Move dynamic type support struct to rosidl and fix mem issues

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

CMakeLists.txt

@@ -35,7 +35,7 @@ find_package(FastRTPS 2.3 REQUIRED MODULE)
 add_library(${PROJECT_NAME}
   "src/detail/fastrtps_dynamic_data.cpp"
   "src/detail/fastrtps_dynamic_type.cpp"
-  "src/detail/fastrtps_serialization_support_impl_handle.cpp"
+  "src/detail/fastrtps_serialization_support.cpp"
   "src/detail/utils.cpp"
 
   "src/identifier.cpp"

src/detail/fastrtps_dynamic_data.cpp

@@ -34,7 +34,7 @@
 
 #include <fastrtps/types/DynamicDataHelper.hpp>
 #include "macros.hpp"
-#include "fastrtps_serialization_support_impl_handle.hpp"
+#include "fastrtps_serialization_support.hpp"
 #include "utils.hpp"
 
 
@@ -190,11 +190,13 @@ fastrtps__dynamic_data_return_loaned_value(
   const rosidl_dynamic_typesupport_dynamic_data_impl_t * inner_data_impl)
 {
   (void) serialization_support_impl;
-  FASTRTPS_CHECK_RET_FOR_NOT_OK_AND_RETURN_WITH_MSG(
+  FASTRTPS_CHECK_RET_FOR_NOT_OK_WITH_MSG(
     static_cast<DynamicData *>(data_impl->handle)
     ->return_loaned_value(static_cast<const DynamicData *>(inner_data_impl->handle)),
     "Could not return loaned value"
   );
+  delete inner_data_impl;
+  return RCUTILS_RET_OK;
 }
 
 
@@ -289,15 +291,17 @@ fastrtps__dynamic_data_clone(
 
 
 rcutils_ret_t
-fastrtps__dynamic_data_fini(
+fastrtps__dynamic_data_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl,
   rosidl_dynamic_typesupport_dynamic_data_impl_t * data_impl)
 {
-  FASTRTPS_CHECK_RET_FOR_NOT_OK_AND_RETURN_WITH_MSG(
+  FASTRTPS_CHECK_RET_FOR_NOT_OK_WITH_MSG(
     static_cast<fastrtps__serialization_support_impl_handle_t *>(serialization_support_impl->handle)
     ->data_factory_->delete_data(static_cast<DynamicData *>(data_impl->handle)),
     "Could not delete data"
   );
+  delete data_impl;
+  return RCUTILS_RET_OK;
 }
 
 

src/detail/fastrtps_dynamic_data.hpp

@@ -144,7 +144,7 @@ fastrtps__dynamic_data_clone(
 
 ROSIDL_DYNAMIC_TYPESUPPORT_FASTRTPS_PUBLIC
 rcutils_ret_t
-fastrtps__dynamic_data_fini(
+fastrtps__dynamic_data_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl,
   rosidl_dynamic_typesupport_dynamic_data_impl_t * data_impl);
 

src/detail/fastrtps_dynamic_type.cpp

@@ -35,7 +35,7 @@
 #include <string>
 #include <utility>
 
-#include "fastrtps_serialization_support_impl_handle.hpp"
+#include "fastrtps_serialization_support.hpp"
 #include "macros.hpp"
 #include "utils.hpp"
 
@@ -137,17 +137,19 @@ fastrtps__dynamic_type_builder_clone(
 
 
 rcutils_ret_t
-fastrtps__dynamic_type_builder_fini(
+fastrtps__dynamic_type_builder_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl,
   rosidl_dynamic_typesupport_dynamic_type_builder_impl_t * type_builder_impl)
 {
   auto fastrtps_impl = static_cast<fastrtps__serialization_support_impl_handle_t *>(
     serialization_support_impl->handle);
-  FASTRTPS_CHECK_RET_FOR_NOT_OK_AND_RETURN_WITH_MSG(
+  FASTRTPS_CHECK_RET_FOR_NOT_OK_WITH_MSG(
     fastrtps_impl->type_factory_->delete_builder(
       static_cast<DynamicTypeBuilder *>(type_builder_impl->handle)),
     "Could not delete type builder"
   );
+  delete type_builder_impl;
+  return RCUTILS_RET_OK;
 }
 
 
@@ -212,7 +214,7 @@ fastrtps__dynamic_type_clone(
 
 
 rcutils_ret_t
-fastrtps__dynamic_type_fini(
+fastrtps__dynamic_type_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl,
   rosidl_dynamic_typesupport_dynamic_type_impl_t * type_impl)
 {
@@ -221,9 +223,10 @@ fastrtps__dynamic_type_fini(
   auto type = eprosima::fastrtps::types::DynamicType_ptr(
     *static_cast<const eprosima::fastrtps::types::DynamicType_ptr *>(type_impl->handle));
 
