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Refactor dynamic type support structs to use allocators and refs
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Signed-off-by: methylDragon <[email protected]>
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@methylDragon
methylDragon committed Apr 10, 2023
1 parent 8447d36 commit c52f250
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Showing 13 changed files with 480 additions and 658 deletions.
24 changes: 12 additions & 12 deletions rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_message_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@
{ \
ValueT out; \
rosidl_dynamic_typesupport_dynamic_data_get_ ## FunctionT ## _value( \
rosidl_dynamic_data_.get(), id, &out); \
&rosidl_dynamic_data_, id, &out); \
return out; \
}

Expand All @@ -55,7 +55,7 @@
DynamicMessage::set_value<ValueT>(rosidl_dynamic_typesupport_member_id_t id, ValueT value) \
{ \
rosidl_dynamic_typesupport_dynamic_data_set_ ## FunctionT ## _value( \
rosidl_dynamic_data_.get(), id, value); \
&rosidl_dynamic_data_, id, value); \
}

#define __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
Expand All @@ -73,7 +73,7 @@
{ \
rosidl_dynamic_typesupport_member_id_t out; \
rosidl_dynamic_typesupport_dynamic_data_insert_ ## FunctionT ## _value( \
rosidl_dynamic_data_.get(), value, &out); \
&rosidl_dynamic_data_, value, &out); \
return out; \
}

Expand Down Expand Up @@ -127,7 +127,7 @@ std::byte
DynamicMessage::get_value<std::byte>(rosidl_dynamic_typesupport_member_id_t id)
{
unsigned char out;
rosidl_dynamic_typesupport_dynamic_data_get_byte_value(get_rosidl_dynamic_data(), id, &out);
rosidl_dynamic_typesupport_dynamic_data_get_byte_value(&get_rosidl_dynamic_data(), id, &out);
return static_cast<std::byte>(out);
}

Expand All @@ -146,7 +146,7 @@ DynamicMessage::set_value<std::byte>(
rosidl_dynamic_typesupport_member_id_t id, const std::byte value)
{
rosidl_dynamic_typesupport_dynamic_data_set_byte_value(
rosidl_dynamic_data_.get(), id, static_cast<unsigned char>(value));
&rosidl_dynamic_data_, id, static_cast<unsigned char>(value));
}


Expand All @@ -164,7 +164,7 @@ DynamicMessage::insert_value<std::byte>(const std::byte value)
{
rosidl_dynamic_typesupport_member_id_t out;
rosidl_dynamic_typesupport_dynamic_data_insert_byte_value(
rosidl_dynamic_data_.get(), static_cast<unsigned char>(value), &out);
&rosidl_dynamic_data_, static_cast<unsigned char>(value), &out);
return out;
}

Expand All @@ -177,7 +177,7 @@ DynamicMessage::get_value<std::string>(rosidl_dynamic_typesupport_member_id_t id
size_t buf_length;
char * buf = nullptr;
rosidl_dynamic_typesupport_dynamic_data_get_string_value(
get_rosidl_dynamic_data(), id, &buf, &buf_length);
&get_rosidl_dynamic_data(), id, &buf, &buf_length);
auto out = std::string(buf, buf_length);
delete buf;
return out;
Expand All @@ -191,7 +191,7 @@ DynamicMessage::get_value<std::u16string>(rosidl_dynamic_typesupport_member_id_t
size_t buf_length;
char16_t * buf = nullptr;
rosidl_dynamic_typesupport_dynamic_data_get_wstring_value(
get_rosidl_dynamic_data(), id, &buf, &buf_length);
&get_rosidl_dynamic_data(), id, &buf, &buf_length);
auto out = std::u16string(buf, buf_length);
delete buf;
return out;
Expand Down Expand Up @@ -220,7 +220,7 @@ DynamicMessage::set_value<std::string>(
rosidl_dynamic_typesupport_member_id_t id, const std::string value)
{
rosidl_dynamic_typesupport_dynamic_data_set_string_value(
rosidl_dynamic_data_.get(), id, value.c_str(), value.size());
&rosidl_dynamic_data_, id, value.c_str(), value.size());
}


Expand All @@ -230,7 +230,7 @@ DynamicMessage::set_value<std::u16string>(
rosidl_dynamic_typesupport_member_id_t id, const std::u16string value)
{
rosidl_dynamic_typesupport_dynamic_data_set_wstring_value(
rosidl_dynamic_data_.get(), id, value.c_str(), value.size());
&rosidl_dynamic_data_, id, value.c_str(), value.size());
}


