Implement allocator refactor for type support structs

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

Author: methylDragon

rmw/include/rmw/dynamic_message_type_support.h

@@ -36,7 +36,50 @@ extern "C"
 /// Interfaces for runtime interface reflection
 
 // RUNTIME INTERFACE REFLECTION TYPE SUPPORT =======================================================
-/// Get dynamic type message typesupport with bound message description
+/// Initialize dynamic type message typesupport, binding message description
+/**
+ * NOTE: Take note of the ownership rules for the returned struct and the `description` argument!
+ *
+ * If the user passes a NULL description, it is deferred instead, the middleware is responsibile
+ * for populating the fields on type discovery!!!
+ *
+ * Ownership:
+ *   - The `rosidl_message_type_support_t *` returned from this function has different ownership
+ *     rules compared to the statically allocated `rosidl_message_type_support_t` structs from
+ *     code-generated types!
+ *    - The caller is responsible for deallocating the returned pointer
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ */
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_dynamic_message_type_support_handle_init(
+  rosidl_dynamic_typesupport_serialization_support_t * serialization_support,
+  bool middleware_supports_type_discovery,
+  const rosidl_type_hash_t * type_hash,
+  const rosidl_runtime_c__type_description__TypeDescription * type_description,
+  const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources,
+  rcutils_allocator_t * allocator,
+  rosidl_message_type_support_t * ts);  // OUT
+
+/// Finalize a rosidl_message_type_support_t obtained with
+/// `rmw_dynamic_message_type_support_handle_create()`, which has dynamically allocated members
+///
+/// NOTE: Using this on a statically allocated typesupport will cause undefined behavior!
+///       (Static memory will get freed in that case.)
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_dynamic_message_type_support_handle_fini(rosidl_message_type_support_t * ts);
+
+/// Create dynamic type message typesupport with bound message description
 /**
  * NOTE: Take note of the ownership rules for the returned struct and the `description` argument!
  *
@@ -66,6 +109,7 @@ rmw_dynamic_message_type_support_handle_create(
   const rosidl_type_hash_t * type_hash,
   const rosidl_runtime_c__type_description__TypeDescription * type_description,
   const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources,
+  rcutils_allocator_t * allocator,
   rosidl_message_type_support_t ** ts);  // OUT
 
 /// Destroy a rosidl_message_type_support_t obtained with

rmw/src/dynamic_message_type_support.c

@@ -33,15 +33,60 @@ extern "C"
 
 // NOTE(methylDragon): How do we test this? It depends on specific serialization support. Do I just
 //                     use the FastRTPS support then?
+rmw_ret_t
+rmw_dynamic_message_type_support_handle_init(
+  rosidl_dynamic_typesupport_serialization_support_t * serialization_support,
+  bool middleware_supports_type_discovery,
+  const rosidl_type_hash_t * type_hash,
+  const rosidl_runtime_c__type_description__TypeDescription * type_description,
+  const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources,
+  rcutils_allocator_t * allocator,
+  rosidl_message_type_support_t * ts)
+{
+  if (!middleware_supports_type_discovery && type_description == NULL) {
+    RMW_SET_ERROR_MSG(
+      "Middleware does not support type discovery. Deferred dynamic type message type support will "
+      "never be populated. You must provide a type description.");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+  // TODO(methylDragon): Remove if and when the deferred description path is supported
+  if (type_description == NULL) {
+    RMW_SET_ERROR_MSG(
+      "Deferred type description is not currently supported. You must provide a type description.");
+    return RMW_RET_INVALID_ARGUMENT;
+  }
+
+  RMW_CHECK_ARGUMENT_FOR_NULL(serialization_support, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(type_hash, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(type_description, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(allocator, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(ts, RMW_RET_INVALID_ARGUMENT);
+
+  // NOTE(methylDragon): Not supported for now
+  // RMW_CHECK_ARGUMENT_FOR_NULL(type_description_sources, RMW_RET_INVALID_ARGUMENT);
+
+  return rmw_convert_rcutils_ret_to_rmw_ret(
+    rosidl_dynamic_message_type_support_handle_init(
+      serialization_support, type_hash, type_description, type_description_sources, allocator, ts));
+}
+
+rmw_ret_t
+rmw_dynamic_message_type_support_handle_fini(rosidl_message_type_support_t * ts)
+{
+  if (!ts) {
+    return RCUTILS_RET_OK;
+  }
+  return rmw_convert_rcutils_ret_to_rmw_ret(rosidl_dynamic_message_type_support_handle_fini(ts));
+}
 
-/// Create a rosidl_message_type_support_t from a TypeDescription message
 rmw_ret_t
 rmw_dynamic_message_type_support_handle_create(
   rosidl_dynamic_typesupport_serialization_support_t * serialization_support,
   bool middleware_supports_type_discovery,
   const rosidl_type_hash_t * type_hash,
   const rosidl_runtime_c__type_description__TypeDescription * type_description,
   const rosidl_runtime_c__type_description__TypeSource__Sequence * type_description_sources,
+  rcutils_allocator_t * allocator,
   rosidl_message_type_support_t ** ts)
 {
   if (!middleware_supports_type_discovery && type_description == NULL) {
@@ -60,20 +105,23 @@ rmw_dynamic_message_type_support_handle_create(
   RMW_CHECK_ARGUMENT_FOR_NULL(serialization_support, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(type_hash, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(type_description, RMW_RET_INVALID_ARGUMENT);
+  RMW_CHECK_ARGUMENT_FOR_NULL(allocator, RMW_RET_INVALID_ARGUMENT);
   RMW_CHECK_ARGUMENT_FOR_NULL(ts, RMW_RET_INVALID_ARGUMENT);
 
   // NOTE(methylDragon): Not supported for now
   // RMW_CHECK_ARGUMENT_FOR_NULL(type_description_sources, RMW_RET_INVALID_ARGUMENT);
 
   return rmw_convert_rcutils_ret_to_rmw_ret(
     rosidl_dynamic_message_type_support_handle_create(
-      serialization_support, type_hash, type_description, type_description_sources, ts));
+      serialization_support, type_hash, type_description, type_description_sources, allocator, ts));
 }
 
 rmw_ret_t
 rmw_dynamic_message_type_support_handle_destroy(rosidl_message_type_support_t * ts)
 {
-  RCUTILS_CHECK_ARGUMENT_FOR_NULL(ts, RMW_RET_INVALID_ARGUMENT);
+  if (!ts) {
+    return RCUTILS_RET_OK;
+  }
   return rmw_convert_rcutils_ret_to_rmw_ret(rosidl_dynamic_message_type_support_handle_destroy(ts));
 }