Copied type_description_interfaces structs (rep2011) (#732)

* Copied type_description_interfaces structs

* Also add a github action to check that fingerprints are changed along with copied sources

Signed-off-by: Emerson Knapp <emerson.b.knapp@gmail.com>

.github/workflows/check-copied-type-description-sources.yaml

@@ -0,0 +1,33 @@
+name: Check copied type description sources
+
+on:
+  pull_request:
+
+jobs:
+  test_copied_sources_changed_with_fingerprint:
+    runs-on: ubuntu-latest
+    outputs:
+      needs_verification: ${{ steps.needs_verification.outputs.changed }}
+    steps:
+    - uses: actions/checkout@v3
+    - name: Check fingerprint changed
+      uses: tj-actions/changed-files@v35
+      id: changed-fingerprint
+      with:
+        files: scripts/type_description.fingerprint
+    - name: Check type description sources changed
+      uses: tj-actions/changed-files@v35
+      id: changed-copied-sources
+      with:
+        files: |
+          rosidl_runtime_c/include/rosidl_runtime_c/type_description/**
+          rosidl_runtime_c/src/type_description/**
+          rosidl_runtime_cpp/include/rosidl_runtime_cpp/type_description/**
+    - if: (steps.changed-fingerprint.outputs.any_changed == 'true') && (steps.changed-copied-sources.outputs.any_changed != 'true')
+      run: |
+        echo "Fingerprint changed but no copied sources changed"
+        exit 1
+    - if: (steps.changed-fingerprint.outputs.any_changed != 'true') && (steps.changed-copied-sources.outputs.any_changed == 'true')
+      run: |
+        echo "Copied sources changed but fingerprint not updated"
+        exit 1

rosidl_runtime_c/CMakeLists.txt

@@ -15,6 +15,8 @@ find_package(ament_cmake_ros REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_interface REQUIRED)
 
+file(GLOB type_description_sources "src/type_description/*.c")
+file(GLOB type_description_includes "include/rosidl_runtime_c/type_description/*.h")
 add_library(${PROJECT_NAME}
   "src/message_type_support.c"
   "src/primitives_sequence_functions.c"
@@ -23,6 +25,7 @@ add_library(${PROJECT_NAME}
   "src/string_functions.c"
   "src/type_hash.c"
   "src/u16string_functions.c"
+  ${type_description_sources}
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
@@ -60,8 +63,31 @@ if(BUILD_TESTING)
   # Give cppcheck hints about macro definitions coming from outside this package
   get_target_property(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS performance_test_fixture::performance_test_fixture
     INTERFACE_INCLUDE_DIRECTORIES)
+
+  set(AMENT_LINT_AUTO_FILE_EXCLUDE ${type_description_includes} ${type_description_sources})
   ament_lint_auto_find_test_dependencies()
 
+  # Run specific linters on copied generated code
+  if(ament_cmake_cppcheck_FOUND)
+    ament_cppcheck(
+      TESTNAME "cppcheck_copied_type_description_interfaces"
+      ${type_description_includes} ${type_description_sources})
+  endif()
+  if(ament_cmake_cpplint_FOUND)
+    ament_cpplint(
+      TESTNAME "cpplint_copied_type_description_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 999
+      ${type_description_includes} ${type_description_sources})
+  endif()
+  if(ament_cmake_uncrustify_FOUND)
+    ament_uncrustify(
+      TESTNAME "uncrustify_copied_type_description_interfaces"
+      # the generated code might contain longer lines for templated types
+      MAX_LINE_LENGTH 0
+      ${type_description_includes} ${type_description_sources})
+  endif()
+
   # For gtest
   enable_language(CXX)
   # Default to C++17

