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Tick-tock _complex_value -> _nested_data #13

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Tick-tock _complex_value -> _nested_data #13

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47 changes: 46 additions & 1 deletion include/rosidl_dynamic_typesupport/api/dynamic_data.h
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Original file line number Diff line number Diff line change
Expand Up @@ -582,6 +582,40 @@ rosidl_dynamic_typesupport_dynamic_data_insert_bounded_wstring_value(
// The user is expected to allocate the '** value' outparam outside
// This function will then reassign the '** value''s 'serialization_support' member to match the
// input's

ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_get_nested_data(
const rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rcutils_allocator_t * allocator,
rosidl_dynamic_typesupport_dynamic_data_t * value);

ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_set_nested_data(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id, rosidl_dynamic_typesupport_dynamic_data_t * value);

// This deep copies the passed data
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_nested_data_copy(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
const rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id);

ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_nested_data(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id);

/**
* \deprecated `rosidl_dynamic_typesupport_dynamic_data_get_complex_value` is deprecated in favor of
* `rosidl_dynamic_typesupport_dynamic_data_get_nested_data`
*/
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
Expand All @@ -590,20 +624,31 @@ rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
rcutils_allocator_t * allocator,
rosidl_dynamic_typesupport_dynamic_data_t * value);

/**
* \deprecated `rosidl_dynamic_typesupport_dynamic_data_set_complex_value` is deprecated in favor of
* `rosidl_dynamic_typesupport_dynamic_data_set_nested_data`
*/
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_set_complex_value(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id, rosidl_dynamic_typesupport_dynamic_data_t * value);

// This deep copies the passed data
/**
* \deprecated `rosidl_dynamic_typesupport_dynamic_data_insert_complex_value_copy` is deprecated in
* favor of `rosidl_dynamic_typesupport_dynamic_data_insert_nested_data_copy`
*/
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_complex_value_copy(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
const rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id);

/**
* \deprecated `rosidl_dynamic_typesupport_dynamic_data_insert_complex_value` is deprecated in favor of
* `rosidl_dynamic_typesupport_dynamic_data_insert_nested_data`
*/
ROSIDL_DYNAMIC_TYPESUPPORT_PUBLIC
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_complex_value(
Expand Down
44 changes: 43 additions & 1 deletion include/rosidl_dynamic_typesupport/api/serialization_support_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1318,26 +1318,68 @@ struct rosidl_dynamic_typesupport_serialization_support_interface_s


// DYNAMIC DATA NESTED

rcutils_ret_t (* dynamic_data_get_nested_data)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
const rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rcutils_allocator_t * allocator,
rosidl_dynamic_typesupport_dynamic_data_impl_t * value); // OUT (copies)

rcutils_ret_t (* dynamic_data_set_nested_data)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rosidl_dynamic_typesupport_dynamic_data_impl_t * value);

// This deep copies the passed data
rcutils_ret_t (* dynamic_data_insert_nested_data_copy)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
const rosidl_dynamic_typesupport_dynamic_data_impl_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id); // OUT

rcutils_ret_t (* dynamic_data_insert_nested_data)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
rosidl_dynamic_typesupport_dynamic_data_impl_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id); // OUT

/**
* \deprecated `dynamic_data_get_complex_value` is deprecated in favor of
* `dynamic_data_get_nested_data`
*/
Comment on lines +1348 to +1351
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Could we just rename the fields in the struct?

I am assuming that the API of this package is the one in dynamic_data.h, and that the struct defined in this header is the interface that the implementations should provide.

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@methylDragon methylDragon Jan 3, 2025 •
edited
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If we rename it, rosidl_dynamic_typesupport_fastrps (and any other dependent packages) will be broken until the other PR is merged. I am fine if we're okay with that, since this is targeting rolling (and we don't have to care about ABI (?)), in which case we should merge the two PRs together.

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We need an opinion from the project lead. @clalancette what do you think?

rcutils_ret_t (* dynamic_data_get_complex_value)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
const rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rcutils_allocator_t * allocator,
rosidl_dynamic_typesupport_dynamic_data_impl_t * value); // OUT (copies)

/**
* \deprecated `dynamic_data_set_complex_value` is deprecated in favor of
* `dynamic_data_set_nested_data`
*/
rcutils_ret_t (* dynamic_data_set_complex_value)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rosidl_dynamic_typesupport_dynamic_data_impl_t * value);


