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Refactor dynamic message type support impl to use allocators
* Implement runtime type typesupport struct Signed-off-by: methylDragon <[email protected]> * Implement first cut Signed-off-by: methylDragon <[email protected]> * Migrate to rosidl_dynamic_typesupport and update field IDs Signed-off-by: methylDragon <[email protected]> * Migrate to type description interfaces Signed-off-by: methylDragon <[email protected]> * Fix const Signed-off-by: methylDragon <[email protected]> * Refine signatures and use return types Signed-off-by: methylDragon <[email protected]> * Fix C linkage Signed-off-by: methylDragon <[email protected]> * Migrate methods to use return types Signed-off-by: methylDragon <[email protected]> * Lint Signed-off-by: methylDragon <[email protected]> * Support type hashes Signed-off-by: methylDragon <[email protected]> * Remove identifier alias Signed-off-by: methylDragon <[email protected]> * Change fini to destroy Signed-off-by: methylDragon <[email protected]> * Use create instead of init Signed-off-by: methylDragon <[email protected]> * Add rcutils conversion function and remove rmw interfaces Signed-off-by: methylDragon <[email protected]> * Clean up some comments Signed-off-by: methylDragon <[email protected]> --------- Signed-off-by: methylDragon <[email protected]>
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‎include/rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h

Lines changed: 58 additions & 25 deletions
Original file line numberDiff line numberDiff line change
@@ -48,36 +48,37 @@ extern "C"
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// outlives those downstream classes.
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typedef struct rosidl_dynamic_message_type_support_impl_s
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{
51-
rosidl_type_hash_t * type_hash;
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rosidl_runtime_c__type_description__TypeDescription * type_description;
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rcutils_allocator_t allocator;
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53+
rosidl_type_hash_t type_hash;
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rosidl_runtime_c__type_description__TypeDescription type_description;
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// Unused for now, but placed here just in case
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rosidl_runtime_c__type_description__TypeSource__Sequence type_description_sources;
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54-
// NOTE(methylDragon): Unused for now, but placed here just in case
55-
rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources;
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rosidl_dynamic_typesupport_serialization_support_t * serialization_support;
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58-
// NOTE(methylDragon): I'm unsure if these are necessary. Though I think they are convenient.
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// dynamic_message_type moreso than dynamic_message.
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//
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// I'd err on including them to be able to support more middlewares
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//
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// The dynamic_message_type allows us to do a one time alloc and reuse it for
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// subscription creation and data creation
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// The dynamic_message allows us to either reuse it, or clone it, but it's
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// technically redundant because data can be created from dynamic_message_type
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// The dynamic_message_type allows us to do a one time alloc and reuse it for subscription
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// creation and data creation
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rosidl_dynamic_typesupport_dynamic_type_t * dynamic_message_type;
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// The dynamic_message allows us to either reuse it, or clone it, but it's technically redundant
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//because data can be created from dynamic_message_type
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rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message;
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} rosidl_dynamic_message_type_support_impl_t;
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71-
/// Create a dynamic type message typesupport with bound message description
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/// Initialize a dynamic type message type support with bound message description
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/**
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* NOTE: Take note of the ownership rules for the returned struct and the `description` argument!
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* Take note of the ownership rules for the returned struct and the `description` argument.
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*
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* The `rosidl_message_type_support_t *` returned from this function has different ownership rules
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* compared to the statically allocated `rosidl_message_type_support_t` structs from code-generated
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* types.
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*
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* Ownership:
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* - The `rosidl_message_type_support_t *` returned from this function has different ownership
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* rules compared to the statically allocated `rosidl_message_type_support_t` structs from
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* code-generated types!
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* - The caller is responsible for deallocating the returned pointer
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* The `type_hash`, `type_description`, `type_description_sources`, and `allocator` arguments are
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* copied.
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* The caller is responsible for deallocating the returned pointer.
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*
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* <hr>
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* Attribute | Adherence
@@ -89,21 +90,53 @@ typedef struct rosidl_dynamic_message_type_support_impl_s
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*/
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ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
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rcutils_ret_t
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rosidl_dynamic_message_type_support_handle_create(
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rosidl_dynamic_message_type_support_handle_init(
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rosidl_dynamic_typesupport_serialization_support_t * serialization_support,
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const rosidl_type_hash_t * type_hash,
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const rosidl_runtime_c__type_description__TypeDescription * type_description,
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const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources,
97-
rosidl_message_type_support_t ** ts); // OUT
98+
rcutils_allocator_t * allocator,
99+
rosidl_message_type_support_t * ts); // OUT
98100

99-
/// Destroy a rosidl_message_type_support_t obtained with
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/// `rosidl_dynamic_message_type_support_handle_create()`, which has dynamically allocated members
101+
/// Finalize a rosidl_message_type_support_t obtained with
102+
/// `rosidl_dynamic_message_type_support_handle_init()`, which has dynamically allocated members
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///
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/// NOTE: Using this on a statically allocated typesupport will cause undefined behavior!
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/// (Static memory will get freed in that case.)
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ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
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rcutils_ret_t
106-
rosidl_dynamic_message_type_support_handle_destroy(rosidl_message_type_support_t * ts);
108+
rosidl_dynamic_message_type_support_handle_fini(rosidl_message_type_support_t * ts);
109+
110+
/// Initialized a `rosidl_dynamic_message_type_support_impl_t` with bound message description
111+
/**
112+
* The `type_hash`, `type_description`, `type_description_sources`, and `allocator` arguments are
113+
* copied.
114+
*
115+
* The caller is responsible for deallocating the returned pointer.
116+
*
117+
* <hr>
118+
* Attribute | Adherence
119+
* ------------------ | -------------
120+
* Allocates Memory | Yes
121+
* Thread-Safe | No
122+
* Uses Atomics | No
123+
* Lock-Free | Yes
124+
*/
125+
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
126+
rcutils_ret_t
127+
rosidl_dynamic_message_type_support_handle_impl_init(
128+
rosidl_dynamic_typesupport_serialization_support_t * serialization_support,
129+
const rosidl_type_hash_t * type_hash,
130+
const rosidl_runtime_c__type_description__TypeDescription * type_description,
131+
const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources,
132+
rcutils_allocator_t * allocator,
133+
rosidl_dynamic_message_type_support_impl_t * ts_impl); // OUT
134+
135+
/// Finalize a `rosidl_dynamic_message_type_support_impl_t`
136+
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
137+
rcutils_ret_t
138+
rosidl_dynamic_message_type_support_handle_impl_fini(
139+
rosidl_dynamic_message_type_support_impl_t * ts_impl);
107140

108141
/// Return type_hash member in rosidl_dynamic_message_type_support_impl_t
109142
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC

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