Add type_description struct conversion utils

Signed-off-by: methylDragon <[email protected]>

rclcpp/include/rclcpp/dynamic_typesupport/type_description_conversions.hpp

@@ -0,0 +1,215 @@
+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__TYPE_DESCRIPTION_CONVERSIONS_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__TYPE_DESCRIPTION_CONVERSIONS_HPP_
+
+#include "rosidl_runtime_cpp/type_description/individual_type_description__struct.hpp"
+#include "rosidl_runtime_cpp/type_description/type_description__struct.hpp"
+#include "rosidl_runtime_cpp/type_description/type_source__struct.hpp"
+#include "type_description_interfaces/msg/individual_type_description.hpp"
+#include "type_description_interfaces/msg/type_description.hpp"
+#include "type_description_interfaces/msg/type_source.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+// IndividualTypeDescription =======================================================================
+
+/// Convert a runtime individual type description struct to its corresponding message.
+/**
+ * This function converts a rosidl_runtime_cpp::type_description::IndividualTypeDescription
+ * struct to the corresponding type_description_interfaces/msg/IndividualTypeDescription
+ * msg.
+ *
+ * \param[in] runtime_individual_description the runtime struct to convert
+ * \return the converted individual type description msg
+ */
+template<
+  typename ToAllocatorT = std::allocator<void>,
+  typename FromAllocatorT
+>
+type_description_interfaces::msg::IndividualTypeDescription_<ToAllocatorT>
+convert_individual_type_description_runtime_to_msg(
+  const rosidl_runtime_cpp::type_description::IndividualTypeDescription_<FromAllocatorT> &
+  runtime_individual_description, const ToAllocatorT & alloc = ToAllocatorT())
+{
+  type_description_interfaces::msg::IndividualTypeDescription_<ToAllocatorT> out(alloc);
+  out.type_name = runtime_individual_description.type_name;
+
+  for (const auto & field : runtime_individual_description.fields) {
+    out.fields.emplace_back();
+    out.fields.back().name = field.name;
+    out.fields.back().default_value = field.default_value;
+
+    out.fields.back().type.type_id = field.type.type_id;
+    out.fields.back().type.capacity = field.type.capacity;
+    out.fields.back().type.string_capacity = field.type.string_capacity;
+    out.fields.back().type.nested_type_name = field.type.nested_type_name;
+  }
+  return out;
+}
+
+/// Convert a individual type description message to its corresponding runtime struct.
+/**
+ * This function converts a type_description_interfaces/msg/IndividualTypeDescription msg
+ * to the corresponding rosidl_runtime_cpp::type_description::IndividualTypeDescription
+ * struct.
+ *
+ * \param[in] description_msg the message to convert
+ * \return the converted runtime struct
+ */
+template<
+  typename ToAllocatorT = std::allocator<void>,
+  typename FromAllocatorT
+>
+rosidl_runtime_cpp::type_description::IndividualTypeDescription_<ToAllocatorT>
+convert_individual_type_description_msg_to_runtime(
+  const type_description_interfaces::msg::IndividualTypeDescription_<FromAllocatorT> &
+  individual_description_msg, const ToAllocatorT & alloc = ToAllocatorT())
+{
+  rosidl_runtime_cpp::type_description::IndividualTypeDescription_<ToAllocatorT> out(alloc);
+  out.type_name = individual_description_msg.type_name;
+
+  for (const auto & field : individual_description_msg.fields) {
+    out.fields.emplace_back();
+    out.fields.back().name = field.name;
+    out.fields.back().default_value = field.default_value;
+
+    out.fields.back().type.type_id = field.type.type_id;
+    out.fields.back().type.capacity = field.type.capacity;
+    out.fields.back().type.string_capacity = field.type.string_capacity;
+    out.fields.back().type.nested_type_name = field.type.nested_type_name;
+  }
+  return out;
+}
+
+// TypeDescription =================================================================================
+
+/// Convert a runtime type description struct to its corresponding message.
+/**
+ * This function converts a rosidl_runtime_cpp::type_description::TypeDescription
+ * struct to the corresponding type_description_interfaces/msg/TypeDescription
+ * msg.
