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Add type_description struct conversion utils
Signed-off-by: methylDragon <[email protected]>
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‎rclcpp/include/rclcpp/dynamic_typesupport/type_description_conversions.hpp

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// Copyright 2025 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__TYPE_DESCRIPTION_CONVERSIONS_HPP_
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#define RCLCPP__DYNAMIC_TYPESUPPORT__TYPE_DESCRIPTION_CONVERSIONS_HPP_
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#include "rosidl_runtime_cpp/type_description/individual_type_description__struct.hpp"
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#include "rosidl_runtime_cpp/type_description/type_description__struct.hpp"
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#include "rosidl_runtime_cpp/type_description/type_source__struct.hpp"
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#include "type_description_interfaces/msg/individual_type_description.hpp"
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#include "type_description_interfaces/msg/type_description.hpp"
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#include "type_description_interfaces/msg/type_source.hpp"
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namespace rclcpp
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{
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namespace dynamic_typesupport
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{
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// IndividualTypeDescription =======================================================================
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/// Convert a runtime individual type description struct to its corresponding message.
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/**
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* This function converts a rosidl_runtime_cpp::type_description::IndividualTypeDescription
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* struct to the corresponding type_description_interfaces/msg/IndividualTypeDescription
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* msg.
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*
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* \param[in] runtime_individual_description the runtime struct to convert
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* \return the converted individual type description msg
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*/
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template<
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typename ToAllocatorT = std::allocator<void>,
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typename FromAllocatorT
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>
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type_description_interfaces::msg::IndividualTypeDescription_<ToAllocatorT>
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convert_individual_type_description_runtime_to_msg(
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const rosidl_runtime_cpp::type_description::IndividualTypeDescription_<FromAllocatorT> &
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runtime_individual_description, const ToAllocatorT & alloc = ToAllocatorT())
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{
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type_description_interfaces::msg::IndividualTypeDescription_<ToAllocatorT> out(alloc);
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out.type_name = runtime_individual_description.type_name;
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for (const auto & field : runtime_individual_description.fields) {
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out.fields.emplace_back();
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out.fields.back().name = field.name;
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out.fields.back().default_value = field.default_value;
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out.fields.back().type.type_id = field.type.type_id;
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out.fields.back().type.capacity = field.type.capacity;
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out.fields.back().type.string_capacity = field.type.string_capacity;
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out.fields.back().type.nested_type_name = field.type.nested_type_name;
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}
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return out;
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}
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/// Convert a individual type description message to its corresponding runtime struct.
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/**
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* This function converts a type_description_interfaces/msg/IndividualTypeDescription msg
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* to the corresponding rosidl_runtime_cpp::type_description::IndividualTypeDescription
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* struct.
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*
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* \param[in] description_msg the message to convert
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* \return the converted runtime struct
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*/
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template<
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typename ToAllocatorT = std::allocator<void>,
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typename FromAllocatorT
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>
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rosidl_runtime_cpp::type_description::IndividualTypeDescription_<ToAllocatorT>
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convert_individual_type_description_msg_to_runtime(
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const type_description_interfaces::msg::IndividualTypeDescription_<FromAllocatorT> &
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individual_description_msg, const ToAllocatorT & alloc = ToAllocatorT())
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{
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rosidl_runtime_cpp::type_description::IndividualTypeDescription_<ToAllocatorT> out(alloc);
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out.type_name = individual_description_msg.type_name;
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for (const auto & field : individual_description_msg.fields) {
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out.fields.emplace_back();
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out.fields.back().name = field.name;
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out.fields.back().default_value = field.default_value;
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out.fields.back().type.type_id = field.type.type_id;
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out.fields.back().type.capacity = field.type.capacity;
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out.fields.back().type.string_capacity = field.type.string_capacity;
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out.fields.back().type.nested_type_name = field.type.nested_type_name;
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}
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return out;
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}
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// TypeDescription =================================================================================
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/// Convert a runtime type description struct to its corresponding message.
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/**
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* This function converts a rosidl_runtime_cpp::type_description::TypeDescription
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* struct to the corresponding type_description_interfaces/msg/TypeDescription
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* msg.
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*
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* \param[in] runtime_description the runtime struct to convert
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* \return the converted message
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*/
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template<
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typename ToAllocatorT = std::allocator<void>,
