Runtime Interface Reflection: Dynamic Typesupport Wrappers #2134
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methylDragon
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I had hoped to make this easier to review by splitting it off, but managing the branches is becoming too troublesome (since I need to be changing some signatures.) I am closing this for now, but I might split these classes off again in a future PR. The changes here will be lumped into #2077 instead, until they are split out again. |
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This PR is part of the runtime interface reflection subscription feature of REP-2011: ros2/ros2#1374
It is a dependency of: #2077
Depends on:
Description
This PR implements C++ wrapper classes for the rosidl_dynamic_typesupport dynamic type/type builder/data structs that help manage lifetime and type casting.
They also feature many templated functions to lessen the reading burden for any new users of dynamic typesupport.
rclcpp::dynamic_typesupport::DynamicDatarclcpp::dynamic_typesupport::DynamicMessagerclcpp::dynamic_typesupport::DynamicMessageTyperclcpp::dynamic_typesupport::DynamicSerializationSupportrclcpp::dynamic_typesupport::DynamicTypeBuilderrclcpp::dynamic_typesupport::DynamicTypeI also created a typesupport wrapper class that wraps the
rosidl_message_type_support_tthat should be passed into a subscription. It'll manage all the necessary lifetimes.rclcpp::dynamic_typesupport::DynamicMessageTypeSupportEverything builds nicely, though I don't have tests written yet...