Take ownership of description, add print, and update ser support API

Signed-off-by: methylDragon <methylDragon@gmail.com>

Author: methylDragon

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

@@ -145,6 +145,12 @@ class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMes
   DynamicMessage::ConstSharedPtr
   get_shared_dynamic_message() const;
 
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  void
+  print_description() const;
+
 protected:
   RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
 
@@ -179,7 +185,7 @@ class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMes
     DynamicSerializationSupport::SharedPtr serialization_support,
     DynamicMessageType::SharedPtr dynamic_message_type,
     DynamicMessage::SharedPtr dynamic_message,
-    const rosidl_runtime_c__type_description__TypeDescription * description);
+    rosidl_runtime_c__type_description__TypeDescription * description);
 };
 
 

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

@@ -57,7 +57,7 @@ class DynamicSerializationSupport : public std::enable_shared_from_this<DynamicS
 
   /// Copy shared pointer
   RCLCPP_PUBLIC
-  DynamicSerializationSupport(  // NOLINT(explicit)
+  DynamicSerializationSupport(
     std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> serialization_support);
 
   /// Move constructor

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_type_builder.hpp

@@ -282,6 +282,30 @@ class DynamicTypeBuilder : public std::enable_shared_from_this<DynamicTypeBuilde
     rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
     DynamicType & nested_type, size_t sequence_bound);
 
+  RCLCPP_PUBLIC
+  void
+  add_complex_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicTypeBuilder & nested_type_builder);
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_array_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicTypeBuilder & nested_type_builder, size_t array_length);
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_unbounded_sequence_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicTypeBuilder & nested_type_builder);
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_bounded_sequence_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicTypeBuilder & nested_type_builder, size_t sequence_bound);
+
 protected:
   // NOTE(methylDragon):
   // This is just here to extend the lifetime of the serialization support

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -29,6 +29,7 @@
 
 #include <rosidl_dynamic_typesupport/types.h>
 #include <rosidl_runtime_c/message_type_support_struct.h>
+#include "rosidl_runtime_c/type_description_utils.h"
 #include <rosidl_runtime_c/type_description/type_description__functions.h>
 #include <rosidl_runtime_c/type_description/type_description__struct.h>
 
@@ -225,7 +226,7 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
   DynamicSerializationSupport::SharedPtr serialization_support,
   DynamicMessageType::SharedPtr dynamic_message_type,
   DynamicMessage::SharedPtr dynamic_message,
-  const rosidl_runtime_c__type_description__TypeDescription * description)
+  rosidl_runtime_c__type_description__TypeDescription * description)
 {
   bool middleware_supports_type_discovery =
     rmw_feature_supported(RMW_MIDDLEWARE_SUPPORTS_TYPE_DISCOVERY);
@@ -242,8 +243,11 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
   }
 
   // NOTE(methylDragon): We don't finalize the rosidl_message_type_support->data since its members
-  //                     are they're managed by the passed in SharedPtr wrapper classes
-  rosidl_message_type_support_ = std::make_shared<rosidl_message_type_support_t>();
+  //                     are managed by the passed in SharedPtr wrapper classes
+  rosidl_message_type_support_.reset(
+    new rosidl_message_type_support_t(),
+    [](rosidl_message_type_support_t * ts) -> void {free(const_cast<void *>(ts->data));}
+  );
 
   if (!rosidl_message_type_support_) {
     RCUTILS_LOG_ERROR_NAMED(
@@ -270,26 +274,8 @@ DynamicMessageTypeSupport::init_rosidl_message_type_support_(
   ts_impl->serialization_support = serialization_support->get_rosidl_serialization_support();
   ts_impl->dynamic_type = dynamic_message_type->get_rosidl_dynamic_type();
   ts_impl->dynamic_data = dynamic_message->get_rosidl_dynamic_data();
+  ts_impl->description = description;
   rosidl_message_type_support_->func = get_message_typesupport_handle_function;
-
-  if (description) {
-    ts_impl->description = rosidl_runtime_c__type_description__TypeDescription__create();
-    if (ts_impl->description == NULL) {
-      RCUTILS_LOG_ERROR_NAMED(
-        rmw_dynamic_typesupport_c__identifier,
-        "Could not create type description to assign into");
-      rosidl_message_type_support_.reset();
-    }
-
-    if (!rosidl_runtime_c__type_description__TypeDescription__copy(
-      description, ts_impl->description))
-    {
-      RCUTILS_LOG_ERROR_NAMED(
-        rmw_dynamic_typesupport_c__identifier,
-        "Could not copy type description");
-      rosidl_message_type_support_.reset();
-    }
-  }
 }
 
 
@@ -397,3 +383,14 @@ DynamicMessageTypeSupport::get_shared_dynamic_message() const
 {
   return dynamic_message_;
 }
+
+
+// METHODS =========================================================================================
+void
+DynamicMessageTypeSupport::print_description() const
+{
+  if (!description_) {
+    RCUTILS_LOG_ERROR("Can't print description, no bound description!");
+  }
+  rosidl_runtime_c_type_description_utils_print_type_description(description_.get());
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_type_builder.cpp

@@ -490,3 +490,47 @@ DynamicTypeBuilder::add_complex_bounded_sequence_member(
     get_rosidl_dynamic_type_builder(), id, name.c_str(), name.size(),
     nested_type.get_rosidl_dynamic_type(), sequence_bound);
 }
+
+
+void
+DynamicTypeBuilder::add_complex_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicTypeBuilder & nested_type_builder)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_member_builder(
+    get_rosidl_dynamic_type_builder(), id, name.c_str(), name.size(),
+    nested_type_builder.get_rosidl_dynamic_type_builder());
+}
+
+
+void
+DynamicTypeBuilder::add_complex_array_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicTypeBuilder & nested_type_builder, size_t array_length)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_array_member_builder(
+    get_rosidl_dynamic_type_builder(), id, name.c_str(), name.size(),
+    nested_type_builder.get_rosidl_dynamic_type_builder(), array_length);
+}
+
+
+void
+DynamicTypeBuilder::add_complex_unbounded_sequence_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicTypeBuilder & nested_type_builder)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_unbounded_sequence_member_builder(
+    get_rosidl_dynamic_type_builder(), id, name.c_str(), name.size(),
+    nested_type_builder.get_rosidl_dynamic_type_builder());
+}
+
+
+void
+DynamicTypeBuilder::add_complex_bounded_sequence_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicTypeBuilder & nested_type_builder, size_t sequence_bound)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_bounded_sequence_member_builder(
+    get_rosidl_dynamic_type_builder(), id, name.c_str(), name.size(),
+    nested_type_builder.get_rosidl_dynamic_type_builder(), sequence_bound);
+}