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typename FromAllocatorT
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>
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type_description_interfaces::msg::TypeDescription_<ToAllocatorT>
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convert_type_description_runtime_to_msg(
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const rosidl_runtime_cpp::type_description::TypeDescription_<FromAllocatorT> & runtime_description,
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const ToAllocatorT & alloc = ToAllocatorT())
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{
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type_description_interfaces::msg::TypeDescription_<ToAllocatorT> out(alloc);
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out.type_description =
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convert_individual_type_description_runtime_to_msg(runtime_description.type_description, alloc);
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for (const auto & referenced_type_description :
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runtime_description.referenced_type_descriptions)
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{
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out.referenced_type_descriptions.push_back(convert_individual_type_description_runtime_to_msg(
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referenced_type_description, alloc));
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}
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return out;
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}
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/// Convert a type description message to its corresponding runtime struct.
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/**
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* This function converts a type_description_interfaces/msg/TypeDescription msg
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* to the corresponding rosidl_runtime_cpp::type_description::TypeDescription
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* struct.
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*
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* \param[in] description_msg the message to convert
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* \return the converted runtime struct
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*/
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template<
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typename ToAllocatorT = std::allocator<void>,
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typename FromAllocatorT
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>
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rosidl_runtime_cpp::type_description::TypeDescription_<ToAllocatorT>
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convert_type_description_msg_to_runtime(
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const type_description_interfaces::msg::TypeDescription_<FromAllocatorT> & description_msg,
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const ToAllocatorT & alloc = ToAllocatorT())
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{
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rosidl_runtime_cpp::type_description::TypeDescription_<ToAllocatorT> out(alloc);
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out.type_description =
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convert_individual_type_description_msg_to_runtime(description_msg.type_description, alloc);
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for (const auto & referenced_type_description : description_msg.referenced_type_descriptions) {
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out.referenced_type_descriptions.push_back(convert_individual_type_description_msg_to_runtime(
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referenced_type_description, alloc));
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}
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return out;
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}
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// TypeSource ======================================================================================
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/// Convert a runtime type source struct to its corresponding message.
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/**
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* This function converts a rosidl_runtime_cpp::type_description::TypeSource
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* struct to the corresponding type_description_interfaces/msg/TypeSource msg.
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*
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* \param[in] runtime_type_source the runtime struct to convert
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* \return the converted message
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*/
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template<
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typename ToAllocatorT = std::allocator<void>,
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typename FromAllocatorT
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>
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type_description_interfaces::msg::TypeSource_<ToAllocatorT>
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convert_type_source_sequence_runtime_to_msg(
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const rosidl_runtime_cpp::type_description::TypeSource_<FromAllocatorT> & runtime_type_source,
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const ToAllocatorT & alloc = ToAllocatorT())
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{
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type_description_interfaces::msg::TypeSource_<ToAllocatorT> out(alloc);
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out.type_name = runtime_type_source.type_name;
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out.encoding = runtime_type_source.encoding;
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out.raw_file_contents = runtime_type_source.raw_file_contents;
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return out;
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}
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/// Convert a type source message to its corresponding runtime struct.
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/**
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* This function converts a type_description_interfaces/msg/TypeSource msg to
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* the corresponding rosidl_runtime_cpp::type_description::TypeSource struct.
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*
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* \param[in] type_source_msg the message to convert
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* \return the converted runtime struct
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*/
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template<
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typename ToAllocatorT = std::allocator<void>,
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typename FromAllocatorT
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>
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rosidl_runtime_cpp::type_description::TypeSource_<ToAllocatorT>
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convert_type_source_sequence_msg_to_runtime(
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const type_description_interfaces::msg::TypeSource_<FromAllocatorT> & type_source_msg,
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const ToAllocatorT & alloc = ToAllocatorT())
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{
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rosidl_runtime_cpp::type_description::TypeSource_<ToAllocatorT> out(alloc);
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out.type_name = type_source_msg.type_name;
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out.encoding = type_source_msg.encoding;
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out.raw_file_contents = type_source_msg.raw_file_contents;
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return out;
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}
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} // namespace dynamic_typesupport
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} // namespace rclcpp
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#endif // RCLCPP__DYNAMIC_TYPESUPPORT__TYPE_DESCRIPTION_CONVERSIONS_HPP_

