Use create instead of init

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

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

@@ -34,43 +34,44 @@ namespace dynamic_typesupport
 class DynamicMessage;
 class DynamicMessageTypeBuilder;
 
-/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_type_t *
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t *`
 /**
  * This class:
  * - Manages the lifetime of the raw pointer.
  * - Exposes getter methods to get the raw pointer and shared pointers
  * - Exposes the underlying serialization support API
  *
  * Ownership:
- * - This class borrows the rosidl_dynamic_typesupport_serialization_support_t stored in the passed
- *   DynamicSerializationSupport. So it cannot outlive the DynamicSerializationSupport.
- * - The DynamicSerializationSupport's rosidl_dynamic_typesupport_serialization_support_t pointer
- *   must point to the same location in memory as the stored raw pointer!
+ * - This class borrows the `rosidl_dynamic_typesupport_serialization_support_t` stored in the
+ *   passed `DynamicSerializationSupport`.
+ *   So it cannot outlive the `DynamicSerializationSupport`.
+ * - The `DynamicSerializationSupport`'s `rosidl_dynamic_typesupport_serialization_support_t`
+ *   pointer must point to the same location in memory as the stored raw pointer!
  *
- * Note: This class is meant to map to the lower level rosidl_dynamic_typesupport_dynamic_type_t,
- *       which can be constructed via DynamicMessageTypeBuilder, which maps to
- *       rosidl_dynamic_typesupport_dynamic_type_builder_t.
+ * This class is meant to map to the lower level `rosidl_dynamic_typesupport_dynamic_type_t`,
+ * which can be constructed via `DynamicMessageTypeBuilder`, which maps to
+ * `rosidl_dynamic_typesupport_dynamic_type_builder_t`.
  *
- *       The usual method of obtaining a DynamicMessageType is through construction of
- *       rosidl_message_type_support_t via rcl_dynamic_message_type_support_handle_init(), then
- *       taking ownership of its contents. But DynamicMessageTypeBuilder can also be used to obtain
- *       DynamicMessageType by constructing it bottom-up instead, since it exposes the lower_level
- *       rosidl methods.
+ *  The usual method of obtaining a `DynamicMessageType` is through construction of
+ *  `rosidl_message_type_support_t` via `rcl_dynamic_message_type_support_handle_create()`, then
+ *  taking ownership of its contents. But `DynamicMessageTypeBuilder` can also be used to obtain
+ *  `DynamicMessageType` by constructing it bottom-up instead, since it exposes the lower_level
+ *  rosidl methods.
  */
 class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>
 {
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageType)
 
   // CONSTRUCTION ==================================================================================
-  // Most constructors require a passed in DynamicSerializationSupport::SharedPtr, to extend the
+  // Most constructors require a passed in `DynamicSerializationSupport::SharedPtr`, to extend the
   // lifetime of the serialization support (if the constructor cannot otherwise get it from args).
   //
   // In cases where a dynamic type pointer is passed, the serialization support composed by
-  // the type should be the exact same object managed by the DynamicSerializationSupport,
+  // the type should be the exact same object managed by the `DynamicSerializationSupport`,
   // otherwise the lifetime management will not work properly.
 
-  /// Construct a new DynamicMessageType with the provided dynamic type builder
+  /// Construct a new `DynamicMessageType` with the provided dynamic type builder
   RCLCPP_PUBLIC
   explicit DynamicMessageType(std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder);
 
@@ -111,7 +112,7 @@ class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageTyp
   RCLCPP_PUBLIC
   virtual ~DynamicMessageType();
 
-  /// Swaps the serialization support if serialization_support is populated
+  /// Swaps the serialization support if `serialization_support` is populated
   RCLCPP_PUBLIC
   void
   init_from_description(
@@ -183,7 +184,7 @@ class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageTyp
   // It isn't actually used by the builder since the builder should compose its own support
   //
   // ... Though ideally it should be the exact same support as the one stored in the
-  // DynamicSerializationSupport
+  // `DynamicSerializationSupport`
   DynamicSerializationSupport::SharedPtr serialization_support_;
 
   std::shared_ptr<rosidl_dynamic_typesupport_dynamic_type_t> rosidl_dynamic_type_;

