Refactor dynamic typesupport to couple serialization support to objects

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

Author: methylDragon

rclcpp/include/rclcpp/dynamic_subscription.hpp

@@ -53,11 +53,10 @@ class DynamicSubscription : public rclcpp::SubscriptionBase
     rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rclcpp::QoS & qos,
-    // TODO(methylDragons): Eventually roll out an rclcpp::DynamicData that encompasses the serialization_support
-    //                      support and DynamicData, and pass that to the callback
-    std::function<void(
-      std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>, std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
-    )> callback,
+    // TODO(methylDragons): Eventually roll out an rclcpp::DynamicMessage that encompasses the
+    //                      serialization_support support and DynamicData, and pass that to the
+    //                      callback
+    std::function<void(std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>)> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
     bool use_take_dynamic_message = false)
   : SubscriptionBase(
@@ -161,7 +160,6 @@ class DynamicSubscription : public rclcpp::SubscriptionBase
 
   RCLCPP_PUBLIC
   void handle_dynamic_message(
-    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
     const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info
   ) override;
@@ -171,10 +169,7 @@ class DynamicSubscription : public rclcpp::SubscriptionBase
   RCLCPP_DISABLE_COPY(DynamicSubscription)
 
   rosidl_message_type_support_t & ts_;
-
-  std::function<void(
-    std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>, std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
-  )> callback_;
+  std::function<void(std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>)> callback_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -137,7 +137,6 @@ class GenericSubscription : public rclcpp::SubscriptionBase
 
   RCLCPP_PUBLIC
   void handle_dynamic_message(
-    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
     const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info) override;
 

rclcpp/include/rclcpp/subscription.hpp

@@ -414,11 +414,9 @@ class Subscription : public SubscriptionBase
 
   void
   handle_dynamic_message(
-    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
     const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info) override
   {
-    (void) serialization_support;
     (void) dyn_data;
     (void) message_info;
     throw rclcpp::exceptions::UnimplementedError(

rclcpp/include/rclcpp/subscription_base.hpp

@@ -563,7 +563,6 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   virtual
   void
   handle_dynamic_message(
-    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
     const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
     const rclcpp::MessageInfo & message_info
   ) = 0;

rclcpp/src/rclcpp/dynamic_subscription.cpp

@@ -84,7 +84,7 @@ DynamicSubscription::get_dynamic_type()
 // NOTE(methylDragon): Should we store a separate copy of dynamic data in the sub so it isn't tied
 //                     to the typesupport instead?
 //                     If that's the case, will there ever be a lifetime contention between a sub
-//                     that manages the data and the callback/user usage of the data? 
+//                     that manages the data and the callback/user usage of the data?
 std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t>
 DynamicSubscription::get_dynamic_data()
 {
@@ -107,11 +107,10 @@ std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> DynamicSubsc
 };
 
 void DynamicSubscription::handle_dynamic_message(
-  const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
   const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
   const rclcpp::MessageInfo &)
 {
-  callback_(serialization_support, dyn_data);
+  callback_(dyn_data);
 }
 
 }  // namespace rclcpp

rclcpp/src/rclcpp/executor.cpp

@@ -637,7 +637,7 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
           if (ret != RMW_RET_OK) {
             throw_from_rcl_error(ret, "Couldn't convert serialized message to dynamic data!");
           }
-          subscription->handle_dynamic_message(serialization_support, dyn_data, message_info);
+          subscription->handle_dynamic_message(dyn_data, message_info);
         }
       );
       subscription->return_serialized_message(serialized_msg);

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -97,11 +97,9 @@ GenericSubscription::get_serialization_support()
 
 void
 GenericSubscription::handle_dynamic_message(
-  const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> & serialization_support,
   const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> & dyn_data,
   const rclcpp::MessageInfo & message_info)
 {
-  (void) serialization_support;
   (void) dyn_data;
   (void) message_info;
   throw rclcpp::exceptions::UnimplementedError(

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -82,7 +82,7 @@ class TestSubscription : public rclcpp::SubscriptionBase
   std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> get_dynamic_data() override {return nullptr;}
   std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t>   get_serialization_support() override {return nullptr;}
   void handle_dynamic_message(
-    const std::shared_ptr<rosidl_dynamic_typesupport_serialization_support_t> &, const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> &,
+    const std::shared_ptr<rosidl_dynamic_typesupport_dynamic_data_t> &,
     const rclcpp::MessageInfo &) override {}
 };