Use rmw_serialization_support_init

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

rclcpp/CMakeLists.txt

@@ -49,11 +49,13 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
+  src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
   src/rclcpp/event.cpp
   src/rclcpp/exceptions/exceptions.cpp
-  src/rclcpp/experimental/executors/events_executor/events_executor_entities_collector.cpp
-  src/rclcpp/experimental/executors/events_executor/events_executor.cpp
-  src/rclcpp/experimental/timers_manager.cpp
   src/rclcpp/executable_list.cpp
   src/rclcpp/executor.cpp
   src/rclcpp/executors.cpp
@@ -98,6 +100,7 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/qos.cpp
   src/rclcpp/event_handler.cpp
   src/rclcpp/qos_overriding_options.cpp
+  src/rclcpp/dynamic_subscription.cpp
   src/rclcpp/serialization.cpp
   src/rclcpp/serialized_message.cpp
   src/rclcpp/service.cpp

rclcpp/include/rclcpp/dynamic_subscription.hpp

@@ -0,0 +1,176 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_
+#define RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_
+
+#include <rosidl_dynamic_typesupport/identifier.h>
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rcpputils/shared_library.hpp"
+
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_topics_interface.hpp"
+#include "rclcpp/qos.hpp"
+#include "rclcpp/serialized_message.hpp"
+#include "rclcpp/subscription_base.hpp"
+#include "rclcpp/typesupport_helpers.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+
+/// %Subscription for messages whose type descriptions are obtained at runtime.
+/**
+ * Since the type is not known at compile time, this is not a template, and the dynamic library
+ * containing type support information has to be identified and loaded based on the type name.
+ *
+ * NOTE(methylDragon): No considerations for intra-process handling are made.
+ */
+class DynamicSubscription : public rclcpp::SubscriptionBase
+{
+public:
+  // cppcheck-suppress unknownMacro
+  RCLCPP_SMART_PTR_DEFINITIONS(DynamicSubscription)
+
+  template<typename AllocatorT = std::allocator<void>>
+  DynamicSubscription(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::dynamic_typesupport::DynamicMessageTypeSupport::SharedPtr type_support,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos,
+    std::function<void(
+      rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr,
+      const rosidl_runtime_c__type_description__TypeDescription &
+    )> callback,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
+    bool use_take_dynamic_message = true)
+  : SubscriptionBase(
+      node_base,
+      type_support->get_const_rosidl_message_type_support(),
+      topic_name,
+      options.to_rcl_subscription_options(
+        qos),
+      options.event_callbacks,
+      options.use_default_callbacks,
+      use_take_dynamic_message ? SubscriptionType::DYNAMIC_MESSAGE_DIRECT : SubscriptionType::DYNAMIC_MESSAGE_FROM_SERIALIZED),  // NOLINT
+    ts_(type_support),
+    callback_(callback),
+    serialization_support_(nullptr),
+    dynamic_message_(nullptr),
+    dynamic_message_type_(nullptr)
+  {
+    if (!type_support) {
+      throw std::runtime_error("DynamicMessageTypeSupport cannot be nullptr!");
+    }
+
+    if (type_support->get_const_rosidl_message_type_support().typesupport_identifier !=
+      rosidl_get_dynamic_typesupport_identifier())
+    {
+      throw std::runtime_error(
+              "DynamicSubscription must use dynamic type introspection type support!");
+    }
+
+    serialization_support_ = type_support->get_shared_dynamic_serialization_support();
+    dynamic_message_type_ = type_support->get_shared_dynamic_message_type()->clone_shared();
+    dynamic_message_ = type_support->get_shared_dynamic_message()->clone_shared();
+  }
+
+  // TODO(methylDragon):
+  /// Deferred type description constructor, only usable if the middleware implementation supports
+  /// type discovery
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicSubscription() = default;
+
+  // Same as create_serialized_message() as the subscription is to serialized_messages only
+  RCLCPP_PUBLIC
+  std::shared_ptr<void> create_message() override;
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<rclcpp::SerializedMessage> create_serialized_message() override;
+
+  /// Cast the message to a rclcpp::SerializedMessage and call the callback.
+  RCLCPP_PUBLIC
+  void handle_message(
+    std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override;
+
+  /// Handle dispatching rclcpp::SerializedMessage to user callback.
+  RCLCPP_PUBLIC
+  void
+  handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+    const rclcpp::MessageInfo & message_info) override;
+
+  /// This function is currently not implemented.
+  RCLCPP_PUBLIC
+  void handle_loaned_message(
+    void * loaned_message, const rclcpp::MessageInfo & message_info) override;
+
+  // Same as return_serialized_message() as the subscription is to serialized_messages only
+  RCLCPP_PUBLIC
+  void return_message(std::shared_ptr<void> & message) override;
+
+  RCLCPP_PUBLIC
+  void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
+
+
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  void return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
+
+  RCLCPP_PUBLIC
+  void handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicSubscription)
+
+  rclcpp::dynamic_typesupport::DynamicMessageTypeSupport::SharedPtr ts_;
+  std::function<void(
+      rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr,
+      const rosidl_runtime_c__type_description__TypeDescription &
+    )> callback_;
+
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr serialization_support_;
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr dynamic_message_;
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr dynamic_message_type_;
+};
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_SUBSCRIPTION_HPP_

