Fix get type support handle

rosidl_typesupport_introspection_cpp/CMakeLists.txt

@@ -6,6 +6,9 @@ find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 
 ament_export_dependencies(rosidl_cmake)
+# The reason the impl folder is exported is that it contains the
+# implementation for the get_*_type_support_handle functions and defines the
+# rosidl_typesupport_introspection_cpp specific version of these functions.
 ament_export_include_directories(include include/${PROJECT_NAME}/impl)
 
 ament_python_install_package(${PROJECT_NAME})

rosidl_typesupport_introspection_cpp/cmake/rosidl_typesupport_introspection_cpp_generate_interfaces.cmake

@@ -61,7 +61,7 @@ set(_target_suffix "__typesupport_introspection_cpp")
 add_library(${rosidl_generate_interfaces_TARGET}${_target_suffix} SHARED ${_generated_files})
 if(WIN32)
   target_compile_definitions(${rosidl_generate_interfaces_TARGET}${_target_suffix}
-    PRIVATE "ROSIDL_TSI_CPP_BUILDING_DLL")
+    PRIVATE "ROSIDL_BUILDING_DLL")
 endif()
 target_include_directories(${rosidl_generate_interfaces_TARGET}${_target_suffix}
   PUBLIC

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/FieldTypes.h → rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/field_types.hpp

@@ -1,8 +1,7 @@
+#ifndef __rosidl_typesupport_introspection_cpp__field_types__hpp__
+#define __rosidl_typesupport_introspection_cpp__field_types__hpp__
 
-#ifndef __rosidl_typesupport_introspection_cpp__FieldTypes__h__
-#define __rosidl_typesupport_introspection_cpp__FieldTypes__h__
-
-#include <stdint.h>
+#include <cstdint>
 
 namespace rosidl_typesupport_introspection_cpp
 {
@@ -26,4 +25,4 @@ const uint8_t ROS_TYPE_MESSAGE = 15;
 
 }  // namespace rosidl_typesupport_introspection_cpp
 
-#endif  // __rosidl_typesupport_introspection_cpp__FieldTypes__h__
+#endif  // __rosidl_typesupport_introspection_cpp__field_types__hpp__

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/identifier.hpp

@@ -0,0 +1,11 @@
+#ifndef ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_IDENTIFIER_HPP_
+#define ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_IDENTIFIER_HPP_
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+static const char * typesupport_introspection_identifier = "introspection";
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+#endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_IDENTIFIER_HPP_

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/impl/rosidl_generator_cpp/message_type_support.hpp

@@ -0,0 +1,58 @@
+/* Copyright 2015 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// This header contains the type support introspection specific implementation
+// of the <rosidl_generator_cpp/message_type_support_decl.hpp> header.
+
+#ifndef __rosidl_generator_cpp__message_type_support__hpp__
+#define __rosidl_generator_cpp__message_type_support__hpp__
+
+// Provides the definition of the rosidl_message_type_support_t struct.
+#include <rosidl_generator_c/message_type_support.h>
+// Provides visibility macros like ROSIDL_PUBLIC.
+#include <rosidl_generator_c/visibility_control.h>
+// Provides the declaration of the function
+// rosidl_generator_cpp::get_message_type_support_handle.
+#include <rosidl_generator_cpp/message_type_support_decl.hpp>
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+// This is implemented in the shared library provided by this package.
+template<typename T>
+ROSIDL_PUBLIC
+const rosidl_message_type_support_t * get_message_type_support_handle_introspection();
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+namespace rosidl_generator_cpp
+{
+
+template<typename T>
+const rosidl_message_type_support_t * get_message_type_support_handle()
+{
+  // Hand off to implementation specific handle getter.
+  // By using this implementation specific getter in this header, it makes
+  // the user executable or library have a reference to an implementation
+  // specific symbol, which is implemented in the implementation specific
+  // message library. This is intentional to allow the linker to pick the
+  // correct implementation specific message library when being over linked
+  // with multiple implementation options.
+  return rosidl_typesupport_introspection_cpp::get_message_type_support_handle_introspection<T>();
+}
+
+}  // namespace rosidl_generator_cpp
+
+#endif  // __rosidl_generator_cpp__message_type_support__hpp__