-  FASTRTPS_CHECK_RET_FOR_NOT_OK_AND_RETURN_WITH_MSG(
+  FASTRTPS_CHECK_RET_FOR_NOT_OK_WITH_MSG(
     fastrtps_impl->type_factory_->delete_type(type.get()), "Could not delete type"
   );
+  delete type_impl;
   return RCUTILS_RET_OK;
 }
 

src/detail/fastrtps_dynamic_type.hpp

@@ -58,7 +58,7 @@ fastrtps__dynamic_type_builder_clone(
 
 ROSIDL_DYNAMIC_TYPESUPPORT_FASTRTPS_PUBLIC
 rcutils_ret_t
-fastrtps__dynamic_type_builder_fini(
+fastrtps__dynamic_type_builder_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl,
   rosidl_dynamic_typesupport_dynamic_type_builder_impl_t * type_builder_impl);
 
@@ -78,7 +78,7 @@ fastrtps__dynamic_type_clone(
 
 ROSIDL_DYNAMIC_TYPESUPPORT_FASTRTPS_PUBLIC
 rcutils_ret_t
-fastrtps__dynamic_type_fini(
+fastrtps__dynamic_type_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl,
   rosidl_dynamic_typesupport_dynamic_type_impl_t * type_impl);
 

src/detail/fastrtps_serialization_support_impl_handle.cpp → src/detail/fastrtps_serialization_support.cpp

@@ -16,23 +16,37 @@
 #include <rcutils/types/rcutils_ret.h>
 #include <rosidl_dynamic_typesupport/api/serialization_support_interface.h>
 
-#include "fastrtps_serialization_support_impl_handle.hpp"
+#include "fastrtps_serialization_support.hpp"
 #include "macros.hpp"
 
 
 rcutils_ret_t
-fastrtps__serialization_support_impl_handle_fini(
+fastrtps__serialization_support_impl_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl)
 {
   auto fastrtps_serialization_support_handle =
     static_cast<fastrtps__serialization_support_impl_handle_t *>(
       serialization_support_impl->handle);
 
-  FASTRTPS_CHECK_RET_FOR_NOT_OK_AND_RETURN_WITH_MSG(
+  FASTRTPS_CHECK_RET_FOR_NOT_OK_WITH_MSG(
     fastrtps_serialization_support_handle->type_factory_->delete_instance(),
     "Could not delete dynamic type factory when finalizing serialization support");
 
-  FASTRTPS_CHECK_RET_FOR_NOT_OK_AND_RETURN_WITH_MSG(
+  FASTRTPS_CHECK_RET_FOR_NOT_OK_WITH_MSG(
     fastrtps_serialization_support_handle->data_factory_->delete_instance(),
     "Could not delete dynamic data factory when finalizing serialization support");
+
+  delete static_cast<fastrtps__serialization_support_impl_handle_t *>(
+    serialization_support_impl->handle);
+  delete serialization_support_impl;
+  return RCUTILS_RET_OK;
+}
+
+
+rcutils_ret_t
+fastrtps__serialization_support_interface_destroy(
+  rosidl_dynamic_typesupport_serialization_support_interface_t * serialization_support_interface)
+{
+  delete serialization_support_interface;
+  return RCUTILS_RET_OK;
 }

src/detail/fastrtps_serialization_support_impl_handle.hpp → src/detail/fastrtps_serialization_support.hpp

@@ -32,8 +32,12 @@ typedef struct fastrtps__serialization_support_impl_handle_s
 
 ROSIDL_DYNAMIC_TYPESUPPORT_FASTRTPS_PUBLIC
 rcutils_ret_t
-fastrtps__serialization_support_impl_handle_fini(
+fastrtps__serialization_support_impl_destroy(
   rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support_impl);
 
+ROSIDL_DYNAMIC_TYPESUPPORT_FASTRTPS_PUBLIC
+rcutils_ret_t
+fastrtps__serialization_support_interface_destroy(
+  rosidl_dynamic_typesupport_serialization_support_interface_t * serialization_support_interface);
 
 #endif  // DETAIL__FASTRTPS_SERIALIZATION_SUPPORT_IMPL_HANDLE_HPP_

src/serialization_support.cpp

@@ -16,7 +16,6 @@
 #include <rosidl_dynamic_typesupport/types.h>
 
 #include <rcutils/types/uint8_array.h>
-#include <rcutils/allocator.h>
 #include <rosidl_dynamic_typesupport_fastrtps/identifier.h>
 #include <rosidl_dynamic_typesupport_fastrtps/serialization_support.h>
 
@@ -25,7 +24,7 @@
 
 #include "detail/fastrtps_dynamic_data.hpp"
 #include "detail/fastrtps_dynamic_type.hpp"
-#include "detail/fastrtps_serialization_support_impl_handle.hpp"
+#include "detail/fastrtps_serialization_support.hpp"
 