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

@@ -0,0 +1,327 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_
+
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+
+#include <cstdint>
+#include <cstddef>
+#include <memory>
+#include <string>
+
+#include "rclcpp/exceptions.hpp"
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#endif
+
+
+#define __DYNAMIC_MESSAGE_GET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  template<> \
+  ValueT \
+  DynamicMessage::get_value<ValueT>(rosidl_dynamic_typesupport_member_id_t id) \
+  { \
+    ValueT out; \
+    rosidl_dynamic_typesupport_dynamic_data_get_ ## FunctionT ## _value( \
+      &rosidl_dynamic_data_, id, &out); \
+    return out; \
+  }
+
+#define __DYNAMIC_MESSAGE_GET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  template<> \
+  ValueT \
+  DynamicMessage::get_value<ValueT>(const std::string & name) \
+  { \
+    return get_value<ValueT>(get_member_id(name)); \
+  }
+
+#define __DYNAMIC_MESSAGE_SET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessage::set_value<ValueT>(rosidl_dynamic_typesupport_member_id_t id, ValueT value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_data_set_ ## FunctionT ## _value( \
+      &rosidl_dynamic_data_, id, value); \
+  }
+
+#define __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessage::set_value<ValueT>(const std::string & name, ValueT value) \
+  { \
+    set_value<ValueT>(get_member_id(name), value); \
+  }
+
+#define __DYNAMIC_MESSAGE_INSERT_VALUE(ValueT, FunctionT) \
+  template<> \
+  rosidl_dynamic_typesupport_member_id_t \
+  DynamicMessage::insert_value<ValueT>(ValueT value) \
+  { \
+    rosidl_dynamic_typesupport_member_id_t out; \
+    rosidl_dynamic_typesupport_dynamic_data_insert_ ## FunctionT ## _value( \
+      &rosidl_dynamic_data_, value, &out); \
+    return out; \
+  }
+
+#define DYNAMIC_MESSAGE_DEFINITIONS(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_GET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_GET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_SET_VALUE_BY_ID_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN(ValueT, FunctionT) \
+  __DYNAMIC_MESSAGE_INSERT_VALUE(ValueT, FunctionT)
+
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/**
+ * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+ * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+ *
+ * Explicitly:
+ * - Basic types:        bool, byte, char
+ * - Float types:        float, double
+ * - Int types:          int8_t, int16_t, int32_t, int64_t
+ * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+ * - String types:       std::string, std::u16string
+ */
+
+DYNAMIC_MESSAGE_DEFINITIONS(bool, bool);
+// DYNAMIC_MESSAGE_DEFINITIONS(std::byte, byte);
+DYNAMIC_MESSAGE_DEFINITIONS(char, char);
+DYNAMIC_MESSAGE_DEFINITIONS(float, float32);
+DYNAMIC_MESSAGE_DEFINITIONS(double, float64);
+DYNAMIC_MESSAGE_DEFINITIONS(int8_t, int8);
+DYNAMIC_MESSAGE_DEFINITIONS(int16_t, int16);
+DYNAMIC_MESSAGE_DEFINITIONS(int32_t, int32);
+DYNAMIC_MESSAGE_DEFINITIONS(int64_t, int64);
+DYNAMIC_MESSAGE_DEFINITIONS(uint8_t, uint8);
+DYNAMIC_MESSAGE_DEFINITIONS(uint16_t, uint16);
+DYNAMIC_MESSAGE_DEFINITIONS(uint32_t, uint32);
+DYNAMIC_MESSAGE_DEFINITIONS(uint64_t, uint64);
+// DYNAMIC_MESSAGE_DEFINITIONS(std::string, std::string);
+// DYNAMIC_MESSAGE_DEFINITIONS(std::u16string, std::u16string);
+
+// Byte and String getters have a different implementation and are defined below
+
+
+// BYTE ============================================================================================
+template<>
+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);
+  return static_cast<std::byte>(out);
+}
+
+
+template<>
+std::byte
+DynamicMessage::get_value<std::byte>(const std::string & name)
+{
+  return get_value<std::byte>(get_member_id(name));
+}
+
+
+template<>
+void
+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_, id, static_cast<unsigned char>(value));
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::byte>(const std::string & name, const std::byte value)
+{
+  set_value<std::byte>(get_member_id(name), value);
+}
+
+
+template<>
+rosidl_dynamic_typesupport_member_id_t
+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_, static_cast<unsigned char>(value), &out);
+  return out;
+}
+
+
+// STRINGS =========================================================================================
+template<>
+std::string
+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);
+  auto out = std::string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+template<>
+std::u16string
+DynamicMessage::get_value<std::u16string>(rosidl_dynamic_typesupport_member_id_t id)
+{
+  size_t buf_length;
+  char16_t * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_wstring_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length);
+  auto out = std::u16string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+template<>
+std::string
+DynamicMessage::get_value<std::string>(const std::string & name)
+{
+  return get_value<std::string>(get_member_id(name));
+}
+
+
+template<>
+std::u16string
+DynamicMessage::get_value<std::u16string>(const std::string & name)
+{
+  return get_value<std::u16string>(get_member_id(name));
+}
+
+
+template<>
+void
+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_, id, value.c_str(), value.size());
+}
+
+
+template<>
+void
+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_, id, value.c_str(), value.size());
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::string>(const std::string & name, const std::string value)
+{
+  set_value<std::string>(get_member_id(name), value);
+}
+
+
+template<>
+void
+DynamicMessage::set_value<std::u16string>(const std::string & name, const std::u16string value)
+{
+  set_value<std::u16string>(get_member_id(name), value);
+}
+
+
+template<>
+rosidl_dynamic_typesupport_member_id_t
+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_, value.c_str(), value.size(), &out);
+  return out;
+}
+
+
+template<>
+rosidl_dynamic_typesupport_member_id_t
+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_, value.c_str(), value.size(), &out);
+  return out;
+}
+
+
+// THROW FOR UNSUPPORTED TYPES =====================================================================
+template<typename ValueT>
+ValueT
+DynamicMessage::get_value(rosidl_dynamic_typesupport_member_id_t id)
+{
+  throw rclcpp::exceptions::UnimplementedError("get_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+ValueT
+DynamicMessage::get_value(const std::string & name)
+{
+  throw rclcpp::exceptions::UnimplementedError("get_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+void
+DynamicMessage::set_value(
+  rosidl_dynamic_typesupport_member_id_t id, ValueT value)
+{
+  throw rclcpp::exceptions::UnimplementedError("set_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+void
+DynamicMessage::set_value(const std::string & name, ValueT value)
+{
+  throw rclcpp::exceptions::UnimplementedError("set_value is not implemented for input type");
+}
+
+
+template<typename ValueT>
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_value(ValueT value)
+{
+  throw rclcpp::exceptions::UnimplementedError("insert_value is not implemented for input type");
+}
+
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#undef __DYNAMIC_MESSAGE_GET_VALUE_BY_ID_FN
+#undef __DYNAMIC_MESSAGE_GET_VALUE_BY_NAME_FN
+#undef __DYNAMIC_MESSAGE_SET_VALUE_BY_ID_FN
+#undef __DYNAMIC_MESSAGE_SET_VALUE_BY_NAME_FN
+#undef __DYNAMIC_MESSAGE_INSERT_VALUE
+#undef DYNAMIC_MESSAGE_DEFINITIONS
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_

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

@@ -0,0 +1,189 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_
+
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+
+#include <cstdint>
+#include <cstddef>
+#include <memory>
+#include <string>
+
+#include "rclcpp/exceptions.hpp"
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#endif
+
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, \
+    const std::string & name, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size()); \
+  }
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_ARRAY_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_array_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, \
+    size_t array_length, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _array_member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size(), \
+      array_length); \
+  }
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_UNBOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_unbounded_sequence_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, \
+    const std::string & name, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## \
+    _unbounded_sequence_member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size()); \
+  }
+
+#define __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_BOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+  template<> \
+  void \
+  DynamicMessageTypeBuilder::add_bounded_sequence_member<MemberT>( \
+    rosidl_dynamic_typesupport_member_id_t id, \
+    const std::string & name, \
+    size_t sequence_bound, \
+    const std::string & default_value) \
+  { \
+    rosidl_dynamic_typesupport_dynamic_type_builder_add_ ## FunctionT ## _bounded_sequence_member( \
+      &rosidl_dynamic_type_builder_, \
+      id, name.c_str(), name.size(), default_value.c_str(), default_value.size(), \
+      sequence_bound); \
+  }
+
+#define DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_MEMBER_FN(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_ARRAY_MEMBER_FN(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_UNBOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+  __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_BOUNDED_SEQUENCE_MEMBER_FN(MemberT, FunctionT) \
+
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/**
+ * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+ * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+ *
+ * Explicitly:
+ * - Basic types:        bool, byte, char
+ * - Float types:        float, double
+ * - Int types:          int8_t, int16_t, int32_t, int64_t
+ * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+ * - String types:       std::string, std::u16string
+ */
+
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(bool, bool);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(std::byte, byte);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(char, char);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(float, float32);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(double, float64);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int8_t, int8);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int16_t, int16);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int32_t, int32);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(int64_t, int64);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint8_t, uint8);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint16_t, uint16);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint32_t, uint32);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(uint64_t, uint64);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(std::string, string);
+DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS(std::u16string, wstring);
+
+
+// THROW FOR UNSUPPORTED TYPES =====================================================================
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_member is not implemented for input type");
+}
+
+
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_array_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  size_t array_length, const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_array_member is not implemented for input type");
+}
+
+
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_unbounded_sequence_member is not implemented for input type");
+}
+
+
+template<typename MemberT>
+void
+DynamicMessageTypeBuilder::add_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id,
+  const std::string & name,
+  size_t sequence_bound,
+  const std::string & default_value)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "add_bounded_sequence_member is not implemented for input type");
+}
+
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_MEMBER_FN
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_ARRAY_MEMBER_FN
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_UNBOUNDED_SEQUENCE_MEMBER_FN
+#undef __DYNAMIC_MESSAGE_TYPE_BUILDER_ADD_BOUNDED_SEQUENCE_MEMBER_FN
+#undef DYNAMIC_MESSAGE_TYPE_BUILDER_DEFINITIONS
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp

