Refactor dynamic type support structs to use allocators and refs

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

Author: methylDragon

rmw_fastrtps_cpp/src/subscription.cpp

@@ -187,7 +187,7 @@ __create_dynamic_subscription(
   // Create Topic and Type names
   auto dyn_type_ptr = eprosima::fastrtps::types::DynamicType_ptr(
     *static_cast<eprosima::fastrtps::types::DynamicType_ptr *>(
-      ts_impl->dynamic_message_type->impl->handle));
+      ts_impl->dynamic_message_type->impl.handle));
 
   // Check if we need to split the name into namespace and type name
   std::string type_name = dyn_type_ptr->get_name();

rmw_fastrtps_shared_cpp/src/rmw_take.cpp

@@ -422,7 +422,7 @@ _take_dynamic_message(
 
   rmw_fastrtps_shared_cpp::SerializedData data;
   data.type = FASTRTPS_SERIALIZED_DATA_TYPE_DYNAMIC_MESSAGE;
-  data.data = dynamic_data->impl->handle;
+  data.data = dynamic_data->impl.handle;
   data.impl = nullptr;  // not used when type is FASTRTPS_SERIALIZED_DATA_TYPE_DYNAMIC_MESSAGE
 
   eprosima::fastdds::dds::StackAllocatedSequence<void *, 1> data_values;
@@ -466,9 +466,6 @@ __rmw_take_dynamic_message(
   RMW_CHECK_ARGUMENT_FOR_NULL(
     dynamic_data, RMW_RET_INVALID_ARGUMENT);
 
-  RMW_CHECK_ARGUMENT_FOR_NULL(
-    dynamic_data->impl, RMW_RET_INVALID_ARGUMENT);
-
   RMW_CHECK_ARGUMENT_FOR_NULL(
     taken, RMW_RET_INVALID_ARGUMENT);
 
@@ -491,9 +488,6 @@ __rmw_take_dynamic_message_with_info(
   RMW_CHECK_ARGUMENT_FOR_NULL(
     dynamic_data, RMW_RET_INVALID_ARGUMENT);
 
-  RMW_CHECK_ARGUMENT_FOR_NULL(
-    dynamic_data->impl, RMW_RET_INVALID_ARGUMENT);
-
   RMW_CHECK_ARGUMENT_FOR_NULL(
     taken, RMW_RET_INVALID_ARGUMENT);