/**
* \deprecated `dynamic_data_insert_complex_value_copy` is deprecated in favor of
* `dynamic_data_insert_nested_data_copy`
*/
rcutils_ret_t (* dynamic_data_insert_complex_value_copy)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
const rosidl_dynamic_typesupport_dynamic_data_impl_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id); // OUT

/**
* \deprecated `dynamic_data_insert_complex_value` is deprecated in favor of
* `dynamic_data_insert_nested_data`
*/
rcutils_ret_t (* dynamic_data_insert_complex_value)(
rosidl_dynamic_typesupport_serialization_support_impl_t * serialization_support,
rosidl_dynamic_typesupport_dynamic_data_impl_t * dynamic_data,
Expand Down
60 changes: 51 additions & 9 deletions src/api/dynamic_data.c
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Original file line number Diff line number Diff line change
Expand Up @@ -843,7 +843,7 @@ rosidl_dynamic_typesupport_dynamic_data_insert_bounded_wstring_value(

// DYNAMIC DATA NESTED =============================================================================
rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
rosidl_dynamic_typesupport_dynamic_data_get_nested_data(
const rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rcutils_allocator_t * allocator,
Expand All @@ -867,50 +867,92 @@ rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
value->allocator = *allocator;

ROSIDL_DYNAMIC_TYPESUPPORT_CHECK_RET_FOR_NOT_OK_WITH_CLEANUP(
(dynamic_data->serialization_support->methods.dynamic_data_get_complex_value)(
(dynamic_data->serialization_support->methods.dynamic_data_get_nested_data)(
&dynamic_data->serialization_support->impl, &dynamic_data->impl, id, allocator, &value->impl),
rosidl_dynamic_typesupport_dynamic_data_fini(value) // Cleanup
rosidl_dynamic_typesupport_dynamic_data_fini(value) // Cleanup.
);
return RCUTILS_RET_OK;
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_set_complex_value(
rosidl_dynamic_typesupport_dynamic_data_set_nested_data(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rosidl_dynamic_typesupport_dynamic_data_t * value)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(dynamic_data, RCUTILS_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
return (dynamic_data->serialization_support->methods.dynamic_data_set_complex_value)(
return (dynamic_data->serialization_support->methods.dynamic_data_set_nested_data)(
&dynamic_data->serialization_support->impl, &dynamic_data->impl, id, &value->impl);
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_complex_value_copy(
rosidl_dynamic_typesupport_dynamic_data_insert_nested_data_copy(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
const rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(dynamic_data, RCUTILS_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(out_id, RCUTILS_RET_INVALID_ARGUMENT);
return (dynamic_data->serialization_support->methods.dynamic_data_insert_complex_value_copy)(
return (dynamic_data->serialization_support->methods.dynamic_data_insert_nested_data_copy)(
&dynamic_data->serialization_support->impl, &dynamic_data->impl, &value->impl, out_id);
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_complex_value(
rosidl_dynamic_typesupport_dynamic_data_insert_nested_data(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id)
{
RCUTILS_CHECK_ARGUMENT_FOR_NULL(dynamic_data, RCUTILS_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(value, RCUTILS_RET_INVALID_ARGUMENT);
RCUTILS_CHECK_ARGUMENT_FOR_NULL(out_id, RCUTILS_RET_INVALID_ARGUMENT);
return (dynamic_data->serialization_support->methods.dynamic_data_insert_complex_value)(
return (dynamic_data->serialization_support->methods.dynamic_data_insert_nested_data)(
&dynamic_data->serialization_support->impl, &dynamic_data->impl, &value->impl, out_id);
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
const rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rcutils_allocator_t * allocator,
rosidl_dynamic_typesupport_dynamic_data_t * value)
{
return rosidl_dynamic_typesupport_dynamic_data_get_nested_data(dynamic_data, id, allocator, value);
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_set_complex_value(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_member_id_t id,
rosidl_dynamic_typesupport_dynamic_data_t * value)
{
return rosidl_dynamic_typesupport_dynamic_data_set_nested_data(dynamic_data, id, value);
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_complex_value_copy(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
const rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id)
{
return rosidl_dynamic_typesupport_dynamic_data_insert_nested_data_copy(
dynamic_data, value, out_id);
}


rcutils_ret_t
rosidl_dynamic_typesupport_dynamic_data_insert_complex_value(
rosidl_dynamic_typesupport_dynamic_data_t * dynamic_data,
rosidl_dynamic_typesupport_dynamic_data_t * value,
rosidl_dynamic_typesupport_member_id_t * out_id)
{
return rosidl_dynamic_typesupport_dynamic_data_insert_nested_data(dynamic_data, value, out_id);
}