@@ -0,0 +1,432 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#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>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#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
+/**
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class borrows the rosidl_dynamic_typesupport_serialization_support_t stored in the passed
+ *   DynamicSerializationSupport. So it cannot outlive the DynamicSerializationSupport.
+ * - The DynamicSerializationSupport's rosidl_dynamic_typesupport_serialization_support_t pointer
+ *   must point to the same location in memory as the stored raw pointer!
+ *
+ * Note: This class is meant to map to the lower level rosidl_dynamic_typesupport_dynamic_data_t,
+ *       even though rosidl_dynamic_typesupport_dynamic_data_t is equivalent to
+ *       rosidl_dynamic_typesupport_dynamic_data_t, exposing the fundamental methods available to
+ *       rosidl_dynamic_typesupport_dynamic_data_t, allowing the user to access the data's fields.
+ */
+class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessage)
+
+  // CONSTRUCTION ==================================================================================
+  // Most constructors require a passed in DynamicSerializationSupport::SharedPtr, to extend the
+  // lifetime of the serialization support (if the constructor cannot otherwise get it from args).
+  //
+  // In cases where a dynamic data pointer is passed, the serialization support composed by
+  // 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, using its allocator
+  RCLCPP_PUBLIC
+  explicit DynamicMessage(std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder);
+
+  /// 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);
+
+  /// Construct a new DynamicMessage with the provided dynamic type and allocator
+  RCLCPP_PUBLIC
+  DynamicMessage(
+    std::shared_ptr<DynamicMessageType> dynamic_type,
+    rcl_allocator_t allocator);
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  DynamicMessage(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    rosidl_dynamic_typesupport_dynamic_data_t && rosidl_dynamic_data);
+
+  /// Loaning constructor
+  /// 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);
+
+  // NOTE(methylDragon): Deliberately no constructor from description to nudge users towards using
+  //                     construction from dynamic type/builder, which is more efficient
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicMessage(DynamicMessage && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicMessage & operator=(DynamicMessage && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessage();
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_dynamic_data_t &
+  get_rosidl_dynamic_data();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_dynamic_data_t &
+  get_rosidl_dynamic_data() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+  RCLCPP_PUBLIC
+  size_t
+  get_item_count() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_member_id(size_t index) const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_member_id(const std::string & name) const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_array_index(size_t index) const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  get_array_index(const std::string & name) const;
+
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  DynamicMessage
+  clone(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  init_from_type(
+    DynamicMessageType & type, rcl_allocator_t allocator = rcl_get_default_allocator()) const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  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,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  loan_value(
+    const std::string & name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  void
+  clear_all_values();
+
+  RCLCPP_PUBLIC
+  void
+  clear_nonkey_values();
+
+  RCLCPP_PUBLIC
+  void
+  clear_value(rosidl_dynamic_typesupport_member_id_t id);
+
+  RCLCPP_PUBLIC
+  void
+  clear_value(const std::string & name);
+
+  RCLCPP_PUBLIC
+  void
+  clear_sequence();
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_sequence_data();
+
+  RCLCPP_PUBLIC
+  void
+  remove_sequence_data(rosidl_dynamic_typesupport_member_id_t index);
+
+  RCLCPP_PUBLIC
+  bool
+  serialize(rcl_serialized_message_t & buffer);
+
+  RCLCPP_PUBLIC
+  bool
+  deserialize(rcl_serialized_message_t & buffer);
+
+
+  // MEMBER ACCESS TEMPLATES =======================================================================
+  /**
+   * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+   * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+   *
+   * Explicitly:
+   * - Basic types:        bool, byte, char
+   * - Float types:        float, double
+   * - Int types:          int8_t, int16_t, int32_t, int64_t
+   * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+   * - String types:       std::string, std::u16string
+   */
+
+  template<typename ValueT>
+  ValueT
+  get_value(rosidl_dynamic_typesupport_member_id_t id);
+
+  template<typename ValueT>
+  ValueT
+  get_value(const std::string & name);
+
+  template<typename ValueT>
+  void
+  set_value(rosidl_dynamic_typesupport_member_id_t id, ValueT value);
+
+  template<typename ValueT>
+  void
+  set_value(const std::string & name, ValueT value);
+
+  template<typename ValueT>
+  rosidl_dynamic_typesupport_member_id_t
+  insert_value(ValueT value);
+
+
+  // FIXED STRING MEMBER ACCESS ====================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_fixed_string_value(rosidl_dynamic_typesupport_member_id_t id, size_t string_length);
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_fixed_string_value(const std::string & name, size_t string_length);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_fixed_wstring_value(rosidl_dynamic_typesupport_member_id_t id, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_fixed_wstring_value(const std::string & name, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_string_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_string_value(const std::string & name, const std::string value, size_t string_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_wstring_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  void
+  set_fixed_wstring_value(
+    const std::string & name, const std::u16string value, size_t wstring_length);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_fixed_string_value(const std::string value, size_t string_length);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_fixed_wstring_value(const std::u16string value, size_t wstring_length);
+
+
+  // BOUNDED STRING MEMBER ACCESS ==================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_bounded_string_value(rosidl_dynamic_typesupport_member_id_t id, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_bounded_string_value(const std::string & name, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_bounded_wstring_value(rosidl_dynamic_typesupport_member_id_t id, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  const std::u16string
+  get_bounded_wstring_value(const std::string & name, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_string_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_string_value(const std::string & name, const std::string value, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_wstring_value(
+    rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  void
+  set_bounded_wstring_value(
+    const std::string & name, const std::u16string value, size_t wstring_bound);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_bounded_string_value(const std::string value, size_t string_bound);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_bounded_wstring_value(const std::u16string value, size_t wstring_bound);
+
+
+  // NESTED MEMBER ACCESS ==========================================================================
+  RCLCPP_PUBLIC
+  DynamicMessage
+  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,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  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,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  void
+  set_complex_value(rosidl_dynamic_typesupport_member_id_t id, DynamicMessage & value);
+
+  RCLCPP_PUBLIC
+  void
+  set_complex_value(const std::string & name, DynamicMessage & value);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_complex_value_copy(const DynamicMessage & value);
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_member_id_t
+  insert_complex_value(DynamicMessage & value);
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // DynamicSerializationSupport
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  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();
+
+  RCLCPP_PUBLIC
+  bool
+  match_serialization_support_(
+    const DynamicSerializationSupport & serialization_support,
+    const rosidl_dynamic_typesupport_dynamic_data_t & dynamic_data);
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

@@ -0,0 +1,197 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+class DynamicMessage;
+class DynamicMessageTypeBuilder;
+
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t`
+/**
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class borrows the `rosidl_dynamic_typesupport_serialization_support_t` stored in the
+ *   passed `DynamicSerializationSupport`.
+ *   So it cannot outlive the `DynamicSerializationSupport`.
+ * - The `DynamicSerializationSupport`'s `rosidl_dynamic_typesupport_serialization_support_t`
+ *   pointer must point to the same location in memory as the stored raw pointer!
+ *
+ * This class is meant to map to the lower level `rosidl_dynamic_typesupport_dynamic_type_t`,
+ * which can be constructed via `DynamicMessageTypeBuilder`, which maps to
+ * `rosidl_dynamic_typesupport_dynamic_type_builder_t`.
+ *
+ *  The usual method of obtaining a `DynamicMessageType` is through construction of
+ *  `rosidl_message_type_support_t` via `rcl_dynamic_message_type_support_handle_create()`, then
+ *  taking ownership of its contents. But `DynamicMessageTypeBuilder` can also be used to obtain
+ *  `DynamicMessageType` by constructing it bottom-up instead, since it exposes the lower_level
+ *  rosidl methods.
+ */
+class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageType)
+
+  // CONSTRUCTION ==================================================================================
+  // Most constructors require a passed in `DynamicSerializationSupport::SharedPtr`, to extend the
+  // lifetime of the serialization support (if the constructor cannot otherwise get it from args).
+  //
+  // In cases where a dynamic type pointer is passed, the serialization support composed by
+  // the type should be the exact same object managed by the `DynamicSerializationSupport`,
+  // otherwise the lifetime management will not work properly.
+
+  /// Construct a new `DynamicMessageType` with the provided dynamic type builder,
+  /// using its allocator
+  RCLCPP_PUBLIC
+  explicit DynamicMessageType(std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder);
+
+  /// Construct a new `DynamicMessageType` with the provided dynamic type builder and allocator
+  RCLCPP_PUBLIC
+  DynamicMessageType(
+    std::shared_ptr<DynamicMessageTypeBuilder> dynamic_type_builder,
+    rcl_allocator_t allocator);
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  DynamicMessageType(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    rosidl_dynamic_typesupport_dynamic_type_t && rosidl_dynamic_type);
+
+  /// From description
+  RCLCPP_PUBLIC
+  DynamicMessageType(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicMessageType(DynamicMessageType && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicMessageType & operator=(DynamicMessageType && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageType();
+
+  /// Swaps the serialization support if `serialization_support` is populated
+  /**
+   * The user can call this with another description to reconfigure the type without changing the
+   * serialization support
+   */
+  RCLCPP_PUBLIC
+  void
+  init_from_description(
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator(),
+    DynamicSerializationSupport::SharedPtr serialization_support = nullptr);
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  size_t
+  get_member_count() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_dynamic_type_t &
+  get_rosidl_dynamic_type();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_dynamic_type_t &
+  get_rosidl_dynamic_type() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  DynamicMessageType
+  clone(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::SharedPtr
+  clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  bool
+  equals(const DynamicMessageType & other) const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  build_dynamic_message(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  std::shared_ptr<DynamicMessage>
+  build_dynamic_message_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // `DynamicSerializationSupport`
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageType)
+
+  RCLCPP_PUBLIC
+  DynamicMessageType();
+
+  RCLCPP_PUBLIC
+  bool
+  match_serialization_support_(
+    const DynamicSerializationSupport & serialization_support,
+    const rosidl_dynamic_typesupport_dynamic_type_t & rosidl_dynamic_type);
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