rosidl_runtime_c/docs/FEATURES.md

@@ -27,3 +27,17 @@ They are defined for the three main ROS 2 rosidl types:
 * Messages (`message_type_support_struct.h`)
 * Services (`service_type_support_struct.h`)
 * Actions (`action_type_support_struct.h`)
+
+## Type Description Interface Structs
+
+A copy of the output of `rosidl_generator_c` for `type_description_interfaces` messages.
+The copy is needed to avoid a circular dependency - `type_description_interfaces` would be used directly for code generation, except as an interface package like any other, it depends on `rosidl_runtime_c` to have its code generated.
+
+Provides base runtime representations of the descriptions of interface types in C.
+These can be used in code generation to embed descriptions of types, and can be used for programmatic creation of dynamic types.
+The types are renamed so that they do not overlap with `type_description_interfaces` - and can be used in their code generation so that even those messages are self-describing.
+
+Note that end users will typically fetch and use the `type_description_interfaces__msg__TypeDescription` and its members instead of the `rosidl_runtime_c` types.
+Functions will be provided in `rcl` that convert between `rosidl_runtime_c__type_description__` and `type_description_interfaces__msg__` types.
+
+See `rosidl/scripts/copy_type_descripiton_generated_sources.bash` for usage and details of how sources are copied, and what modifications are made.

rosidl_runtime_c/include/rosidl_runtime_c/type_description/field__functions.h

@@ -0,0 +1,177 @@
+// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash
+// generated from rosidl_generator_c/resource/idl__functions.h.em
+// with input from type_description_interfaces:msg/Field.idl
+// generated code does not contain a copyright notice
+
+#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__FUNCTIONS_H_
+#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__FUNCTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "rosidl_runtime_c/visibility_control.h"
+
+#include "rosidl_runtime_c/type_description/field__struct.h"
+
+/// Initialize msg/Field message.
+/**
+ * If the init function is called twice for the same message without
+ * calling fini inbetween previously allocated memory will be leaked.
+ * \param[in,out] msg The previously allocated message pointer.
+ * Fields without a default value will not be initialized by this function.
+ * You might want to call memset(msg, 0, sizeof(
+ * rosidl_runtime_c__type_description__Field
+ * )) before or use
+ * rosidl_runtime_c__type_description__Field__create()
+ * to allocate and initialize the message.
+ * \return true if initialization was successful, otherwise false
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+bool
+rosidl_runtime_c__type_description__Field__init(rosidl_runtime_c__type_description__Field * msg);
+
+/// Finalize msg/Field message.
+/**
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+void
+rosidl_runtime_c__type_description__Field__fini(rosidl_runtime_c__type_description__Field * msg);
+
+/// Create msg/Field message.
+/**
+ * It allocates the memory for the message, sets the memory to zero, and
+ * calls
+ * rosidl_runtime_c__type_description__Field__init().
+ * \return The pointer to the initialized message if successful,
+ * otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+rosidl_runtime_c__type_description__Field *
+rosidl_runtime_c__type_description__Field__create();
+
+/// Destroy msg/Field message.
+/**
+ * It calls
+ * rosidl_runtime_c__type_description__Field__fini()
+ * and frees the memory of the message.
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+void
+rosidl_runtime_c__type_description__Field__destroy(rosidl_runtime_c__type_description__Field * msg);
+
+/// Check for msg/Field message equality.
+/**
+ * \param[in] lhs The message on the left hand size of the equality operator.
+ * \param[in] rhs The message on the right hand size of the equality operator.
+ * \return true if messages are equal, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+bool
+rosidl_runtime_c__type_description__Field__are_equal(const rosidl_runtime_c__type_description__Field * lhs, const rosidl_runtime_c__type_description__Field * rhs);
+
+/// Copy a msg/Field message.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source message pointer.
+ * \param[out] output The target message pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer is null
+ *   or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+bool
+rosidl_runtime_c__type_description__Field__copy(
+  const rosidl_runtime_c__type_description__Field * input,
+  rosidl_runtime_c__type_description__Field * output);
+
+/// Initialize array of msg/Field messages.
+/**
+ * It allocates the memory for the number of elements and calls
+ * rosidl_runtime_c__type_description__Field__init()
+ * for each element of the array.
+ * \param[in,out] array The allocated array pointer.
+ * \param[in] size The size / capacity of the array.
+ * \return true if initialization was successful, otherwise false
+ * If the array pointer is valid and the size is zero it is guaranteed
+ # to return true.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+bool
+rosidl_runtime_c__type_description__Field__Sequence__init(rosidl_runtime_c__type_description__Field__Sequence * array, size_t size);
+
+/// Finalize array of msg/Field messages.
+/**
+ * It calls
+ * rosidl_runtime_c__type_description__Field__fini()
+ * for each element of the array and frees the memory for the number of
+ * elements.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+void
+rosidl_runtime_c__type_description__Field__Sequence__fini(rosidl_runtime_c__type_description__Field__Sequence * array);
+
+/// Create array of msg/Field messages.
+/**
+ * It allocates the memory for the array and calls
+ * rosidl_runtime_c__type_description__Field__Sequence__init().
+ * \param[in] size The size / capacity of the array.
+ * \return The pointer to the initialized array if successful, otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+rosidl_runtime_c__type_description__Field__Sequence *
+rosidl_runtime_c__type_description__Field__Sequence__create(size_t size);
+
+/// Destroy array of msg/Field messages.
+/**
+ * It calls
+ * rosidl_runtime_c__type_description__Field__Sequence__fini()
+ * on the array,
+ * and frees the memory of the array.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+void
+rosidl_runtime_c__type_description__Field__Sequence__destroy(rosidl_runtime_c__type_description__Field__Sequence * array);
+
+/// Check for msg/Field message array equality.
+/**
+ * \param[in] lhs The message array on the left hand size of the equality operator.
+ * \param[in] rhs The message array on the right hand size of the equality operator.
+ * \return true if message arrays are equal in size and content, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+bool
+rosidl_runtime_c__type_description__Field__Sequence__are_equal(const rosidl_runtime_c__type_description__Field__Sequence * lhs, const rosidl_runtime_c__type_description__Field__Sequence * rhs);
+
+/// Copy an array of msg/Field messages.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source array pointer.
+ * \param[out] output The target array pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer
+ *   is null or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC
+bool
+rosidl_runtime_c__type_description__Field__Sequence__copy(
+  const rosidl_runtime_c__type_description__Field__Sequence * input,
+  rosidl_runtime_c__type_description__Field__Sequence * output);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__FUNCTIONS_H_