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

@@ -33,7 +33,7 @@ namespace dynamic_typesupport
 class DynamicMessage;
 class DynamicMessageType;
 
-/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_type_builder_t *
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
 /**
  * This class:
  * - Manages the lifetime of the raw pointer.
@@ -42,33 +42,34 @@ class DynamicMessageType;
  *
  * Ownership:
  * - This class borrows the rosidl_dynamic_typesupport_serialization_support_t stored in the passed
- *   DynamicSerializationSupport. So it cannot outlive the DynamicSerializationSupport.
- * - The DynamicSerializationSupport's rosidl_dynamic_typesupport_serialization_support_t pointer
- *   must point to the same location in memory as the stored raw pointer!
+ *   `DynamicSerializationSupport`.
+ *   So it cannot outlive the `DynamicSerializationSupport`.
+ * - The `DynamicSerializationSupport`'s `rosidl_dynamic_typesupport_serialization_support_t`
+ *   pointer must point to the same location in memory as the stored raw pointer!
  *
- * Note: This class is meant to map to rosidl_dynamic_typesupport_dynamic_type_builder_t,
- *       facilitating the construction of dynamic types bottom-up in the C++ layer.
+ * This class is meant to map to rosidl_dynamic_typesupport_dynamic_type_builder_t, facilitating the
+ * construction of dynamic types bottom-up in the C++ layer.
  *
- *       The usual method of obtaining a DynamicMessageType is through construction of
- *       rosidl_message_type_support_t via rcl_dynamic_message_type_support_handle_init(), then taking
- *       ownership of its contents. But DynamicMessageTypeBuilder can also be used to obtain
- *       DynamicMessageType by constructing it bottom-up instead, since it exposes the lower_level
- *       rosidl methods.
+ * The usual method of obtaining a `DynamicMessageType` is through construction of
+ * `rosidl_message_type_support_t` via `rcl_dynamic_message_type_support_handle_create()`, then
+ * taking ownership of its contents.
+ * But `DynamicMessageTypeBuilder` can also be used to obtain `DynamicMessageType` by constructing
+ * it bottom-up instead, since it exposes the lower_level rosidl methods.
  */
 class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>
 {
 public:
   RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeBuilder)
 
   // CONSTRUCTION ==================================================================================
-  // All constructors require a passed in DynamicSerializationSupport::SharedPtr, to extend the
+  // All constructors require a passed in `DynamicSerializationSupport::SharedPtr`, to extend the
   // lifetime of the serialization support.
   //
   // In cases where a dynamic type builder pointer is passed, the serialization support composed by
-  // the builder should be the exact same object managed by the DynamicSerializationSupport,
+  // the builder should be the exact same object managed by the `DynamicSerializationSupport`,
   // otherwise the lifetime management will not work properly.
 
-  /// Construct a new DynamicMessageTypeBuilder with the provided serialization support
+  /// Construct a new `DynamicMessageTypeBuilder` with the provided serialization support
   RCLCPP_PUBLIC
   DynamicMessageTypeBuilder(
     DynamicSerializationSupport::SharedPtr serialization_support,
@@ -383,7 +384,7 @@ class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMes
   // It isn't actually used by the builder since the builder should compose its own support
   //
   // ... Though ideally it should be the exact same support as the one stored in the
-  // DynamicSerializationSupport
+  // `DynamicSerializationSupport`
   DynamicSerializationSupport::SharedPtr serialization_support_;
 
   std::shared_ptr<rosidl_dynamic_typesupport_dynamic_type_builder_t> rosidl_dynamic_type_builder_;