@@ -0,0 +1,409 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+class DynamicMessage;
+class DynamicMessageType;
+
+/// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
+/**
+ * This class:
+ * - Manages the lifetime of the raw pointer.
+ * - Exposes getter methods to get the raw pointer and shared pointers
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class borrows the rosidl_dynamic_typesupport_serialization_support_t stored in the passed
+ *   `DynamicSerializationSupport`.
+ *   So it cannot outlive the `DynamicSerializationSupport`.
+ * - The `DynamicSerializationSupport`'s `rosidl_dynamic_typesupport_serialization_support_t`
+ *   pointer must point to the same location in memory as the stored raw pointer!
+ *
+ * This class is meant to map to rosidl_dynamic_typesupport_dynamic_type_builder_t, facilitating the
+ * construction of dynamic types bottom-up in the C++ layer.
+ *
+ * The usual method of obtaining a `DynamicMessageType` is through construction of
+ * `rosidl_message_type_support_t` via `rcl_dynamic_message_type_support_handle_create()`, then
+ * taking ownership of its contents.
+ * But `DynamicMessageTypeBuilder` can also be used to obtain `DynamicMessageType` by constructing
+ * it bottom-up instead, since it exposes the lower_level rosidl methods.
+ */
+class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeBuilder)
+
+  // CONSTRUCTION ==================================================================================
+  // All constructors require a passed in `DynamicSerializationSupport::SharedPtr`, to extend the
+  // lifetime of the serialization support.
+  //
+  // In cases where a dynamic type builder pointer is passed, the serialization support composed by
+  // the builder should be the exact same object managed by the `DynamicSerializationSupport`,
+  // otherwise the lifetime management will not work properly.
+
+  /// Construct a new `DynamicMessageTypeBuilder` with the provided serialization support using its
+  /// allocator
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const std::string & name);
+
+  /// Construct a new `DynamicMessageTypeBuilder` with the provided serialization support and
+  /// allocator
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const std::string & name,
+    rcl_allocator_t allocator);
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    rosidl_dynamic_typesupport_dynamic_type_builder_t && dynamic_type_builder);
+
+  /// From description
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder(DynamicMessageTypeBuilder && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder & operator=(DynamicMessageTypeBuilder && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageTypeBuilder();
+
+  /// Swaps the serialization support if serialization_support is populated
+  /**
+   * The user can call this with another description to reconfigure the type without changing the
+   * serialization support
+   */
+  RCLCPP_PUBLIC
+  void
+  init_from_description(
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator(),
+    DynamicSerializationSupport::SharedPtr serialization_support = nullptr);
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const std::string
+  get_name() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_dynamic_type_builder_t &
+  get_rosidl_dynamic_type_builder();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_dynamic_type_builder_t &
+  get_rosidl_dynamic_type_builder() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+
+  // METHODS =======================================================================================
+  RCLCPP_PUBLIC
+  void
+  set_name(const std::string & name);
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder
+  clone(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder::SharedPtr
+  clone_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  void
+  clear(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage
+  build_dynamic_message(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  build_dynamic_message_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageType
+  build_dynamic_message_type(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::SharedPtr
+  build_dynamic_message_type_shared(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+
+  // ADD MEMBERS TEMPLATES =========================================================================
+  /**
+   * Since we're in a ROS layer, these should support all ROS interface C++ types as found in:
+   * https://docs.ros.org/en/rolling/Concepts/About-ROS-Interfaces.html
+   *
+   * Explicitly:
+   * - Basic types:        bool, byte, char
+   * - Float types:        float, double
+   * - Int types:          int8_t, int16_t, int32_t, int64_t
+   * - Unsigned int types: uint8_t, uint16_t, uint32_t, uint64_t
+   * - String types:       std::string, std::u16string
+   */
+
+  template<typename MemberT>
+  void
+  add_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    const std::string & default_value = "");
+
+  template<typename MemberT>
+  void
+  add_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t array_length,
+    const std::string & default_value = "");
+
+  template<typename MemberT>
+  void
+  add_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    const std::string & default_value = "");
+
+  template<typename MemberT>
+  void
+  add_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t sequence_bound,
+    const std::string & default_value = "");
+
+
+  // ADD FIXED STRING MEMBERS ======================================================================
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_length, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_length, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_string_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_length, size_t sequence_bound, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_fixed_wstring_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_length, size_t sequence_bound, const std::string & default_value = "");
+
+
+  // ADD BOUNDED STRING MEMBERS ====================================================================
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_bound, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_bound, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_string_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t string_bound, size_t sequence_bound, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_bounded_wstring_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    size_t wstring_bound, size_t sequence_bound, const std::string & default_value = "");
+
+
+  // ADD NESTED MEMBERS ============================================================================
+  RCLCPP_PUBLIC
+  void
+  add_complex_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_array_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, size_t array_length, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_unbounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_bounded_sequence_member(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageType & nested_type, size_t sequence_bound,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_array_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, size_t array_length,
+    const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_unbounded_sequence_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value = "");
+
+  RCLCPP_PUBLIC
+  void
+  add_complex_bounded_sequence_member_builder(
+    rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+    DynamicMessageTypeBuilder & nested_type_builder, size_t sequence_bound,
+    const std::string & default_value = "");
+
+protected:
+  // NOTE(methylDragon):
+  // This is just here to extend the lifetime of the serialization support
+  // It isn't actually used by the builder since the builder should compose its own support
+  //
+  // ... Though ideally it should be the exact same support as the one stored in the
+  // `DynamicSerializationSupport`
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder_;
+
+private:
+  RCLCPP_DISABLE_COPY(DynamicMessageTypeBuilder)
+
+  RCLCPP_PUBLIC
+  DynamicMessageTypeBuilder();
+
+  RCLCPP_PUBLIC
+  void
+  init_from_serialization_support_(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const std::string & name,
+    rcl_allocator_t allocator);
+
+  RCLCPP_PUBLIC
+  bool
+  match_serialization_support_(
+    const DynamicSerializationSupport & serialization_support,
+    const rosidl_dynamic_typesupport_dynamic_type_builder_t & dynamic_type_builder);
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_BUILDER_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp

@@ -0,0 +1,166 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_
+
+#include <rcl/allocator.h>
+
+#include <rosidl_dynamic_typesupport/dynamic_message_type_support_struct.h>
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <rosidl_runtime_c/type_description/type_description__struct.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for `rosidl_message_type_support_t` containing managed
+/// instances of the typesupport handle impl.
+/**
+ *
+ * NOTE: This class is the recommended way to obtain the dynamic message type
+ *       support struct, instead of `rcl_dynamic_message_type_support_handle_init()`,
+ *       because this class will manage the lifetimes for you.
+ *
+ *       Do NOT call rcl_dynamic_message_type_support_handle_fini
+ *
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Stores shared pointers to wrapper classes that expose the underlying
+ *   serialization support API
+ *
+ * Ownership:
+ * - This class, similarly to the `rosidl_dynamic_typesupport_serialization_support_t`, must outlive
+ *   all downstream usages of the serialization support.
+ */
+class DynamicMessageTypeSupport : public std::enable_shared_from_this<DynamicMessageTypeSupport>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicMessageTypeSupport)
+
+  // CONSTRUCTION ==================================================================================
+  /// From description
+  /// Does NOT take ownership of the description (copies instead.)
+  /// Constructs type support top-down (calling `rcl_dynamic_message_type_support_handle_create()`)
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport(
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    const std::string & serialization_library_name = "",
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// From description, for provided serialization support
+  /// Does NOT take ownership of the description (copies instead.)
+  /// Constructs type support top-down (calling `rosidl_dynamic_message_type_support_handle_init()`)
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Assume ownership of managed types
+  /// Does NOT take ownership of the description (copies instead.)
+  ///
+  /// The serialization support used to construct all managed SharedPtrs must match.
+  /// The structure of the provided `description` must match the `dynamic_message_type`
+  /// The structure of the provided `dynamic_message_type` must match the `dynamic_message
+  ///
+  /// In this case, the user would have constructed the type support bototm-up (by creating the
+  /// respective dynamic members.)
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport(
+    DynamicSerializationSupport::SharedPtr serialization_support,
+    DynamicMessageType::SharedPtr dynamic_message_type,
+    DynamicMessage::SharedPtr dynamic_message,
+    const rosidl_runtime_c__type_description__TypeDescription & description,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicMessageTypeSupport();
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  const rosidl_message_type_support_t &
+  get_const_rosidl_message_type_support();
+
+  RCLCPP_PUBLIC
+  const rosidl_message_type_support_t &
+  get_const_rosidl_message_type_support() const;
+
+  RCLCPP_PUBLIC
+  const rosidl_runtime_c__type_description__TypeDescription &
+  get_rosidl_runtime_c_type_description() const;
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support();
+
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport::ConstSharedPtr
+  get_shared_dynamic_serialization_support() const;
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type();
+
+  RCLCPP_PUBLIC
+  DynamicMessageType::ConstSharedPtr
+  get_shared_dynamic_message_type() const;
+
+  RCLCPP_PUBLIC
+  DynamicMessage::SharedPtr
+  get_shared_dynamic_message();
+
+  RCLCPP_PUBLIC
+  DynamicMessage::ConstSharedPtr
+  get_shared_dynamic_message() const;
+
+protected:
+  RCLCPP_DISABLE_COPY(DynamicMessageTypeSupport)
+
+  RCLCPP_PUBLIC
+  rosidl_message_type_support_t &
+  get_rosidl_message_type_support();
+
+private:
+  RCLCPP_PUBLIC
+  DynamicMessageTypeSupport();
+
+  DynamicSerializationSupport::SharedPtr serialization_support_;
+  DynamicMessageType::SharedPtr dynamic_message_type_;
+  DynamicMessage::SharedPtr dynamic_message_;
+
+  rosidl_message_type_support_t rosidl_message_type_support_;
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_MESSAGE_TYPE_SUPPORT_HPP_

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

@@ -0,0 +1,98 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
+#define RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_
+
+#include <rcl/allocator.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+namespace rclcpp
+{
+namespace dynamic_typesupport
+{
+
+/// Utility wrapper class for rosidl_dynamic_typesupport_serialization_support_t
+/**
+ * This class:
+ * - Exposes getter methods for the struct
+ * - Exposes the underlying serialization support API
+ *
+ * Ownership:
+ * - This class, similarly to the rosidl_dynamic_typesupport_serialization_support_t, must outlive
+ *   all downstream usages of the serialization support.
+ */
+class DynamicSerializationSupport : public std::enable_shared_from_this<DynamicSerializationSupport>
+{
+public:
+  RCLCPP_SMART_PTR_ALIASES_ONLY(DynamicSerializationSupport)
+
+  // CONSTRUCTION ==================================================================================
+  RCLCPP_PUBLIC
+  explicit DynamicSerializationSupport(rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Get the rmw middleware implementation specific serialization support (configured by name)
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport(
+    const std::string & serialization_library_name,
+    rcl_allocator_t allocator = rcl_get_default_allocator());
+
+  /// Assume ownership of struct
+  RCLCPP_PUBLIC
+  explicit DynamicSerializationSupport(
+    rosidl_dynamic_typesupport_serialization_support_t && rosidl_serialization_support);
+
+  /// Move constructor
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport(DynamicSerializationSupport && other) noexcept;
+
+  /// Move assignment
+  RCLCPP_PUBLIC
+  DynamicSerializationSupport & operator=(DynamicSerializationSupport && other) noexcept;
+
+  RCLCPP_PUBLIC
+  virtual ~DynamicSerializationSupport();
+
+
+  // GETTERS =======================================================================================
+  RCLCPP_PUBLIC
+  const std::string
+  get_serialization_library_identifier() const;
+
+  RCLCPP_PUBLIC
+  rosidl_dynamic_typesupport_serialization_support_t &
+  get_rosidl_serialization_support();
+
+  RCLCPP_PUBLIC
+  const rosidl_dynamic_typesupport_serialization_support_t &
+  get_rosidl_serialization_support() const;
+
+protected:
+  RCLCPP_DISABLE_COPY(DynamicSerializationSupport)
+
+private:
+  rosidl_dynamic_typesupport_serialization_support_t rosidl_serialization_support_;
+};
+
+}  // namespace dynamic_typesupport
+}  // namespace rclcpp
+
+#endif  // RCLCPP__DYNAMIC_TYPESUPPORT__DYNAMIC_SERIALIZATION_SUPPORT_HPP_

rclcpp/include/rclcpp/executors.hpp

@@ -21,7 +21,6 @@
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/executors/static_single_threaded_executor.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 #include "rclcpp/node.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"

rclcpp/include/rclcpp/experimental/executors/events_executor/event_waitable.hpp

@@ -1,70 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENT_WAITABLE_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENT_WAITABLE_HPP_
-
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-
-/**
- * @brief This class provides a wrapper around the waitable object, that is
- * meant to be used with the EventsExecutor.
- * The waitset related methods are stubbed out as they should not be called.
- * This class is abstract as the execute method of rclcpp::Waitable is not implemented.
- * Nodes who want to implement a custom EventWaitable, can derive from this class and override
- * the execute method.
- */
-class EventWaitable : public rclcpp::Waitable
-{
-public:
-  // Constructor
-  RCLCPP_PUBLIC
-  EventWaitable() = default;
-
-  // Destructor
-  RCLCPP_PUBLIC
-  virtual ~EventWaitable() = default;
-
-  // Stub API: not used by EventsExecutor
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) final
-  {
-    (void)wait_set;
-    throw std::runtime_error("EventWaitable can't be checked if it's ready");
-    return false;
-  }
-
-  // Stub API: not used by EventsExecutor
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) final
-  {
-    (void)wait_set;
-    throw std::runtime_error("EventWaitable can't be added to a wait_set");
-  }
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENT_WAITABLE_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp

@@ -1,237 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_
-
-#include <chrono>
-#include <memory>
-#include <queue>
-#include <vector>
-
-#include "rclcpp/executor.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_executor_entities_collector.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_executor_notify_waitable.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
-#include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
-#include "rclcpp/experimental/timers_manager.hpp"
-#include "rclcpp/node.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-
-/// Events executor implementation
-/**
- * This executor uses an events queue and a timers manager to execute entities from its
- * associated nodes and callback groups.
- * The RMW listener APIs are used to collect new events.
- *
- * This executor tries to reduce as much as possible the amount of maintenance operations.
- * This allows to use customized `EventsQueue` classes to achieve different goals such
- * as very low CPU usage, bounded memory requirement, determinism, etc.
- *
- * The executor uses a weak ownership model and it locks entities only while executing
- * their related events.
- *
- * To run this executor:
- * rclcpp::experimental::executors::EventsExecutor executor;
- * executor.add_node(node);
- * executor.spin();
- * executor.remove_node(node);
- */
-class EventsExecutor : public rclcpp::Executor
-{
-  friend class EventsExecutorEntitiesCollector;
-
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)
-
-  /// Default constructor. See the default constructor for Executor.
-  /**
-   * \param[in] events_queue The queue used to store events.
-   * \param[in] execute_timers_separate_thread If true, timers are executed in a separate
-   * thread. If false, timers are executed in the same thread as all other entities.
-   * \param[in] options Options used to configure the executor.
-   */
-  RCLCPP_PUBLIC
-  explicit EventsExecutor(
-    rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue = std::make_unique<
-      rclcpp::experimental::executors::SimpleEventsQueue>(),
-    bool execute_timers_separate_thread = false,
-    const rclcpp::ExecutorOptions & options = rclcpp::ExecutorOptions());
-
-  /// Default destructor.
-  RCLCPP_PUBLIC
-  virtual ~EventsExecutor();
-
-  /// Events executor implementation of spin.
-  /**
-   * This function will block until work comes in, execute it, and keep blocking.
-   * It will only be interrupted by a CTRL-C (managed by the global signal handler).
-   * \throws std::runtime_error when spin() called while already spinning
-   */
-  RCLCPP_PUBLIC
-  void
-  spin() override;
-
-  /// Events executor implementation of spin some
-  /**
-   * This non-blocking function will execute the timers and events
-   * that were ready when this API was called, until timeout or no
-   * more work available. New ready-timers/events arrived while
-   * executing work, won't be taken into account here.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_some();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_some(std::chrono::nanoseconds max_duration = std::chrono::nanoseconds(0)) override;
-
-  /// Events executor implementation of spin all
-  /**
-   * This non-blocking function will execute timers and events
-   * until timeout or no more work available. If new ready-timers/events
-   * arrive while executing work available, they will be executed
-   * as long as the timeout hasn't expired.
-   *
-   * Example:
-   *   while(condition) {
-   *     spin_all();
-   *     sleep(); // User should have some sync work or
-   *              // sleep to avoid a 100% CPU usage
-   *   }
-   */
-  RCLCPP_PUBLIC
-  void
-  spin_all(std::chrono::nanoseconds max_duration) override;
-
-  /// Add a node to the executor.
-  /**
-   * \sa rclcpp::Executor::add_node
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  /**
-   * \sa rclcpp::EventsExecutor::add_node
-   */
-  RCLCPP_PUBLIC
-  void
-  add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  /// Remove a node from the executor.
-  /**
-   * \sa rclcpp::Executor::remove_node
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Convenience function which takes Node and forwards NodeBaseInterface.
-  /**
-   * \sa rclcpp::Executor::remove_node
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify = true) override;
-
-  /// Add a callback group to an executor.
-  /**
-   * \sa rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    bool notify = true) override;
-
-  /// Remove callback group from the executor
-  /**
-   * \sa rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  void
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    bool notify = true) override;
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups() override;
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \sa rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes() override;
-
-protected:
-  RCLCPP_PUBLIC
-  void
-  spin_once_impl(std::chrono::nanoseconds timeout) override;
-
-  RCLCPP_PUBLIC
-  void
-  spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
-
-private:
-  RCLCPP_DISABLE_COPY(EventsExecutor)
-
-  // Execute a single event
-  RCLCPP_PUBLIC
-  void
-  execute_event(const ExecutorEvent & event);
-
-  // Queue where entities can push events
-  rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue_;
-
-  EventsExecutorEntitiesCollector::SharedPtr entities_collector_;
-  EventsExecutorNotifyWaitable::SharedPtr executor_notifier_;
-
-  // Timers manager
-  std::shared_ptr<rclcpp::experimental::TimersManager> timers_manager_;
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor_entities_collector.hpp

@@ -1,348 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_ENTITIES_COLLECTOR_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_ENTITIES_COLLECTOR_HPP_
-
-#include <chrono>
-#include <list>
-#include <map>
-#include <memory>
-#include <unordered_map>
-#include <vector>
-
-#include "rcl/guard_condition.h"
-#include "rcl/wait.h"
-
-#include "rclcpp/callback_group.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
-#include "rclcpp/experimental/timers_manager.hpp"
-#include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/visibility_control.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-// forward declaration of EventsExecutor to avoid circular dependency
-class EventsExecutor;
-
-typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-    std::owner_less<rclcpp::CallbackGroup::WeakPtr>> WeakCallbackGroupsToNodesMap;
-
-/**
- * @brief This class provides a waitable object that is used for managing the
- * entities (i.e. nodes and their subscriptions, timers, services, etc)
- * added to an EventsExecutor.
- * The add/remove node APIs are used when a node is added/removed from
- * the associated EventsExecutor and result in setting/unsetting the
- * events callbacks and adding timers to the timers manager.
- *
- * Being this class derived from Waitable, it can be used to wake up an
- * executor thread while it's spinning.
- * When this occurs, the execute API takes care of handling changes
- * in the entities currently used by the executor.
- */
-class EventsExecutorEntitiesCollector final
-  : public rclcpp::Waitable,
-  public std::enable_shared_from_this<EventsExecutorEntitiesCollector>
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(EventsExecutorEntitiesCollector)
-
-  // Constructor
-  RCLCPP_PUBLIC
-  EventsExecutorEntitiesCollector(
-    EventsExecutor * executor);
-
-  // Destructor
-  RCLCPP_PUBLIC
-  ~EventsExecutorEntitiesCollector() override;
-
-  // Initialize entities collector
-  RCLCPP_PUBLIC
-  void init();
-
-  /// Execute the waitable.
-  RCLCPP_PUBLIC
-  void
-  execute(std::shared_ptr<void> & data) override;
-
-  /// Function to add_handles_to_wait_set and wait for work and
-  /**
-   * block until the wait set is ready or until the timeout has been exceeded.
-   * \throws std::runtime_error if wait set couldn't be cleared or filled.
-   * \throws any rcl errors from rcl_wait, \see rclcpp::exceptions::throw_from_rcl_error()
-   */
-  RCLCPP_PUBLIC
-  void
-  refresh_wait_set(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
-
-  /**
-   * \throws std::runtime_error if it couldn't add guard condition to wait set
-   */
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  /// Complete all available queued work without blocking.
-  /**
-   * This function checks if after the guard condition was triggered
-   * (or a spurious wakeup happened) we are really ready to execute
-   * i.e. re-collect entities
-   */
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override;
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override;
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /// Add a callback group to an executor.
-  /**
-   * \see rclcpp::Executor::add_callback_group
-   * \return boolean whether the node from the callback group is new
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group(
-    rclcpp::CallbackGroup::SharedPtr group_ptr);
-
-  /// Remove a callback group from the executor.
-  /**
-   * \see rclcpp::Executor::remove_callback_group_from_map
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_callback_group_from_map(
-    rclcpp::CallbackGroup::SharedPtr group_ptr,
-    WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  /**
-   * \see rclcpp::Executor::add_node()
-   * \throw std::runtime_error if node was already added
-   */
-  RCLCPP_PUBLIC
-  bool
-  add_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  /**
-   * \see rclcpp::Executor::remove_node()
-   * \throw std::runtime_error if no guard condition is associated with node.
-   */
-  RCLCPP_PUBLIC
-  bool
-  remove_node(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr);
-
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_all_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_manually_added_callback_groups()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_manually_added_callback_groups();
-
-  /// Get callback groups that belong to executor.
-  /**
-   * \see rclcpp::Executor::get_automatically_added_callback_groups_from_nodes()
-   */
-  RCLCPP_PUBLIC
-  std::vector<rclcpp::CallbackGroup::WeakPtr>
-  get_automatically_added_callback_groups_from_nodes();
-
-  ///
-  /**
-   * Get the subscription shared pointer corresponding
-   * to a subscription identifier
-   */
-  RCLCPP_PUBLIC
-  rclcpp::SubscriptionBase::SharedPtr
-  get_subscription(const void * subscription_id);
-
-  ///
-  /**
-   * Get the client shared pointer corresponding
-   * to a client identifier
-   */
-  RCLCPP_PUBLIC
-  rclcpp::ClientBase::SharedPtr
-  get_client(const void * client_id);
-
-  ///
-  /**
-   * Get the service shared pointer corresponding
-   * to a service identifier
-   */
-  RCLCPP_PUBLIC
-  rclcpp::ServiceBase::SharedPtr
-  get_service(const void * service_id);
-
-  ///
-  /**
-   * Get the waitable shared pointer corresponding
-   * to a waitable identifier
-   */
-  RCLCPP_PUBLIC
-  rclcpp::Waitable::SharedPtr
-  get_waitable(const void * waitable_id);
-
-  ///
-  /**
-   * Add a weak pointer to a waitable
-   */
-  RCLCPP_PUBLIC
-  void
-  add_waitable(rclcpp::Waitable::SharedPtr waitable);
-
-private:
-  /// Return true if the node belongs to the collector
-  /**
-   * \param[in] node_ptr a node base interface shared pointer
-   * \param[in] weak_groups_to_nodes map to nodes to lookup
-   * \return boolean whether a node belongs the collector
-   */
-  bool
-  has_node(
-    const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
-
-  /// Add all callback groups that can be automatically added by any executor
-  /// and is not already associated with an executor from nodes
-  /// that are associated with executor
-  /**
-   * \see rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
-   */
-  void
-  add_callback_groups_from_nodes_associated_to_executor();
-
-  void
-  callback_group_added_impl(
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  void
-  node_added_impl(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
-
-  void
-  callback_group_removed_impl(
-    rclcpp::CallbackGroup::SharedPtr group);
-
-  void
-  node_removed_impl(
-    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node);
-
-  void
-  set_entities_event_callbacks_from_map(
-    const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
-
-  void
-  set_callback_group_entities_callbacks(rclcpp::CallbackGroup::SharedPtr group);
-
-  void
-  unset_callback_group_entities_callbacks(rclcpp::CallbackGroup::SharedPtr group);
-
-  void
-  set_guard_condition_callback(rclcpp::GuardCondition * guard_condition);
-
-  void
-  unset_guard_condition_callback(rclcpp::GuardCondition * guard_condition);
-
-  std::function<void(size_t)>
-  create_entity_callback(void * exec_entity_id, ExecutorEventType type);
-
-  std::function<void(size_t, int)>
-  create_waitable_callback(void * waitable_id);
-
-  typedef std::map<rclcpp::CallbackGroup::WeakPtr,
-      rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::CallbackGroup::WeakPtr>>
-    WeakCallbackGroupsToGuardConditionsMap;
-
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
-  /// maps callback groups to guard conditions
-  WeakCallbackGroupsToGuardConditionsMap weak_groups_to_guard_conditions_;
-
-  WeakNodesToGuardConditionsMap weak_nodes_to_guard_conditions_;
-
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_associated_with_executor_to_nodes_;
-  // maps callback groups to nodes.
-  WeakCallbackGroupsToNodesMap weak_groups_to_nodes_associated_with_executor_;
-
-  /// List of weak nodes registered in the static executor
-  std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
-
-  // Maps: entity identifiers to weak pointers from the entities registered in the executor
-  // so in the case of an event providing and ID, we can retrieve and own the corresponding
-  // entity while it performs work
-  std::unordered_map<const void *, rclcpp::SubscriptionBase::WeakPtr> weak_subscriptions_map_;
-  std::unordered_map<const void *, rclcpp::ServiceBase::WeakPtr> weak_services_map_;
-  std::unordered_map<const void *, rclcpp::ClientBase::WeakPtr> weak_clients_map_;
-  std::unordered_map<const void *, rclcpp::Waitable::WeakPtr> weak_waitables_map_;
-
-  /// Executor using this entities collector object
-  EventsExecutor * associated_executor_ = nullptr;
-  /// Instance of the timers manager used by the associated executor
-  rclcpp::experimental::TimersManager::SharedPtr timers_manager_;
-
-  // Mutex to protect vector of new nodes.
-  std::recursive_mutex reentrant_mutex_;
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_ENTITIES_COLLECTOR_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp

@@ -1,46 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-
-enum ExecutorEventType
-{
-  CLIENT_EVENT,
-  SUBSCRIPTION_EVENT,
-  SERVICE_EVENT,
-  TIMER_EVENT,
-  WAITABLE_EVENT
-};
-
-struct ExecutorEvent
-{
-  const void * exec_entity_id;
-  int gen_entity_id;
-  ExecutorEventType type;
-  size_t num_events;
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_EVENT_TYPES_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor_notify_waitable.hpp

@@ -1,103 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_
-
-#include <list>
-#include <memory>
-
-#include "rcl/guard_condition.h"
-#include "rclcpp/experimental/executors/events_executor/event_waitable.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-
-/**
- * @brief This class provides an EventWaitable that allows to
- * wake up an EventsExecutor when a guard condition is notified.
- */
-class EventsExecutorNotifyWaitable final : public EventWaitable
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutorNotifyWaitable)
-
-  // Constructor
-  RCLCPP_PUBLIC
-  EventsExecutorNotifyWaitable() = default;
-
-  // Destructor
-  RCLCPP_PUBLIC
-  virtual ~EventsExecutorNotifyWaitable() = default;
-
-  // The function is a no-op, since we only care of waking up the executor
-  RCLCPP_PUBLIC
-  void
-  execute(std::shared_ptr<void> & data) override
-  {
-    (void)data;
-  }
-
-  RCLCPP_PUBLIC
-  void
-  add_guard_condition(rclcpp::GuardCondition * guard_condition)
-  {
-    notify_guard_conditions_.push_back(guard_condition);
-  }
-
-  RCLCPP_PUBLIC
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override
-  {
-    // The second argument of the callback should identify which guard condition
-    // triggered the event. However it's not relevant here as we only
-    // care about waking up the executor, so we pass a 0.
-    auto gc_callback = [callback](size_t count) {
-        callback(count, 0);
-      };
-
-    for (auto gc : notify_guard_conditions_) {
-      gc->set_on_trigger_callback(gc_callback);
-    }
-  }
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data() override
-  {
-    // This waitable doesn't handle any data
-    return nullptr;
-  }
-
-  RCLCPP_PUBLIC
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
-  {
-    (void) id;
-    return take_data();
-  }
-
-private:
-  std::list<rclcpp::GuardCondition *> notify_guard_conditions_;
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_EXECUTOR_NOTIFY_WAITABLE_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/events_queue.hpp

@@ -1,100 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_QUEUE_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_QUEUE_HPP_
-
-#include <queue>
-
-#include "rclcpp/macros.hpp"
-#include "rclcpp/visibility_control.hpp"
-
-#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-
-/**
- * @brief This abstract class can be used to implement different types of queues
- * where `ExecutorEvent` can be stored.
- * The derived classes should choose which underlying container to use and
- * the strategy for pushing and popping events.
- * For example a queue implementation may be bounded or unbounded and have
- * different pruning strategies.
- * Implementations may or may not check the validity of events and decide how to handle
- * the situation where an event is not valid anymore (e.g. a subscription history cache overruns)
- */
-class EventsQueue
-{
-public:
-  RCLCPP_SMART_PTR_ALIASES_ONLY(EventsQueue)
-
-  RCLCPP_PUBLIC
-  EventsQueue() = default;
-
-  /**
-   * @brief Destruct the object.
-   */
-  RCLCPP_PUBLIC
-  virtual ~EventsQueue() = default;
-
-  /**
-   * @brief push event into the queue
-   * @param event The event to push into the queue
-   */
-  RCLCPP_PUBLIC
-  virtual
-  void
-  enqueue(const rclcpp::experimental::executors::ExecutorEvent & event) = 0;
-
-  /**
-   * @brief Extracts an event from the queue, eventually waiting until timeout
-   * if none is available.
-   * @return true if event has been found, false if timeout
-   */
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  dequeue(
-    rclcpp::experimental::executors::ExecutorEvent & event,
-    std::chrono::nanoseconds timeout = std::chrono::nanoseconds::max()) = 0;
-
-  /**
-   * @brief Test whether queue is empty
-   * @return true if the queue's size is 0, false otherwise.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  empty() const = 0;
-
-  /**
-   * @brief Returns the number of elements in the queue.
-   * @return the number of elements in the queue.
-   */
-  RCLCPP_PUBLIC
-  virtual
-  size_t
-  size() const = 0;
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__EVENTS_QUEUE_HPP_

rclcpp/include/rclcpp/experimental/executors/events_executor/simple_events_queue.hpp

