Refactor dynamic type support structs to use allocators and refs

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

Author: methylDragon

rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_message_impl.hpp

@@ -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; \
   }
 
@@ -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) \
@@ -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; \
   }
 
@@ -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);
 }
 
@@ -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));
 }
 
 
@@ -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;
 }
 
@@ -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;
@@ -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;
@@ -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());
 }
 
 
@@ -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());
 }
 
 
@@ -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;
 }
 
@@ -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;
 }
 

rclcpp/include/rclcpp/dynamic_typesupport/detail/dynamic_message_type_builder_impl.hpp

@@ -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()); \
   }
 
@@ -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); \
   }
@@ -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()); \
   }
 
@@ -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); \
   }

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp

@@ -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>
 
@@ -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:
@@ -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;
@@ -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();
@@ -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
@@ -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 =======================================================================
@@ -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
@@ -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();
 
@@ -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