‎rclcpp/test/rclcpp/CMakeLists.txt

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if(TARGET test_allocator_deleter)
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target_link_libraries(test_allocator_deleter ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_type_description_conversions
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dynamic_typesupport/test_type_description_conversions.cpp)
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if(TARGET test_type_description_conversions)
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target_link_libraries(test_type_description_conversions ${PROJECT_NAME} ${rcl_interfaces_TARGETS})
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endif()
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ament_add_gtest(
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test_exceptions
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exceptions/test_exceptions.cpp)

‎rclcpp/test/rclcpp/dynamic_typesupport/test_type_description_conversions.cpp

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// Copyright 2025 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <gtest/gtest.h>
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#include "rclcpp/dynamic_typesupport/type_description_conversions.hpp"
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#include "rosidl_runtime_cpp/type_description/individual_type_description__struct.hpp"
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#include "rosidl_runtime_cpp/type_description/type_description__struct.hpp"
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#include "rosidl_runtime_cpp/type_description/type_source__struct.hpp"
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#include "type_description_interfaces/msg/individual_type_description.hpp"
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#include "type_description_interfaces/msg/type_description.hpp"
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#include "type_description_interfaces/msg/type_source.hpp"
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using rclcpp::dynamic_typesupport::
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convert_individual_type_description_msg_to_runtime;
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using rclcpp::dynamic_typesupport::
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convert_individual_type_description_runtime_to_msg;
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using rclcpp::dynamic_typesupport::convert_type_description_msg_to_runtime;
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using rclcpp::dynamic_typesupport::convert_type_description_runtime_to_msg;
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using rclcpp::dynamic_typesupport::convert_type_source_sequence_msg_to_runtime;
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using rclcpp::dynamic_typesupport::convert_type_source_sequence_runtime_to_msg;
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TEST(TestTypeDescriptionConversions, individual_type_description_roundtrip)
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{
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rosidl_runtime_cpp::type_description::IndividualTypeDescription original;
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original.type_name = "test_type_name";
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original.fields.emplace_back();
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original.fields.back().name = "field1";
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original.fields.back().type.type_id = 1;
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original.fields.emplace_back();
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original.fields.back().name = "field2";
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original.fields.back().type.type_id = 2;
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type_description_interfaces::msg::IndividualTypeDescription msg =
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convert_individual_type_description_runtime_to_msg(original);
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rosidl_runtime_cpp::type_description::IndividualTypeDescription converted_back
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=
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convert_individual_type_description_msg_to_runtime(msg);
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EXPECT_EQ(original.type_name, converted_back.type_name);
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ASSERT_EQ(original.fields.size(), converted_back.fields.size());
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for (size_t i = 0; i < original.fields.size(); ++i) {
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EXPECT_EQ(original.fields[i].name, converted_back.fields[i].name);
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EXPECT_EQ(original.fields[i].type, converted_back.fields[i].type);
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}
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}
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TEST(TestTypeDescriptionConversions, type_description_roundtrip)
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{
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rosidl_runtime_cpp::type_description::TypeDescription original;
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original.type_description.type_name = "main_type";
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original.type_description.fields.emplace_back();
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original.type_description.fields.back().name = "field1";
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original.type_description.fields.back().type.type_id = 1;
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original.type_description.fields.emplace_back();
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original.type_description.fields.back().name = "field2";
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original.type_description.fields.back().type.type_id = 2;
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rosidl_runtime_cpp::type_description::IndividualTypeDescription ref1;
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ref1.type_name = "ref_type_1";
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ref1.fields.emplace_back();
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ref1.fields.back().name = "ref_field1";
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ref1.fields.back().type.type_id = 1;
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rosidl_runtime_cpp::type_description::IndividualTypeDescription ref2;
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ref2.type_name = "ref_type_2";
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ref2.fields.emplace_back();
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ref2.fields.back().name = "ref_field2";
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ref2.fields.back().type.type_id = 2;
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original.referenced_type_descriptions.push_back(ref1);
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original.referenced_type_descriptions.push_back(ref2);
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type_description_interfaces::msg::TypeDescription msg =
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convert_type_description_runtime_to_msg(original);
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rosidl_runtime_cpp::type_description::TypeDescription converted_back =
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convert_type_description_msg_to_runtime(msg);
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EXPECT_EQ(original.type_description.type_name,
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converted_back.type_description.type_name);
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ASSERT_EQ(original.referenced_type_descriptions.size(),
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converted_back.referenced_type_descriptions.size());
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for (size_t i = 0; i < original.referenced_type_descriptions.size(); ++i) {
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EXPECT_EQ(original.referenced_type_descriptions[i].type_name,
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converted_back.referenced_type_descriptions[i].type_name);
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}
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}
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TEST(TestTypeSourceConversions, type_source_roundtrip)
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{
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rosidl_runtime_cpp::type_description::TypeSource original;
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original.type_name = "test_type_name";
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original.encoding = "test_encoding";
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original.raw_file_contents = "test_contents";
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type_description_interfaces::msg::TypeSource msg =
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convert_type_source_sequence_runtime_to_msg(original);
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rosidl_runtime_cpp::type_description::TypeSource converted_back =
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convert_type_source_sequence_msg_to_runtime(msg);
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EXPECT_EQ(original.type_name, converted_back.type_name);
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EXPECT_EQ(original.encoding, converted_back.encoding);
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EXPECT_EQ(original.raw_file_contents, converted_back.raw_file_contents);
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}

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