rosidl_runtime_c/include/rosidl_runtime_c/type_description/field__struct.h

@@ -0,0 +1,67 @@
+// DO NOT EDIT MANUALLY - this copied file managed by copy_type_description_generated_sources.bash
+// generated from rosidl_generator_c/resource/idl__struct.h.em
+// with input from type_description_interfaces:msg/Field.idl
+// generated code does not contain a copyright notice
+
+#ifndef ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__STRUCT_H_
+#define ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__STRUCT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "rosidl_runtime_c/type_hash.h"
+
+
+// Type Hash for interface
+static const rosidl_type_hash_t rosidl_runtime_c__type_description__Field__TYPE_HASH = {1, {
+    0xc0, 0xb0, 0x13, 0x79, 0xcd, 0x42, 0x26, 0x28,
+    0x12, 0x85, 0xcc, 0xaf, 0x6b, 0xe4, 0x66, 0x53,
+    0x96, 0x8f, 0x85, 0x5f, 0x7c, 0x5e, 0x41, 0x61,
+    0x4f, 0xf5, 0xd7, 0xa8, 0x54, 0xef, 0xef, 0x7c,
+  }};
+
+// Constants defined in the message
+
+// Include directives for member types
+// Member 'name'
+// Member 'default_value'
+#include "rosidl_runtime_c/string.h"
+// Member 'type'
+#include "rosidl_runtime_c/type_description/field_type__struct.h"
+
+/// Struct defined in msg/Field in the package type_description_interfaces.
+/**
+  * Represents a single field in a type.
+ */
+typedef struct rosidl_runtime_c__type_description__Field
+{
+  /// Name of the field.
+  rosidl_runtime_c__String name;
+  /// Type of the field, including details about the type like length, nested name, etc.
+  rosidl_runtime_c__type_description__FieldType type;
+  /// Literal default value of the field as a string, as it appeared in the original
+  /// message description file, whether that be .msg/.srv/.action or .idl.
+  rosidl_runtime_c__String default_value;
+} rosidl_runtime_c__type_description__Field;
+
+// Struct for a sequence of rosidl_runtime_c__type_description__Field.
+typedef struct rosidl_runtime_c__type_description__Field__Sequence
+{
+  rosidl_runtime_c__type_description__Field * data;
+  /// The number of valid items in data
+  size_t size;
+  /// The number of allocated items in data
+  size_t capacity;
+} rosidl_runtime_c__type_description__Field__Sequence;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // ROSIDL_RUNTIME_C__TYPE_DESCRIPTION__FIELD__STRUCT_H_