Migrate to rosidl_dynamic_typesupport and update field IDs

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

rclcpp/CMakeLists.txt

@@ -94,7 +94,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/qos.cpp
   src/rclcpp/qos_event.cpp
   src/rclcpp/qos_overriding_options.cpp
-  src/rclcpp/runtime_type_subscription.cpp
+  src/rclcpp/dynamic_subscription.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp

rclcpp/include/rclcpp/runtime_type_subscription.hpp → rclcpp/include/rclcpp/dynamic_subscription.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef RCLCPP__RUNTIME_TYPE_SUBSCRIPTION_HPP_
-#define RCLCPP__RUNTIME_TYPE_SUBSCRIPTION_HPP_
+#ifndef RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_
+#define RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_
 
 #include <functional>
 #include <memory>
@@ -41,25 +41,25 @@ namespace rclcpp
  *
  * NOTE(methylDragon): No considerations for intra-process handling are made.
  */
-class RuntimeTypeSubscription : public rclcpp::SubscriptionBase
+class DynamicSubscription : public rclcpp::SubscriptionBase
 {
 public:
   // cppcheck-suppress unknownMacro
-  RCLCPP_SMART_PTR_DEFINITIONS(RuntimeTypeSubscription)
+  RCLCPP_SMART_PTR_DEFINITIONS(DynamicSubscription)
 
   template<typename AllocatorT = std::allocator<void>>
-  RuntimeTypeSubscription(
+  DynamicSubscription(
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
-    // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the ser
+    // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the serialization_support
     //                      support and DynamicData, and pass that to the callback
     std::function<void(
-      std::shared_ptr<serialization_support_t>, std::shared_ptr<ser_dynamic_data_t>
+      std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>, std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
     )> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
-    bool use_take_runtime_type_message = false)
+    bool use_take_dynamic_message = false)
   : SubscriptionBase(
       node_base,
       type_support_handle,
@@ -69,38 +69,38 @@ class RuntimeTypeSubscription : public rclcpp::SubscriptionBase
       options.use_default_callbacks,
       false,
       true,
-      use_take_runtime_type_message),
+      use_take_dynamic_message),
     ts_(type_support_handle),
     callback_(callback)
   {
     if(type_support_handle.typesupport_identifier
-       != rmw_typesupport_runtime_type_introspection_c__identifier)
+       != rmw_dynamic_typesupport_c__identifier)
     {
       throw std::runtime_error(
-        "RuntimeTypeSubscription must use runtime type introspection type support!");
+        "DynamicSubscription must use runtime type introspection type support!");
     }
   }
 
   // TODO(methylDragon):
   /// Deferred type description constructor, only usable if the middleware implementation supports
   /// type discovery
   // template<typename AllocatorT = std::allocator<void>>
-  // RuntimeTypeSubscription(
+  // DynamicSubscription(
   //   rclcpp::node_interfaces::NodeBaseInterface * node_base,
   //   const std::string & topic_name,
   //   const rclcpp::QoS & qos,
-  //   // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the ser
+  //   // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the serialization_support
   //   //                      support and DynamicData, and pass that to the callback
   //   std::function<void(
-  //     std::shared_ptr<serialization_support_t>, std::shared_ptr<ser_dynamic_data_t>
+  //     std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>, std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
   //   )> callback,
   //   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
   //   const char * serialization_lib_name = nullptr)
   // : SubscriptionBase(
   //     node_base,
   //     // NOTE(methylDragon): Since the typesupport is deferred, it needs to be modified post-hoc
   //     //                     which means it technically isn't const correct...
-  //     *rmw_get_runtime_type_message_typesupport_handle(serialization_lib_name),
+  //     *rmw_get_dynamic_message_typesupport_handle(serialization_lib_name),
   //     topic_name,
   //     options.to_rcl_subscription_options(qos),
   //     options.event_callbacks,
@@ -111,7 +111,7 @@ class RuntimeTypeSubscription : public rclcpp::SubscriptionBase
   // {}
 
