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methylDragonmethylDragon
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Dynamic Subscription (REP-2011 Subset): Stubs for rclcpp (#2165)
* Implement subscription base changes * Add stubbed out classes Signed-off-by: methylDragon <[email protected]>
1 parent 3088b53 commit b8173e2

20 files changed

+902
-73
lines changed

‎rclcpp/CMakeLists.txt

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@@ -49,6 +49,11 @@ set(${PROJECT_NAME}_SRCS
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src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
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src/rclcpp/detail/utilities.cpp
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src/rclcpp/duration.cpp
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src/rclcpp/dynamic_typesupport/dynamic_message.cpp
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src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp
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src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp
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src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
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src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
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src/rclcpp/event.cpp
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src/rclcpp/exceptions/exceptions.cpp
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src/rclcpp/executable_list.cpp

‎rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp

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// Copyright 2023 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__DYNAMIC_MESSAGE_HPP_
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#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
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#include <rcl/allocator.h>
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#include <rcl/types.h>
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#include <rosidl_dynamic_typesupport/types.h>
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#include <memory>
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#include <string>
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#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
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#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/visibility_control.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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/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t
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/// STUBBED OUT
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class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessage)
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RCLCPP_PUBLIC
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virtual ~DynamicMessage();
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protected:
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// NOTE(methylDragon):
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// This is just here to extend the lifetime of the serialization support
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// It isn't actually used by the builder since the builder should compose its own support
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//
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// ... Though ideally it should be the exact same support as the one stored in the
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// DynamicSerializationSupport
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DynamicSerializationSupport::SharedPtr serialization_support_;
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rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data_;
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bool is_loaned_;
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// Used for returning the loaned value, and lifetime management
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DynamicMessage::SharedPtr parent_data_;
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private:
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RCLCPP_DISABLE_COPY(DynamicMessage)
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RCLCPP_PUBLIC
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DynamicMessage();
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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__DYNAMIC_MESSAGE_HPP_

‎rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

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// Copyright 2023 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__DYNAMIC_MESSAGE_TYPE_HPP_
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#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
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#include <rcl/allocator.h>
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#include <rosidl_dynamic_typesupport/types.h>
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#include <memory>
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#include <string>
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#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/visibility_control.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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/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t`
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/// STUBBED OUT
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class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageType)
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RCLCPP_PUBLIC
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virtual ~DynamicMessageType();
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protected:
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// NOTE(methylDragon):
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// This is just here to extend the lifetime of the serialization support
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// It isn't actually used by the builder since the builder should compose its own support
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//
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// ... Though ideally it should be the exact same support as the one stored in the
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// `DynamicSerializationSupport`
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DynamicSerializationSupport::SharedPtr serialization_support_;
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rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type_;
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private:
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RCLCPP_DISABLE_COPY(DynamicMessageType)
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RCLCPP_PUBLIC
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DynamicMessageType();
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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__DYNAMIC_MESSAGE_TYPE_HPP_

‎rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

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// Copyright 2023 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__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
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#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
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#include <rcl/allocator.h>
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#include <rosidl_dynamic_typesupport/types.h>
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#include <memory>
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#include <string>
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#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/visibility_control.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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/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
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/// STUBBED OUT
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class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeBuilder)
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RCLCPP_PUBLIC
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virtual ~DynamicMessageTypeBuilder();
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protected:
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// NOTE(methylDragon):
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// This is just here to extend the lifetime of the serialization support
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// It isn't actually used by the builder since the builder should compose its own support
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//
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// ... Though ideally it should be the exact same support as the one stored in the
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// `DynamicSerializationSupport`
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DynamicSerializationSupport::SharedPtr serialization_support_;
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rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder_;
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private:
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RCLCPP_DISABLE_COPY(DynamicMessageTypeBuilder)
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RCLCPP_PUBLIC
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DynamicMessageTypeBuilder();
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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__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_

‎rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

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// Copyright 2023 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__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
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#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
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#include <rcl/allocator.h>
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#include <rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h>
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#include <rosidl_dynamic_typesupport/types.h>
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#include <rosidl_runtime_c/message_type_support_struct.h>
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#include <rosidl_runtime_c/type_description/type_description__struct.h>
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#include <memory>
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#include <string>
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#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
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#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
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#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
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#include "rclcpp/macros.hpp"
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#include "rclcpp/visibility_control.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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/// Utility wrapper class for `rosidl_message_type_support_t` containing managed
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/// STUBBED OUT
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class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMessageTypeSupport>
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeSupport)
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RCLCPP_PUBLIC
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virtual ~DynamicMessageTypeSupport();
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protected:
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DynamicSerializationSupport::SharedPtr serialization_support_;
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DynamicMessageType::SharedPtr dynamic_message_type_;
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DynamicMessage::SharedPtr dynamic_message_;
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rosidl_message_type_support_t rosidl_message_type_support_;
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private:
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RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
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RCLCPP_PUBLIC
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DynamicMessageTypeSupport();
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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__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_

‎rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

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// Copyright 2023 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__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
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#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
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#include <rcl/allocator.h>
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#include <rosidl_dynamic_typesupport/api/serialization_support.h>
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#include <rosidl_dynamic_typesupport/types.h>
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#include <memory>
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#include <string>
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#include "rclcpp/macros.hpp"
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#include "rclcpp/visibility_control.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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/// Utility wrapper class for rosidl_dynamic_typesupport_serialization_support_t
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class DynamicSerializationSupport : public std::enable_shared_from_this<DynamicSerializationSupport>
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{
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public:
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RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicSerializationSupport)
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RCLCPP_PUBLIC
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explicit DynamicSerializationSupport(rcl_allocator_t allocator = rcl_get_default_allocator());
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RCLCPP_PUBLIC
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DynamicSerializationSupport(
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const std::string & serialization_library_name,
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rcl_allocator_t allocator = rcl_get_default_allocator());
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RCLCPP_PUBLIC
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virtual ~DynamicSerializationSupport();
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protected:
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rosidl_dynamic_typesupport_serialization_support_t rosidl_serialization_support_;
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private:
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RCLCPP_DISABLE_COPY(DynamicSerializationSupport)
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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__DYNAMIC_SERIALIZATION_SUPPORT_HPP_

‎rclcpp/include/rclcpp/generic_subscription.hpp

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options.to_rcl_subscription_options(qos),
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options.event_callbacks,
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options.use_default_callbacks,
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true),
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SubscriptionType::SERIALIZED_MESSAGE),
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callback_(callback),
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ts_lib_(ts_lib)
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{}
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RCLCPP_PUBLIC
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void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
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// DYNAMIC TYPE ==================================================================================
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RCLCPP_PUBLIC
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rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr get_shared_dynamic_message_type()
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override;
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RCLCPP_PUBLIC
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rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
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RCLCPP_PUBLIC
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rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
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get_shared_dynamic_serialization_support() override;
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RCLCPP_PUBLIC
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rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
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RCLCPP_PUBLIC
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void return_dynamic_message(
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rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
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RCLCPP_PUBLIC
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void handle_dynamic_message(
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const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
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const rclcpp::MessageInfo & message_info) override;
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private:
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RCLCPP_DISABLE_COPY(GenericSubscription)
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