Expand All @@ -256,7 +256,7 @@ DynamicMessage::insert_value<std::string>(const std::string value)
{
rosidl_dynamic_typesupport_member_id_t out;
rosidl_dynamic_typesupport_dynamic_data_insert_string_value(
rosidl_dynamic_data_.get(), value.c_str(), value.size(), &out);
&rosidl_dynamic_data_, value.c_str(), value.size(), &out);
return out;
}

Expand All @@ -267,7 +267,7 @@ DynamicMessage::insert_value<std::u16string>(const std::u16string value)
{
rosidl_dynamic_typesupport_member_id_t out;
rosidl_dynamic_typesupport_dynamic_data_insert_wstring_value(
rosidl_dynamic_data_.get(), value.c_str(), value.size(), &out);
&rosidl_dynamic_data_, value.c_str(), value.size(), &out);
return out;
}

Expand Down
8 changes: 4 additions & 4 deletions rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_message_type_builder_impl.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
const std::string & default_value) \
{ \
rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _member( \
rosidl_dynamic_type_builder_.get(), \
&rosidl_dynamic_type_builder_, \
id, name.c_str(), name.size(), default_value.c_str(), default_value.size()); \
}

Expand All @@ -52,7 +52,7 @@
const std::string & default_value) \
{ \
rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _array_member( \
rosidl_dynamic_type_builder_.get(), \
&rosidl_dynamic_type_builder_, \
id, name.c_str(), name.size(), default_value.c_str(), default_value.size(), \
array_length); \
}
Expand All @@ -67,7 +67,7 @@
{ \
rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## \
_unbounded_sequence_member( \
rosidl_dynamic_type_builder_.get(), \
&rosidl_dynamic_type_builder_, \
id, name.c_str(), name.size(), default_value.c_str(), default_value.size()); \
}

Expand All @@ -81,7 +81,7 @@
const std::string & default_value) \
{ \
rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _bounded_sequence_member( \
rosidl_dynamic_type_builder_.get(), \
&rosidl_dynamic_type_builder_, \
id, name.c_str(), name.size(), default_value.c_str(), default_value.size(), \
sequence_bound); \
}
Expand Down
96 changes: 49 additions & 47 deletions rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_

#include <rcl/allocator.h>
#include <rcl/types.h>
#include <rosidl_dynamic_typesupport/types.h>

Expand All @@ -26,21 +27,18 @@
#include "rclcpp/macros.hpp"
#include "rclcpp/visibility_control.hpp"


namespace rclcpp
{
namespace dynamic_typesupport
{


class DynamicMessageType;
class DynamicMessageTypeBuilder;

/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t *
/// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t
/**
* This class:
* - Manages the lifetime of the raw pointer.
* - Exposes getter methods to get the raw pointer and shared pointers
* - Exposes getter methods for the struct
* - Exposes the underlying serialization support API
*
* Ownership:
Expand All @@ -67,50 +65,48 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
// the data should be the exact same object managed by the DynamicSerializationSupport,
// otherwise the lifetime management will not work properly.

/// Construct a new DynamicMessage with the provided dynamic type builder
/// Construct a new DynamicMessage with the provided dynamic type builder, using its allocator
RCLCPP_PUBLIC
explicit DynamicMessage(std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder);

/// Construct a new DynamicMessage with the provided dynamic type
/// Construct a new DynamicMessage with the provided dynamic type builder and allocator
RCLCPP_PUBLIC
DynamicMessage(
std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder,
rcl_allocator_t allocator);

/// Construct a new DynamicMessage with the provided dynamic type, using its allocator
RCLCPP_PUBLIC
explicit DynamicMessage(std::shared_ptr<DynamicMessageType> dynamic_type);

/// Assume ownership of raw pointer
/// Construct a new DynamicMessage with the provided dynamic type and allocator
RCLCPP_PUBLIC
DynamicMessage(
DynamicSerializationSupport::SharedPtr serialization_support,
rosidl_dynamic_typesupport_dynamic_data_t * rosidl_dynamic_data);
std::shared_ptr<DynamicMessageType> dynamic_type,
rcl_allocator_t allocator);

/// Copy shared pointer
/// Assume ownership of struct
RCLCPP_PUBLIC
DynamicMessage(
DynamicSerializationSupport::SharedPtr serialization_support,
std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> rosidl_dynamic_data);
rosidl_dynamic_typesupport_dynamic_data_t && rosidl_dynamic_data);

/// Loaning constructor
/// Must only be called with raw ptr obtained from loaning!
/// Must only be called with a rosidl dynaimc data object obtained from loaning!
// NOTE(methylDragon): I'd put this in protected, but I need this exposed to
// enable_shared_from_this...
RCLCPP_PUBLIC
DynamicMessage(
DynamicMessage::SharedPtr parent_data,
rosidl_dynamic_typesupport_dynamic_data_t * rosidl_loaned_data);
rosidl_dynamic_typesupport_dynamic_data_t && rosidl_loaned_data);

// NOTE(methylDragon): Deliberately no constructor from description to nudge users towards using
// construction from dynamic type/builder, which is more efficient

/// Copy constructor
RCLCPP_PUBLIC
DynamicMessage(const DynamicMessage & other);

/// Move constructor
RCLCPP_PUBLIC
DynamicMessage(DynamicMessage && other) noexcept;

/// Copy assignment
RCLCPP_PUBLIC
DynamicMessage & operator=(const DynamicMessage & other);

/// Move assignment
RCLCPP_PUBLIC
DynamicMessage & operator=(DynamicMessage && other) noexcept;
Expand All @@ -129,21 +125,13 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
get_name() const;

RCLCPP_PUBLIC
rosidl_dynamic_typesupport_dynamic_data_t *
rosidl_dynamic_typesupport_dynamic_data_t &
get_rosidl_dynamic_data();

RCLCPP_PUBLIC
const rosidl_dynamic_typesupport_dynamic_data_t *
const rosidl_dynamic_typesupport_dynamic_data_t &
get_rosidl_dynamic_data() const;

RCLCPP_PUBLIC
std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
get_shared_rosidl_dynamic_data();

RCLCPP_PUBLIC
std::shared_ptr<const rosidl_dynamic_typesupport_dynamic_data_t>
get_shared_rosidl_dynamic_data() const;

RCLCPP_PUBLIC
DynamicSerializationSupport::SharedPtr
get_shared_dynamic_serialization_support();
Expand Down Expand Up @@ -176,31 +164,37 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
// METHODS =======================================================================================
RCLCPP_PUBLIC
DynamicMessage
clone() const;
clone(rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
DynamicMessage::SharedPtr
clone_shared() const;
clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
DynamicMessage
init_from_type(DynamicMessageType & type) const;
init_from_type(
DynamicMessageType & type, rcl_allocator_t allocator = rcl_get_default_allocator()) const;

RCLCPP_PUBLIC
DynamicMessage::SharedPtr
init_from_type_shared(DynamicMessageType & type) const;
init_from_type_shared(
DynamicMessageType & type, rcl_allocator_t allocator = rcl_get_default_allocator()) const;

RCLCPP_PUBLIC
bool
equals(const DynamicMessage & other) const;

RCLCPP_PUBLIC
DynamicMessage::SharedPtr
loan_value(rosidl_dynamic_typesupport_member_id_t id);
loan_value(
rosidl_dynamic_typesupport_member_id_t id,
rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
DynamicMessage::SharedPtr
loan_value(const std::string & name);
loan_value(
const std::string & name,
rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
void
Expand Down Expand Up @@ -232,11 +226,11 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>

RCLCPP_PUBLIC
bool
serialize(rcl_serialized_message_t * buffer);
serialize(rcl_serialized_message_t & buffer);

RCLCPP_PUBLIC
bool
deserialize(rcl_serialized_message_t * buffer);
deserialize(rcl_serialized_message_t & buffer);


// MEMBER ACCESS TEMPLATES =======================================================================
Expand Down Expand Up @@ -366,19 +360,27 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
// NESTED MEMBER ACCESS ==========================================================================
RCLCPP_PUBLIC
DynamicMessage
get_complex_value(rosidl_dynamic_typesupport_member_id_t id);
get_complex_value(
rosidl_dynamic_typesupport_member_id_t id,
rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
DynamicMessage
get_complex_value(const std::string & name);
get_complex_value(
const std::string & name,
rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
DynamicMessage::SharedPtr
get_complex_value_shared(rosidl_dynamic_typesupport_member_id_t id);
get_complex_value_shared(
rosidl_dynamic_typesupport_member_id_t id,
rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
DynamicMessage::SharedPtr
get_complex_value_shared(const std::string & name);
get_complex_value_shared(
const std::string & name,
rcl_allocator_t allocator = rcl_get_default_allocator());

RCLCPP_PUBLIC
void
Expand All @@ -405,14 +407,15 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
// DynamicSerializationSupport
DynamicSerializationSupport::SharedPtr serialization_support_;

std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> rosidl_dynamic_data_;

rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data_;
bool is_loaned_;

// Used for returning the loaned value, and lifetime management
DynamicMessage::SharedPtr parent_data_;

private:
RCLCPP_DISABLE_COPY(DynamicMessage)

RCLCPP_PUBLIC
DynamicMessage();

Expand All @@ -423,7 +426,6 @@ class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
const rosidl_dynamic_typesupport_dynamic_data_t & dynamic_data);
};


} // namespace dynamic_typesupport
} // namespace rclcpp

Expand Down
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