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/impl/rosidl_generator_cpp/service_type_support.hpp

@@ -0,0 +1,58 @@
+/* Copyright 2015 Open Source Robotics Foundation, Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// This header contains the type support introspection specific implementation
+// of the <rosidl_generator_cpp/service_type_support_decl.hpp> header.
+
+#ifndef __rosidl_generator_cpp__service_type_support__hpp__
+#define __rosidl_generator_cpp__service_type_support__hpp__
+
+// Provides the definition of the rosidl_service_type_support_t struct.
+#include <rosidl_generator_c/service_type_support.h>
+// Provides visibility macros like ROSIDL_PUBLIC.
+#include <rosidl_generator_c/visibility_control.h>
+// Provides the declaration of the function
+// rosidl_generator_cpp::get_service_type_support_handle.
+#include <rosidl_generator_cpp/service_type_support_decl.hpp>
+
+namespace rosidl_typesupport_introspection_cpp
+{
+
+// This is implemented in the shared library provided by this package.
+template<typename T>
+ROSIDL_PUBLIC
+const rosidl_service_type_support_t * get_service_type_support_handle_introspection();
+
+}  // namespace rosidl_typesupport_introspection_cpp
+
+namespace rosidl_generator_cpp
+{
+
+template<typename T>
+const rosidl_service_type_support_t * get_service_type_support_handle()
+{
+  // Hand off to implementation specific handle getter.
+  // By using this implementation specific getter in this header, it makes
+  // the user executable or library have a reference to an implementation
+  // specific symbol, which is implemented in the implementation specific
+  // service library. This is intentional to allow the linker to pick the
+  // correct implementation specific service library when being over linked
+  // with multiple implementation options.
+  return rosidl_typesupport_introspection_cpp::get_service_type_support_handle_introspection<T>();
+}
+
+}  // namespace rosidl_generator_cpp
+
+#endif  // __rosidl_generator_cpp__service_type_support__hpp__

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/MessageIntrospection.h → rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp

@@ -2,18 +2,17 @@
 #define __rosidl_typesupport_introspection_cpp__MessageIntrospection__h__
 
 #include <cstddef>
-#include <stdint.h>
+#include <cstdint>
 
 #include <rosidl_generator_c/message_type_support.h>
-
-#include "impl/visibility_control.h"
+#include <rosidl_generator_c/visibility_control.h>
 
 namespace rosidl_typesupport_introspection_cpp
 {
 
-struct ROSIDL_TSI_CPP_PUBLIC MessageMembers;
+struct ROSIDL_PUBLIC MessageMembers;
 
-typedef struct ROSIDL_TSI_CPP_PUBLIC MessageMember
+typedef struct ROSIDL_PUBLIC MessageMember
 {
   const char * name_;
   uint8_t type_id_;
@@ -26,18 +25,14 @@ typedef struct ROSIDL_TSI_CPP_PUBLIC MessageMember
   const void * default_value_;
 } MessageMember;
 
-typedef struct ROSIDL_TSI_CPP_PUBLIC MessageMembers
+typedef struct ROSIDL_PUBLIC MessageMembers
 {
   const char * package_name_;
   const char * message_name_;
   unsigned long member_count_;
   const MessageMember * members_;
 } MessageMembers;
 
-template<typename T>
-ROSIDL_TSI_CPP_PUBLIC
-const rosidl_message_type_support_t * get_type_support_handle();
-
 }  // namespace rosidl_typesupport_introspection_cpp
 
 #endif  // __rosidl_typesupport_introspection_cpp__MessageIntrospection__h__

rosidl_typesupport_introspection_cpp/package.xml

@@ -2,16 +2,23 @@
 <package format="2">
   <name>rosidl_typesupport_introspection_cpp</name>
   <version>0.0.0</version>
-  <description>Generate the message type support for dynamic message construction in C++.</description>
+  <description>
+    Generate the message type support for dynamic message construction in C++.
+  </description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_cmake</buildtool_depend>
 
