c/message_introspection.c

@@ -17,33 +17,34 @@ extern "C"
 {
 #endif
 
-#include "rosidl_dynamic_typesupport/description.h"
 #include "rmw/dynamic_typesupport.h"
 
 #include "rcl/types.h"
 #include "rcl/error_handling.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"
+#include <rcutils/logging_macros.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <rosidl_runtime_c/type_description/type_description__struct.h>  // TEMPORARY
+// #include <type_description_interfaces/msg/type_description.h>  // Use this when conversion is ok
 
 
-// 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_dynamic_message_typesupport_handle(
   const char * serialization_lib_name,
-  type_description_t * desc)
+  // TODO(methylDragon): This should be type_description_interfaces__msg__TypeDescription
+  rosidl_runtime_c__type_description__TypeDescription * desc)
 {
   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),
+    // TODO(methylDragon): We need to type_description_interfaces__msg__TypeDescription to
+    //                     rosidl_runtime_c__type_description__TypeDescription here
     desc
   );
 }

rcl/src/rcl/subscription.c

@@ -630,7 +630,7 @@ rcl_take_dynamic_message(
   rmw_subscription_allocation_t * allocation
 )
 {
-  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking runtime type message");
+  RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription taking dynamic message");
   if (!rcl_subscription_is_valid(subscription)) {
     return RCL_RET_SUBSCRIPTION_INVALID;  // error already set
   }
@@ -648,7 +648,7 @@ rcl_take_dynamic_message(
     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");
+    ROS_PACKAGE_NAME, "Subscription dynamic take succeeded: %s", taken ? "true" : "false");
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }