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Support type hashes
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Signed-off-by: methylDragon <[email protected]>
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@methylDragon
methylDragon committed Apr 3, 2023
1 parent e7e9a29 commit ca17caf
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Showing 5 changed files with 42 additions and 42 deletions.
2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp
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Expand Up @@ -52,7 +52,7 @@ class DynamicMessageTypeBuilder;
* rosidl_dynamic_typesupport_dynamic_type_builder_t.
*
* The usual method of obtaining a DynamicMessageType is through construction of
* rosidl_message_type_support_t via rcl_dynamic_message_typesupport_handle_init(), then
* rosidl_message_type_support_t via rcl_dynamic_message_type_support_handle_init(), then
* taking ownership of its contents. But DynamicMessageTypeBuilder can also be used to obtain
* DynamicMessageType by constructing it bottom-up instead, since it exposes the lower_level
* rosidl methods.
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2 changes: 1 addition & 1 deletion rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp
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Expand Up @@ -50,7 +50,7 @@ class DynamicMessageType;
* facilitating the construction of dynamic types bottom-up in the C++ layer.
*
* The usual method of obtaining a DynamicMessageType is through construction of
* rosidl_message_type_support_t via rcl_dynamic_message_typesupport_handle_init(), then taking
* rosidl_message_type_support_t via rcl_dynamic_message_type_support_handle_init(), then taking
* ownership of its contents. But DynamicMessageTypeBuilder can also be used to obtain
* DynamicMessageType by constructing it bottom-up instead, since it exposes the lower_level
* rosidl methods.
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8 changes: 4 additions & 4 deletions rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
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Expand Up @@ -40,10 +40,10 @@ namespace dynamic_typesupport
/**
*
* NOTE: This class is the recommended way to obtain the dynamic message type
* support struct, instead of rcl_dynamic_message_typesupport_handle_init,
* support struct, instead of rcl_dynamic_message_type_support_handle_init,
* because this class will manage the lifetimes for you.
*
* Do NOT call rcl_dynamic_message_typesupport_handle_fini!!
* Do NOT call rcl_dynamic_message_type_support_handle_fini!!
*
* This class:
* - Manages the lifetime of the raw pointer.
Expand All @@ -63,15 +63,15 @@ class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMes
// CONSTRUCTION ==================================================================================
/// From description
/// Does NOT take ownership of the description (copies instead.)
/// Constructs type support top-down (calling rcl_dynamic_message_typesupport_handle_init)
/// Constructs type support top-down (calling rcl_dynamic_message_type_support_handle_init)
RCLCPP_PUBLIC
DynamicMessageTypeSupport(
const rosidl_runtime_c__type_description__TypeDescription & description,
const std::string & serialization_library_name = "");

/// From description, for provided serialization support
/// Does NOT take ownership of the description (copies instead.)
/// Constructs type support top-down (calling rmw_dynamic_message_typesupport_handle_init)
/// Constructs type support top-down (calling rmw_dynamic_message_type_support_handle_init)
RCLCPP_PUBLIC
DynamicMessageTypeSupport(
DynamicSerializationSupport::SharedPtr serialization_support,
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70 changes: 35 additions & 35 deletions rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
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Expand Up @@ -25,7 +25,7 @@
#include "rcl/type_hash.h"
#include "rcl/types.h"
#include "rcutils/logging_macros.h"
#include "rmw/dynamic_message_typesupport.h"
#include "rmw/dynamic_message_type_support.h"

#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
Expand Down Expand Up @@ -56,9 +56,9 @@ DynamicMessageTypeSupport::DynamicMessageTypeSupport(
rcl_ret_t ret;

if (serialization_library_name.empty()) {
ret = rcl_dynamic_message_typesupport_handle_init(nullptr, &description, &ts);
ret = rcl_dynamic_message_type_support_handle_init(nullptr, &description, &ts);
} else {
ret = rcl_dynamic_message_typesupport_handle_init(
ret = rcl_dynamic_message_type_support_handle_init(
serialization_library_name.c_str(), &description, &ts);
}
if (ret != RCL_RET_OK) {
Expand All @@ -76,10 +76,10 @@ DynamicMessageTypeSupport::DynamicMessageTypeSupport(

// NOTE(methylDragon): Not technically const correct, but since it's a const void *,
// we do it anyway...
auto ts_impl = static_cast<const rmw_dynamic_message_typesupport_impl_t *>(ts->data);
auto ts_impl = static_cast<const rmw_dynamic_message_type_support_impl_t *>(ts->data);

manage_rosidl_message_type_support_(ts);
manage_description_(ts_impl->description);
manage_description_(ts_impl->type_description);
serialization_support_ = DynamicSerializationSupport::make_shared(ts_impl->serialization_support);

dynamic_message_type_ = DynamicMessageType::make_shared(
Expand Down Expand Up @@ -119,11 +119,12 @@ DynamicMessageTypeSupport::DynamicMessageTypeSupport(
throw std::runtime_error("failed to get type hash");
}

rmw_ret_t ret = rmw_dynamic_message_typesupport_handle_init(
rmw_ret_t ret = rmw_dynamic_message_type_support_handle_init(
serialization_support->get_rosidl_serialization_support(),
rmw_feature_supported(RMW_MIDDLEWARE_SUPPORTS_TYPE_DISCOVERY),
&description,
type_hash.get(),
type_hash.get(), // type_hash
&description, // type_description
nullptr, // type_description_sources (not implemented for dynamic types)
&ts);
if (ret != RMW_RET_OK || !ts) {
throw std::runtime_error("could not init rosidl message type support");
Expand All @@ -135,10 +136,10 @@ DynamicMessageTypeSupport::DynamicMessageTypeSupport(
throw std::runtime_error("rosidl message type support is of the wrong type");
}

auto ts_impl = static_cast<const rmw_dynamic_message_typesupport_impl_t *>(ts->data);
auto ts_impl = static_cast<const rmw_dynamic_message_type_support_impl_t *>(ts->data);

manage_rosidl_message_type_support_(ts);
manage_description_(ts_impl->description);
manage_description_(ts_impl->type_description);

dynamic_message_type_ = DynamicMessageType::make_shared(
get_shared_dynamic_serialization_support(), ts_impl->dynamic_message_type);
Expand Down Expand Up @@ -245,8 +246,9 @@ DynamicMessageTypeSupport::manage_rosidl_message_type_support_(
rosidl_message_type_support_.reset(
rosidl_message_type_support,
[](rosidl_message_type_support_t * ts) -> void {
delete static_cast<const rmw_dynamic_message_typesupport_impl_t *>(ts->data);
delete ts->type_hash; // Only because we should've allocated it here
auto ts_impl = static_cast<const rmw_dynamic_message_type_support_impl_t *>(ts->data);
delete ts_impl->type_hash; // Only because we should've allocated it here
delete ts_impl;
delete ts;
}
);
Expand All @@ -268,7 +270,7 @@ DynamicMessageTypeSupport::manage_description_(
}


// NOTE(methylDragon): This looks like rmw_dynamic_message_typesupport_handle_init, but instead
// NOTE(methylDragon): This looks like rmw_dynamic_message_type_support_handle_init, but instead
// just aggregates already initialized objects
void
DynamicMessageTypeSupport::init_rosidl_message_type_support_(
Expand All @@ -288,17 +290,6 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
return;
}

rmw_dynamic_message_typesupport_impl_t * ts_impl = new rmw_dynamic_message_typesupport_impl_t{
description, // description
serialization_support->get_rosidl_serialization_support(), // serialization_support
dynamic_message_type->get_rosidl_dynamic_type(), // dynamic_message_type
dynamic_message->get_rosidl_dynamic_data() // dynamic_message
};
if (!ts_impl) {
throw std::runtime_error("Could not allocate rmw_dynamic_message_typesupport_impl_t struct");
return;
}

auto type_hash = std::make_unique<rosidl_type_hash_t>();
rcutils_ret_t hash_ret = rcl_calculate_type_hash(
// TODO(methylDragon): Swap this out with the conversion function when it is ready
Expand All @@ -308,28 +299,37 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
throw std::runtime_error("failed to get type hash");
}

rmw_dynamic_message_type_support_impl_t * ts_impl = new rmw_dynamic_message_type_support_impl_t{
type_hash.get(), // type_hash
description, // type_description
nullptr, // NOTE(methylDragon): Not supported for now // type_description_sources
serialization_support->get_rosidl_serialization_support(), // serialization_support
dynamic_message_type->get_rosidl_dynamic_type(), // dynamic_message_type
dynamic_message->get_rosidl_dynamic_data() // dynamic_message
};
if (!ts_impl) {
throw std::runtime_error("Could not allocate rmw_dynamic_message_type_support_impl_t struct");
return;
}

// NOTE(methylDragon): We don't finalize the rosidl_message_type_support->data since its members
// are managed by the passed in SharedPtr wrapper classes. We just delete it.
rosidl_message_type_support_.reset(
new rosidl_message_type_support_t{
rmw_dynamic_typesupport_c__identifier, // typesupport_identifier
ts_impl, // data
get_message_typesupport_handle_function, // func
type_hash.get(), // type_hash
// get_type_hash_func
rmw_dynamic_message_type_support_get_type_hash_function,
// get_type_description_func
// TODO(methylDragon): Await altering of function signature to return description
[]() -> const rosidl_runtime_c__type_description__TypeDescription * {
return nullptr;
},
rmw_dynamic_message_type_support_get_type_description_function,
// get_type_description_sources_func
[]() -> const rosidl_runtime_c__type_description__TypeSource__Sequence * {
static const rosidl_runtime_c__type_description__TypeSource__Sequence sources = {NULL, 0, 0};
return &sources;
}
rmw_dynamic_message_type_support_get_type_description_sources_function
},
[](rosidl_message_type_support_t * ts) -> void {
delete static_cast<const rmw_dynamic_message_typesupport_impl_t *>(ts->data);
delete ts->type_hash; // Only because we should've allocated it here
auto ts_impl = static_cast<const rmw_dynamic_message_type_support_impl_t *>(ts->data);
delete ts_impl->type_hash; // Only because we should've allocated it here
delete ts_impl;
}
);

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2 changes: 1 addition & 1 deletion rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#include <string>

#include "rcutils/logging_macros.h"
#include "rmw/dynamic_message_typesupport.h"
#include "rmw/dynamic_message_type_support.h"
#include "rmw/ret_types.h"

#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
Expand Down

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