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

@@ -35,12 +35,12 @@ namespace rclcpp
 namespace dynamic_typesupport
 {
 
-/// Utility wrapper class for rosidl_message_type_support_t * containing managed
+/// Utility wrapper class for `rosidl_message_type_support_t *` containing managed
 /// instances of the typesupport handle impl.
 /**
  *
  * NOTE: This class is the recommended way to obtain the dynamic message type
- *       support struct, instead of rcl_dynamic_message_type_support_handle_init,
+ *       support struct, instead of `rcl_dynamic_message_type_support_handle_create()`,
  *       because this class will manage the lifetimes for you.
  *
  *       Do NOT call rcl_dynamic_message_type_support_handle_destroy!!
@@ -52,7 +52,7 @@ namespace dynamic_typesupport
  *   serialization support API
  *
  * Ownership:
- * - This class, similarly to the rosidl_dynamic_typesupport_serialization_support_t, must outlive
+ * - This class, similarly to the `rosidl_dynamic_typesupport_serialization_support_t`, must outlive
  *   all downstream usages of the serialization support.
  */
 class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMessageTypeSupport>
@@ -63,15 +63,15 @@ class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMes
   // CONSTRUCTION ==================================================================================
   /// From description
   /// Does NOT take ownership of the description (copies instead.)
-  /// Constructs type support top-down (calling rcl_dynamic_message_type_support_handle_init)
+  /// Constructs type support top-down (calling `rcl_dynamic_message_type_support_handle_create()`)
   RCLCPP_PUBLIC
   DynamicMessageTypeSupport(
     const rosidl_runtime_c__type_description__TypeDescription & description,
     const std::string & serialization_library_name = "");
 
   /// From description, for provided serialization support
   /// Does NOT take ownership of the description (copies instead.)
-  /// Constructs type support top-down (calling rmw_dynamic_message_type_support_handle_init)
+  /// Constructs type support top-down (calling `rmw_dynamic_message_type_support_handle_create()`)
   RCLCPP_PUBLIC
   DynamicMessageTypeSupport(
     DynamicSerializationSupport::SharedPtr serialization_support,

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp

@@ -58,7 +58,7 @@ DynamicMessage::DynamicMessage(const DynamicMessageTypeBuilder::SharedPtr dynami
   }
 
   rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type_builder(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_create_from_dynamic_type_builder(
     rosidl_dynamic_type_builder, &rosidl_dynamic_data);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_data) {
     throw std::runtime_error("could not create new dynamic data object from dynamic type builder");
@@ -90,7 +90,7 @@ DynamicMessage::DynamicMessage(const DynamicMessageType::SharedPtr dynamic_type)
   }
 
   rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_create_from_dynamic_type(
     rosidl_dynamic_type, &rosidl_dynamic_data);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_data) {
     throw std::runtime_error(
@@ -428,7 +428,7 @@ DynamicMessage
 DynamicMessage::init_from_type(DynamicMessageType & type) const
 {
   rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_create_from_dynamic_type(
     type.get_rosidl_dynamic_type(), &rosidl_dynamic_data);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_data) {
     throw std::runtime_error("could not create new dynamic data object from dynamic type");
@@ -441,7 +441,7 @@ DynamicMessage::SharedPtr
 DynamicMessage::init_from_type_shared(DynamicMessageType & type) const
 {
   rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_create_from_dynamic_type(
     type.get_rosidl_dynamic_type(), &rosidl_dynamic_data);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_data) {
     throw std::runtime_error("could not create new dynamic data object from dynamic type");