+ *
+ * \param[in] runtime_description the runtime struct to convert
+ * \return the converted message
+ */
+template<
+  typename ToAllocatorT = std::allocator<void>,
+  typename FromAllocatorT
+>
+type_description_interfaces::msg::TypeDescription_<ToAllocatorT>
+convert_type_description_runtime_to_msg(
+  const rosidl_runtime_cpp::type_description::TypeDescription_<FromAllocatorT> & runtime_description,
+  const ToAllocatorT & alloc = ToAllocatorT())
+{
+  type_description_interfaces::msg::TypeDescription_<ToAllocatorT> out(alloc);
+  out.type_description =
+    convert_individual_type_description_runtime_to_msg(runtime_description.type_description, alloc);
+
+  for (const auto & referenced_type_description :
+    runtime_description.referenced_type_descriptions)
+  {
+    out.referenced_type_descriptions.push_back(convert_individual_type_description_runtime_to_msg(
+          referenced_type_description, alloc));
+  }
+  return out;
+}
+
+/// Convert a type description message to its corresponding runtime struct.
+/**
+ * This function converts a type_description_interfaces/msg/TypeDescription msg
+ * to the corresponding rosidl_runtime_cpp::type_description::TypeDescription
+ * struct.
+ *
+ * \param[in] description_msg the message to convert
+ * \return the converted runtime struct
+ */
+template<
+  typename ToAllocatorT = std::allocator<void>,
+  typename FromAllocatorT
+>
+rosidl_runtime_cpp::type_description::TypeDescription_<ToAllocatorT>
+convert_type_description_msg_to_runtime(
+  const type_description_interfaces::msg::TypeDescription_<FromAllocatorT> & description_msg,
+  const ToAllocatorT & alloc = ToAllocatorT())
+{
+  rosidl_runtime_cpp::type_description::TypeDescription_<ToAllocatorT> out(alloc);
+  out.type_description =
+    convert_individual_type_description_msg_to_runtime(description_msg.type_description, alloc);
+
+  for (const auto & referenced_type_description : description_msg.referenced_type_descriptions) {
+    out.referenced_type_descriptions.push_back(convert_individual_type_description_msg_to_runtime(
+          referenced_type_description, alloc));
+  }
+  return out;
+}
+
+// TypeSource ======================================================================================
+
+/// Convert a runtime type source struct to its corresponding message.
+/**
+ * This function converts a rosidl_runtime_cpp::type_description::TypeSource
+ * struct to the corresponding type_description_interfaces/msg/TypeSource msg.
+ *
+ * \param[in] runtime_type_source the runtime struct to convert
+ * \return the converted message
+ */
+template<
+  typename ToAllocatorT = std::allocator<void>,
+  typename FromAllocatorT
+>
+type_description_interfaces::msg::TypeSource_<ToAllocatorT>
+convert_type_source_sequence_runtime_to_msg(
+  const rosidl_runtime_cpp::type_description::TypeSource_<FromAllocatorT> & runtime_type_source,
+  const ToAllocatorT & alloc = ToAllocatorT())
+{
+  type_description_interfaces::msg::TypeSource_<ToAllocatorT> out(alloc);
+  out.type_name = runtime_type_source.type_name;
+  out.encoding = runtime_type_source.encoding;
+  out.raw_file_contents = runtime_type_source.raw_file_contents;
+  return out;
+}
+
+/// Convert a type source message to its corresponding runtime struct.
+/**
+ * This function converts a type_description_interfaces/msg/TypeSource msg to
+ * the corresponding rosidl_runtime_cpp::type_description::TypeSource struct.
+ *
+ * \param[in] type_source_msg the message to convert
+ * \return the converted runtime struct
+ */
+template<
+  typename ToAllocatorT = std::allocator<void>,
+  typename FromAllocatorT
+>
+rosidl_runtime_cpp::type_description::TypeSource_<ToAllocatorT>
+convert_type_source_sequence_msg_to_runtime(
+  const type_description_interfaces::msg::TypeSource_<FromAllocatorT> & type_source_msg,
+  const ToAllocatorT & alloc = ToAllocatorT())
+{
+  rosidl_runtime_cpp::type_description::TypeSource_<ToAllocatorT> out(alloc);
+  out.type_name = type_source_msg.type_name;
+  out.encoding = type_source_msg.encoding;
+  out.raw_file_contents = type_source_msg.raw_file_contents;
+  return out;
+}
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__TYPE_DESCRIPTION_CONVERSIONS_HPP_