+  <!-- This is required for the rosidl_message_type_support_t struct and visibility macros -->
+  <build_depend>rosidl_generator_c</build_depend>
+
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
+  <build_export_depend>rosidl_generator_c</build_export_depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 </package>

rosidl_typesupport_introspection_cpp/resource/msg_TypeSupport_Introspection.cpp.template

@@ -18,12 +18,15 @@
 // Include cstddef for offsetof().
 #include <cstddef>
 
+#include <rosidl_generator_c/message_type_support.h>
+// This is defined in the rosidl_typesupport_introspection_cpp package and
+// is in the include/rosidl_typesupport_introspection_cpp/impl folder.
+#include <rosidl_generator_cpp/message_type_support.hpp>
+
 #include "@(spec.base_type.pkg_name)/@(spec.base_type.type)_Struct.h"
-#include "rosidl_generator_cpp/MessageTypeSupport.h"
-#include "rosidl_typesupport_introspection_cpp/FieldTypes.h"
-#include "rosidl_typesupport_introspection_cpp/Identifier.h"
-#include "rosidl_typesupport_introspection_cpp/MessageIntrospection.h"
-#include "rosidl_typesupport_introspection_cpp/impl/visibility_control.h"
+#include "rosidl_typesupport_introspection_cpp/field_types.hpp"
+#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
 
 namespace @(spec.base_type.pkg_name)
 {
@@ -52,7 +55,7 @@ for index, field in enumerate(spec.fields):
         # size_t string_upper_bound
         print('        0,')
         # const rosidl_message_type_support_t * members_
-        print('        ::rosidl_typesupport_introspection_cpp::get_type_support_handle<%s::%s>(),' % (field.type.pkg_name, field.type.type))
+        print('        ::rosidl_typesupport_introspection_cpp::get_message_type_support_handle_introspection<%s::%s>(),' % (field.type.pkg_name, field.type.type))
     # bool is_array_
     print('        %s,' % ('true' if field.type.is_array else 'false'))
     # size_t array_size_
@@ -95,12 +98,13 @@ namespace rosidl_typesupport_introspection_cpp
 {
 
 template<>
-ROSIDL_TSI_CPP_PUBLIC
-const rosidl_message_type_support_t * get_type_support_handle<@(spec.base_type.pkg_name)::@(spec.base_type.type)>()
+ROSIDL_PUBLIC
+const rosidl_message_type_support_t *
+get_message_type_support_handle_introspection<@(spec.base_type.pkg_name)::@(spec.base_type.type)>()
 {
     return &::@(spec.base_type.pkg_name)::rosidl_typesupport_introspection_cpp::@(spec.base_type.type)_message_type_support_handle;
 }
 
-}  // namespace rosidl_generator_cpp
+}  // namespace rosidl_typesupport_introspection_cpp
 
 #endif  // __@(spec.base_type.pkg_name)__@(spec.base_type.type)_TypeSupport__h__

rosidl_typesupport_introspection_cpp/resource/srv_ServiceTypeSupport_Introspection.cpp.template

@@ -15,9 +15,12 @@
 //   rosidl_typesupport_introspection_cpp/resource/srv_ServiceTypeSupport_Introspection.cpp.template
 #include <iostream>
 
+#include <rosidl_generator_c/service_type_support.h>
+// This is defined in the rosidl_typesupport_introspection_cpp package and
+// is in the include/rosidl_typesupport_introspection_cpp/impl folder.
+#include <rosidl_generator_cpp/service_type_support.hpp>
+
 #include "@(spec.pkg_name)/@(spec.srv_name)_Service.h"
-#include "rosidl_generator_cpp/ServiceTypeSupport.h"
-#include "rosidl_typesupport_introspection_cpp/ServiceIntrospection.h"
 
 namespace rosidl_typesupport_introspection_cpp
 {
@@ -28,8 +31,9 @@ static rosidl_service_type_support_t handle;
 }
 
 template <>
+ROSIDL_PUBLIC
 const rosidl_service_type_support_t *
-get_service_type_support_handle<@(spec.pkg_name)::@(spec.srv_name)>()
+get_service_type_support_handle_introspection<@(spec.pkg_name)::@(spec.srv_name)>()
 {
     return &impl::handle;
 }