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp

@@ -50,7 +50,7 @@ DynamicMessageType::DynamicMessageType(DynamicMessageTypeBuilder::SharedPtr dyna
   }
 
   rosidl_dynamic_typesupport_dynamic_type_t * rosidl_dynamic_type = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_init_from_dynamic_type_builder(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_create_from_dynamic_type_builder(
     rosidl_dynamic_type_builder, &rosidl_dynamic_type);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_type) {
     throw std::runtime_error("could not create new dynamic type object");
@@ -159,7 +159,7 @@ DynamicMessageType::init_from_description(
   }
 
   rosidl_dynamic_typesupport_dynamic_type_t * rosidl_dynamic_type = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_init_from_description(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_create_from_description(
     serialization_support_->get_rosidl_serialization_support(), &description, &rosidl_dynamic_type);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_type) {
     throw std::runtime_error("could not create new dynamic type object");

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp

@@ -40,7 +40,7 @@ using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
 #endif
 
 
-// CONSTRUCTION ==================================================================================
+// CONSTRUCTION ====================================================================================
 DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
   DynamicSerializationSupport::SharedPtr serialization_support, const std::string & name)
 : serialization_support_(serialization_support), rosidl_dynamic_type_builder_(nullptr)
@@ -153,7 +153,7 @@ DynamicMessageTypeBuilder::init_from_description(
   }
 
   rosidl_dynamic_typesupport_dynamic_type_builder_t * rosidl_dynamic_type_builder = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_init_from_description(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_create_from_description(
     serialization_support_->get_rosidl_serialization_support(), &description,
     &rosidl_dynamic_type_builder);
   if (ret != RCUTILS_RET_OK || !rosidl_dynamic_type_builder) {
@@ -183,7 +183,7 @@ DynamicMessageTypeBuilder::init_from_serialization_support_(
 
 
   rosidl_dynamic_typesupport_dynamic_type_builder_t * rosidl_dynamic_type_builder = nullptr;
-  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_init(
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_create(
     serialization_support->get_rosidl_serialization_support(),
     name.c_str(), name.size(),
     &rosidl_dynamic_type_builder);

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -57,9 +57,9 @@ DynamicMessageTypeSupport::DynamicMessageTypeSupport(
   rcl_ret_t ret;
 
   if (serialization_library_name.empty()) {
-    ret = rcl_dynamic_message_type_support_handle_init(nullptr, &description, &ts);
+    ret = rcl_dynamic_message_type_support_handle_create(nullptr, &description, &ts);
   } else {
-    ret = rcl_dynamic_message_type_support_handle_init(
+    ret = rcl_dynamic_message_type_support_handle_create(
       serialization_library_name.c_str(), &description, &ts);
   }
   if (ret != RCL_RET_OK) {
@@ -135,7 +135,7 @@ DynamicMessageTypeSupport::DynamicMessageTypeSupport(
     throw std::runtime_error("failed to get type hash");
   }
 
-  rmw_ret_t ret = rmw_dynamic_message_type_support_handle_init(
+  rmw_ret_t ret = rmw_dynamic_message_type_support_handle_create(
     serialization_support->get_rosidl_serialization_support(),
     rmw_feature_supported(RMW_MIDDLEWARE_SUPPORTS_TYPE_DISCOVERY),
     type_hash.get(),  // type_hash
@@ -280,8 +280,8 @@ DynamicMessageTypeSupport::manage_description_(
 }
 
 
-// NOTE(methylDragon): This looks like rmw_dynamic_message_type_support_handle_init, but instead
-//                     just aggregates already initialized objects
+// This looks like rmw_`dynamic_message_type_support_handle_create()`, but instead just aggregates
+// already initialized objects
 void
 DynamicMessageTypeSupport::init_rosidl_message_type_support_(
   DynamicSerializationSupport::SharedPtr serialization_support,

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp

@@ -29,7 +29,7 @@ using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
 
 // CONSTRUCTION ====================================================================================
 DynamicSerializationSupport::DynamicSerializationSupport()
-: DynamicSerializationSupport::DynamicSerializationSupport("") {};
+: DynamicSerializationSupport::DynamicSerializationSupport("") {}
 
 DynamicSerializationSupport::DynamicSerializationSupport(
   const std::string & serialization_library_name)