   RCLCPP_PUBLIC
-  virtual ~RuntimeTypeSubscription() = default;
+  virtual ~DynamicSubscription() = default;
 
   // Same as create_serialized_message() as the subscription is to serialized_messages only
   RCLCPP_PUBLIC
@@ -148,35 +148,35 @@ class RuntimeTypeSubscription : public rclcpp::SubscriptionBase
   // RUNTIME TYPE ==================================================================================
   // TODO(methylDragon): Reorder later
   RCLCPP_PUBLIC
-  std::shared_ptr<ser_dynamic_type_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_type_t>
   get_dynamic_type() override;
 
   RCLCPP_PUBLIC
-  std::shared_ptr<ser_dynamic_data_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
   get_dynamic_data() override;
 
   RCLCPP_PUBLIC
-  std::shared_ptr<serialization_support_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>
   get_serialization_support() override;
 
   RCLCPP_PUBLIC
-  void handle_runtime_type_message(
-    const std::shared_ptr<serialization_support_t> & ser,
-    const std::shared_ptr<ser_dynamic_data_t> & dyn_data,
+  void handle_dynamic_message(
+    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
+    const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info
   ) override;
 
 
 private:
-  RCLCPP_DISABLE_COPY(RuntimeTypeSubscription)
+  RCLCPP_DISABLE_COPY(DynamicSubscription)
 
   rosidl_message_type_support_t & ts_;
 
   std::function<void(
-    std::shared_ptr<serialization_support_t>, std::shared_ptr<ser_dynamic_data_t>
+    std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>, std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
   )> callback_;
 };
 
 }  // namespace rclcpp
 
-#endif  // RCLCPP__RUNTIME_TYPE_SUBSCRIPTION_HPP_
+#endif  // RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -127,18 +127,18 @@ class GenericSubscription : public rclcpp::SubscriptionBase
   // RUNTIME TYPE ==================================================================================
   // TODO(methylDragon): Reorder later
   RCLCPP_PUBLIC
-  std::shared_ptr<ser_dynamic_type_t> get_dynamic_type() override;
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_type_t> get_dynamic_type() override;
 
   RCLCPP_PUBLIC
-  std::shared_ptr<ser_dynamic_data_t> get_dynamic_data() override;
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> get_dynamic_data() override;
 
   RCLCPP_PUBLIC
-  std::shared_ptr<serialization_support_t> get_serialization_support() override;
+  std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> get_serialization_support() override;
 
   RCLCPP_PUBLIC
-  void handle_runtime_type_message(
-    const std::shared_ptr<serialization_support_t> & ser,
-    const std::shared_ptr<ser_dynamic_data_t> & dyn_data,
+  void handle_dynamic_message(
+    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
+    const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info) override;
 
 private:

rclcpp/include/rclcpp/rclcpp.hpp

@@ -167,6 +167,6 @@
 #include "rclcpp/waitable.hpp"
 #include "rclcpp/wait_set.hpp"
 
-#include "rclcpp/runtime_type_subscription.hpp"
+#include "rclcpp/dynamic_subscription.hpp"
 
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/subscription.hpp

@@ -391,38 +391,38 @@ class Subscription : public SubscriptionBase
   // RUNTIME TYPE ==================================================================================
   // TODO(methylDragon): Reorder later
   // TODO(methylDragon): Implement later...
-  std::shared_ptr<ser_dynamic_type_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_type_t>
   get_dynamic_type() override
   {
     throw rclcpp::exceptions::UnimplementedError(
       "get_dynamic_type is not implemented for Subscription");
   }
 
-  std::shared_ptr<ser_dynamic_data_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
   get_dynamic_data() override
   {
     throw rclcpp::exceptions::UnimplementedError(
       "get_dynamic_data is not implemented for Subscription");
   }
 