rclcpp/test/rclcpp/CMakeLists.txt

@@ -28,6 +28,13 @@ ament_add_gtest(
 if(TARGET test_allocator_deleter)
   target_link_libraries(test_allocator_deleter ${PROJECT_NAME})
 endif()
+
+ament_add_gtest(test_type_description_conversions
+  dynamic_typesupport/test_type_description_conversions.cpp)
+if(TARGET test_type_description_conversions)
+  target_link_libraries(test_type_description_conversions ${PROJECT_NAME} ${rcl_interfaces_TARGETS})
+endif()
+
 ament_add_gtest(
   test_exceptions
   exceptions/test_exceptions.cpp)

rclcpp/test/rclcpp/dynamic_typesupport/test_type_description_conversions.cpp

@@ -0,0 +1,118 @@
+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rclcpp/dynamic_typesupport/type_description_conversions.hpp"
+#include "rosidl_runtime_cpp/type_description/individual_type_description__struct.hpp"
+#include "rosidl_runtime_cpp/type_description/type_description__struct.hpp"
+#include "rosidl_runtime_cpp/type_description/type_source__struct.hpp"
+#include "type_description_interfaces/msg/individual_type_description.hpp"
+#include "type_description_interfaces/msg/type_description.hpp"
+#include "type_description_interfaces/msg/type_source.hpp"
+
+using rclcpp::dynamic_typesupport::
+convert_individual_type_description_msg_to_runtime;
+using rclcpp::dynamic_typesupport::
+convert_individual_type_description_runtime_to_msg;
+using rclcpp::dynamic_typesupport::convert_type_description_msg_to_runtime;
+using rclcpp::dynamic_typesupport::convert_type_description_runtime_to_msg;
+using rclcpp::dynamic_typesupport::convert_type_source_sequence_msg_to_runtime;
+using rclcpp::dynamic_typesupport::convert_type_source_sequence_runtime_to_msg;
+
+TEST(TestTypeDescriptionConversions, individual_type_description_roundtrip)
+{
+  rosidl_runtime_cpp::type_description::IndividualTypeDescription original;
+  original.type_name = "test_type_name";
+
+  original.fields.emplace_back();
+  original.fields.back().name = "field1";
+  original.fields.back().type.type_id = 1;
+
+  original.fields.emplace_back();
+  original.fields.back().name = "field2";
+  original.fields.back().type.type_id = 2;
+
+  type_description_interfaces::msg::IndividualTypeDescription msg =
+    convert_individual_type_description_runtime_to_msg(original);
+  rosidl_runtime_cpp::type_description::IndividualTypeDescription converted_back
+    =
+    convert_individual_type_description_msg_to_runtime(msg);
+
+  EXPECT_EQ(original.type_name, converted_back.type_name);
+  ASSERT_EQ(original.fields.size(), converted_back.fields.size());
+  for (size_t i = 0; i < original.fields.size(); ++i) {
+    EXPECT_EQ(original.fields[i].name, converted_back.fields[i].name);
+    EXPECT_EQ(original.fields[i].type, converted_back.fields[i].type);
+  }
+}
+
+TEST(TestTypeDescriptionConversions, type_description_roundtrip)
+{
+  rosidl_runtime_cpp::type_description::TypeDescription original;
+  original.type_description.type_name = "main_type";
+  original.type_description.fields.emplace_back();
+  original.type_description.fields.back().name = "field1";
+  original.type_description.fields.back().type.type_id = 1;
+  original.type_description.fields.emplace_back();
+  original.type_description.fields.back().name = "field2";
+  original.type_description.fields.back().type.type_id = 2;
+
+  rosidl_runtime_cpp::type_description::IndividualTypeDescription ref1;
+  ref1.type_name = "ref_type_1";
+  ref1.fields.emplace_back();
+  ref1.fields.back().name = "ref_field1";
+  ref1.fields.back().type.type_id = 1;
+
+  rosidl_runtime_cpp::type_description::IndividualTypeDescription ref2;
+  ref2.type_name = "ref_type_2";
+  ref2.fields.emplace_back();
+  ref2.fields.back().name = "ref_field2";
+  ref2.fields.back().type.type_id = 2;
+
+  original.referenced_type_descriptions.push_back(ref1);
+  original.referenced_type_descriptions.push_back(ref2);
+
+  type_description_interfaces::msg::TypeDescription msg =
+    convert_type_description_runtime_to_msg(original);
+  rosidl_runtime_cpp::type_description::TypeDescription converted_back =
+    convert_type_description_msg_to_runtime(msg);
+
+  EXPECT_EQ(original.type_description.type_name,
+    converted_back.type_description.type_name);
+  ASSERT_EQ(original.referenced_type_descriptions.size(),
+    converted_back.referenced_type_descriptions.size());
+
+  for (size_t i = 0; i < original.referenced_type_descriptions.size(); ++i) {
+    EXPECT_EQ(original.referenced_type_descriptions[i].type_name,
+      converted_back.referenced_type_descriptions[i].type_name);
+  }
+}
+
+TEST(TestTypeSourceConversions, type_source_roundtrip)
+{
+  rosidl_runtime_cpp::type_description::TypeSource original;
+  original.type_name = "test_type_name";
+  original.encoding = "test_encoding";
+  original.raw_file_contents = "test_contents";
+
+  type_description_interfaces::msg::TypeSource msg =
+    convert_type_source_sequence_runtime_to_msg(original);
+  rosidl_runtime_cpp::type_description::TypeSource converted_back =
+    convert_type_source_sequence_msg_to_runtime(msg);
+
+  EXPECT_EQ(original.type_name, converted_back.type_name);
+  EXPECT_EQ(original.encoding, converted_back.encoding);
+  EXPECT_EQ(original.raw_file_contents, converted_back.raw_file_contents);
+}