 
 // =================================================================================================
@@ -34,19 +33,11 @@
 rosidl_dynamic_typesupport_serialization_support_impl_t *
 rosidl_dynamic_typesupport_fastrtps_create_serialization_support_impl()
 {
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
-  auto serialization_support_impl =
-    static_cast<rosidl_dynamic_typesupport_serialization_support_impl_t *>(
-    allocator.zero_allocate(
-      1, sizeof(rosidl_dynamic_typesupport_serialization_support_impl_t), &allocator.state)
-    );
+  auto serialization_support_impl = new rosidl_dynamic_typesupport_serialization_support_impl_t();
   serialization_support_impl->library_identifier =
     fastrtps_serialization_support_library_identifier;
 
-  auto serialization_support_impl_handle =
-    static_cast<fastrtps__serialization_support_impl_handle_t *>(
-    allocator.zero_allocate(
-      1, sizeof(fastrtps__serialization_support_impl_handle_t), &allocator.state));
+  auto serialization_support_impl_handle = new fastrtps__serialization_support_impl_handle_t();
 
   // The actual business
   serialization_support_impl_handle->type_factory_ =
@@ -66,22 +57,22 @@ rosidl_dynamic_typesupport_fastrtps_create_serialization_support_impl()
 rosidl_dynamic_typesupport_serialization_support_interface_t *
 rosidl_dynamic_typesupport_fastrtps_create_serialization_support_interface()
 {
-  rcutils_allocator_t allocator = rcutils_get_default_allocator();
   auto serialization_support_interface =
-    static_cast<rosidl_dynamic_typesupport_serialization_support_interface_t *>(
-    allocator.zero_allocate(
-      1, sizeof(rosidl_dynamic_typesupport_serialization_support_interface_t), &allocator.state)
-    );
-
+    new rosidl_dynamic_typesupport_serialization_support_interface_t();
 
   // CORE ==========================================================================================
   serialization_support_interface->library_identifier =
     fastrtps_serialization_support_library_identifier;
 
-  serialization_support_interface->serialization_support_impl_handle_fini =
+  serialization_support_interface->serialization_support_impl_destroy =
     (rcutils_ret_t (*)(
       rosidl_dynamic_typesupport_serialization_support_impl_t *))
-    fastrtps__serialization_support_impl_handle_fini;
+    fastrtps__serialization_support_impl_destroy;
+
+  serialization_support_interface->serialization_support_interface_destroy =
+    (rcutils_ret_t (*)(
+      rosidl_dynamic_typesupport_serialization_support_interface_t *))
+    fastrtps__serialization_support_interface_destroy;
 
 
   // ===============================================================================================
@@ -120,11 +111,11 @@ rosidl_dynamic_typesupport_fastrtps_create_serialization_support_interface()
       rosidl_dynamic_typesupport_dynamic_type_builder_impl_t **))
     fastrtps__dynamic_type_builder_clone;
 
-  serialization_support_interface->dynamic_type_builder_fini =
+  serialization_support_interface->dynamic_type_builder_destroy =
     (rcutils_ret_t (*)(
       rosidl_dynamic_typesupport_serialization_support_impl_t *,
       rosidl_dynamic_typesupport_dynamic_type_builder_impl_t *))
-    fastrtps__dynamic_type_builder_fini;
+    fastrtps__dynamic_type_builder_destroy;
 
   serialization_support_interface->dynamic_type_init_from_dynamic_type_builder =
     (rcutils_ret_t (*)(
@@ -140,11 +131,11 @@ rosidl_dynamic_typesupport_fastrtps_create_serialization_support_interface()
       rosidl_dynamic_typesupport_dynamic_type_impl_t **))
     fastrtps__dynamic_type_clone;
 
-  serialization_support_interface->dynamic_type_fini =
+  serialization_support_interface->dynamic_type_destroy =
     (rcutils_ret_t (*)(
       rosidl_dynamic_typesupport_serialization_support_impl_t *,
       rosidl_dynamic_typesupport_dynamic_type_impl_t *))
-    fastrtps__dynamic_type_fini;
+    fastrtps__dynamic_type_destroy;
 
   serialization_support_interface->dynamic_type_get_name =
     (rcutils_ret_t (*)(
@@ -692,11 +683,11 @@ rosidl_dynamic_typesupport_fastrtps_create_serialization_support_interface()
       rosidl_dynamic_typesupport_dynamic_data_impl_t **))
     fastrtps__dynamic_data_clone;
 
-  serialization_support_interface->dynamic_data_fini =
+  serialization_support_interface->dynamic_data_destroy =
     (rcutils_ret_t (*)(
       rosidl_dynamic_typesupport_serialization_support_impl_t *,
       rosidl_dynamic_typesupport_dynamic_data_impl_t *))
-    fastrtps__dynamic_data_fini;
+    fastrtps__dynamic_data_destroy;
 
 
   // DYNAMIC DATA SERIALIZATION