-  std::shared_ptr<serialization_support_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>
   get_serialization_support() override
   {
     throw rclcpp::exceptions::UnimplementedError(
       "get_serialization_support is not implemented for Subscription");
   }
 
   void
-  handle_runtime_type_message(
-    const std::shared_ptr<serialization_support_t> & ser,
-    const std::shared_ptr<ser_dynamic_data_t> & dyn_data,
+  handle_dynamic_message(
+    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
+    const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info) override
   {
-    (void) ser;
+    (void) serialization_support;
     (void) dyn_data;
     (void) message_info;
     throw rclcpp::exceptions::UnimplementedError(
-      "handle_runtime_type_message is not implemented for Subscription");
+      "handle_dynamic_message is not implemented for Subscription");
   }
 
 private:

rclcpp/include/rclcpp/subscription_base.hpp

@@ -77,7 +77,7 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options Options for the subscription.
    * \param[in] is_serialized is true if the message will be delivered still serialized
-   * \param[in] use_runtime_type_cb is true if the message will be taken serialized and then handled
+   * \param[in] use_dynamic_message_cb is true if the message will be taken serialized and then handled
    *                             using dynamic type and dynamic data (type constructed at runtime)
    */
   RCLCPP_PUBLIC
@@ -89,8 +89,8 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
     const SubscriptionEventCallbacks & event_callbacks,
     bool use_default_callbacks,
     bool is_serialized = false,
-    bool use_runtime_type_cb = false,
-    bool use_take_runtime_type_message = false);
+    bool use_dynamic_message_cb = false,
+    bool use_take_dynamic_message = false);
     // TODO(methylDragon): If we don't need this, remove it,
     // rclcpp::node_interfaces::NodeGraphInterface * node_graph = 0,
     // rclcpp::node_interfaces::NodeServicesInterface * node_services = 0);
@@ -546,47 +546,47 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   // TODO(methylDragon): Reorder later
   RCLCPP_PUBLIC
   virtual
-  std::shared_ptr<ser_dynamic_type_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_type_t>
   get_dynamic_type() = 0;
 
   RCLCPP_PUBLIC
   virtual
-  std::shared_ptr<ser_dynamic_data_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
   get_dynamic_data() = 0;
 
   RCLCPP_PUBLIC
   virtual
-  std::shared_ptr<serialization_support_t>
+  std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>
   get_serialization_support() = 0;
 
   RCLCPP_PUBLIC
   virtual
   void
-  handle_runtime_type_message(
-    const std::shared_ptr<serialization_support_t> & ser,
-    const std::shared_ptr<ser_dynamic_data_t> & dyn_data,
+  handle_dynamic_message(
+    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
+    const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info
   ) = 0;
 
   // TODO(methylDragon):
   // RCLCPP_PUBLIC
   // bool
-  // take_runtime_type_message(ser_dynamic_data_t * message_out, rclcpp::MessageInfo & message_info_out);
+  // take_dynamic_message(rosidl_dynamic_typesupport_dynamic_data_t * message_out, rclcpp::MessageInfo & message_info_out);
 
   /// Return if the subscription should use runtime type
   /**
-   * This will cause the subscription to use the handle_runtime_type_message methods, which must be
-   * used with take_serialized or take_runtime_type.
+   * This will cause the subscription to use the handle_dynamic_message methods, which must be
+   * used with take_serialized or take_dynamic_message.
    *
    * \return `true` if the subscription should use a runtime type callback, `false` otherwise
    */
   RCLCPP_PUBLIC
   bool
-  use_runtime_type_cb() const;
+  use_dynamic_message_cb() const;
 
   RCLCPP_PUBLIC
   bool
-  use_take_runtime_type_message() const;
+  use_take_dynamic_message() const;
   // ===============================================================================================
 
 
@@ -644,8 +644,8 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
 
   rosidl_message_type_support_t type_support_;
   bool is_serialized_;
-  bool use_runtime_type_cb_;
-  bool use_take_runtime_type_message_;
+  bool use_dynamic_message_cb_;
+  bool use_take_dynamic_message_;
 
   std::atomic<bool> subscription_in_use_by_wait_set_{false};
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};