@@ -1,134 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__SIMPLE_EVENTS_QUEUE_HPP_
-#define RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__SIMPLE_EVENTS_QUEUE_HPP_
-
-#include <condition_variable>
-#include <mutex>
-#include <queue>
-#include <utility>
-
-#include "rclcpp/experimental/executors/events_executor/events_queue.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-namespace executors
-{
-
-/**
- * @brief This class implements an EventsQueue as a simple wrapper around a std::queue.
- * It does not perform any checks about the size of queue, which can grow
- * unbounded without being pruned.
- * The simplicity of this implementation makes it suitable for optimizing CPU usage.
- */
-class SimpleEventsQueue : public EventsQueue
-{
-public:
-  RCLCPP_PUBLIC
-  ~SimpleEventsQueue() override = default;
-
-  /**
-   * @brief enqueue event into the queue
-   * Thread safe
-   * @param event The event to enqueue into the queue
-   */
-  RCLCPP_PUBLIC
-  void
-  enqueue(const rclcpp::experimental::executors::ExecutorEvent & event) override
-  {
-    rclcpp::experimental::executors::ExecutorEvent single_event = event;
-    single_event.num_events = 1;
-    {
-      std::unique_lock<std::mutex> lock(mutex_);
-      for (size_t ev = 0; ev < event.num_events; ev++) {
-        event_queue_.push(single_event);
-      }
-    }
-    events_queue_cv_.notify_one();
-  }
-
-  /**
-   * @brief waits for an event until timeout, gets a single event
-   * Thread safe
-   * @return true if event, false if timeout
-   */
-  RCLCPP_PUBLIC
-  bool
-  dequeue(
-    rclcpp::experimental::executors::ExecutorEvent & event,
-    std::chrono::nanoseconds timeout = std::chrono::nanoseconds::max()) override
-  {
-    std::unique_lock<std::mutex> lock(mutex_);
-
-    // Initialize to true because it's only needed if we have a valid timeout
-    bool has_data = true;
-    if (timeout != std::chrono::nanoseconds::max()) {
-      has_data =
-        events_queue_cv_.wait_for(lock, timeout, [this]() {return !event_queue_.empty();});
-    } else {
-      events_queue_cv_.wait(lock, [this]() {return !event_queue_.empty();});
-    }
-
-    if (has_data) {
-      event = event_queue_.front();
-      event_queue_.pop();
-      return true;
-    }
-
-    return false;
-  }
-
-  /**
-   * @brief Test whether queue is empty
-   * Thread safe
-   * @return true if the queue's size is 0, false otherwise.
-   */
-  RCLCPP_PUBLIC
-  bool
-  empty() const override
-  {
-    std::unique_lock<std::mutex> lock(mutex_);
-    return event_queue_.empty();
-  }
-
-  /**
-   * @brief Returns the number of elements in the queue.
-   * Thread safe
-   * @return the number of elements in the queue.
-   */
-  RCLCPP_PUBLIC
-  size_t
-  size() const override
-  {
-    std::unique_lock<std::mutex> lock(mutex_);
-    return event_queue_.size();
-  }
-
-private:
-  // The underlying queue implementation
-  std::queue<rclcpp::experimental::executors::ExecutorEvent> event_queue_;
-  // Mutex to protect the insertion/extraction of events in the queue
-  mutable std::mutex mutex_;
-  // Variable used to notify when an event is added to the queue
-  std::condition_variable events_queue_cv_;
-};
-
-}  // namespace executors
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__EXECUTORS__EVENTS_EXECUTOR__SIMPLE_EVENTS_QUEUE_HPP_

rclcpp/include/rclcpp/experimental/timers_manager.hpp

@@ -1,539 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#ifndef RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_
-#define RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_
-
-#include <algorithm>
-#include <atomic>
-#include <chrono>
-#include <condition_variable>
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <thread>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/context.hpp"
-#include "rclcpp/timer.hpp"
-
-namespace rclcpp
-{
-namespace experimental
-{
-
-/**
- * @brief This class provides a way for storing and executing timer objects.
- * It provides APIs to suit the needs of different applications and execution models.
- * All public APIs provided by this class are thread-safe.
- *
- * Timers management
- * This class provides APIs to add/remove timers to/from an internal storage.
- * It keeps a list of weak pointers from added timers, and locks them only when
- * they need to be executed or modified.
- * Timers are kept ordered in a binary-heap priority queue.
- * Calls to add/remove APIs will temporarily block the execution of the timers and
- * will require to reorder the internal priority queue.
- * Because of this, they have a not-negligible impact on the performance.
- *
- * Timers execution
- * The most efficient implementation consists in letting a TimersManager object
- * to spawn a thread where timers are monitored and periodically executed.
- * Besides this, other APIs allow to either execute a single timer or all the
- * currently ready ones.
- * This class assumes that the `execute_callback()` API of the stored timers is never
- * called by other entities, but it can only be called from here.
- * If this assumption is not respected, the heap property may be invalidated,
- * so timers may be executed out of order, without this object noticing it.
- *
- */
-class TimersManager
-{
-public:
-  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(TimersManager)
-
-  /**
-   * @brief Construct a new TimersManager object
-   *
-   * @param context custom context to be used.
-   * Shared ownership of the context is held until destruction.
-   * @param on_ready_callback The timers on ready callback. if not callable,
-   * this object will directly execute timers when they are ready.
-   */
-  RCLCPP_PUBLIC
-  TimersManager(
-    std::shared_ptr<rclcpp::Context> context,
-    std::function<void(void *)> on_ready_callback = nullptr);
-
-  /**
-   * @brief Destruct the TimersManager object making sure to stop thread and release memory.
-   */
-  RCLCPP_PUBLIC
-  ~TimersManager();
-
-  /**
-   * @brief Adds a new timer to the storage, maintaining weak ownership of it.
-   * Function is thread safe and it can be called regardless of the state of the timers thread.
-   *
-   * @param timer the timer to add.
-   * @throws std::invalid_argument if timer is a nullptr.
-   */
-  RCLCPP_PUBLIC
-  void add_timer(rclcpp::TimerBase::SharedPtr timer);
-
-  /**
-   * @brief Remove a single timer from the object storage.
-   * Will do nothing if the timer was not being stored here.
-   * Function is thread safe and it can be called regardless of the state of the timers thread.
-   *
-   * @param timer the timer to remove.
-   */
-  RCLCPP_PUBLIC
-  void remove_timer(rclcpp::TimerBase::SharedPtr timer);
-
-  /**
-   * @brief Remove all the timers stored in the object.
-   * Function is thread safe and it can be called regardless of the state of the timers thread.
-   */
-  RCLCPP_PUBLIC
-  void clear();
-
-  /**
-   * @brief Starts a thread that takes care of executing the timers stored in this object.
-   * Function will throw an error if the timers thread was already running.
-   */
-  RCLCPP_PUBLIC
-  void start();
-
-  /**
-   * @brief Stops the timers thread.
-   * Will do nothing if the timer thread was not running.
-   */
-  RCLCPP_PUBLIC
-  void stop();
-
-  /**
-   * @brief Executes all the timers currently ready when the function was invoked.
-   * This function will lock all the stored timers throughout its duration.
-   * This function is thread safe.
-   * @throws std::runtime_error if the timers thread was already running.
-   */
-  RCLCPP_PUBLIC
-  void execute_ready_timers();
-
-  /**
-   * @brief Get the number of timers that are currently ready.
-   * This function is thread safe.
-   *
-   * @return size_t number of ready timers.
-   * @throws std::runtime_error if the timers thread was already running.
-   */
-  RCLCPP_PUBLIC
-  size_t get_number_ready_timers();
-
-  /**
-   * @brief Executes head timer if ready.
-   * This function is thread safe.
-   *
-   * @return true if head timer was ready.
-   * @throws std::runtime_error if the timers thread was already running.
-   */
-  RCLCPP_PUBLIC
-  bool execute_head_timer();
-
-  /**
-   * @brief Executes timer identified by its ID.
-   * This function is thread safe.
-   *
-   * @param timer_id the timer ID of the timer to execute
-   */
-  RCLCPP_PUBLIC
-  void execute_ready_timer(const void * timer_id);
-
-  /**
-   * @brief Get the amount of time before the next timer triggers.
-   * This function is thread safe.
-   *
-   * @return std::chrono::nanoseconds to wait,
-   * the returned value could be negative if the timer is already expired
-   * or std::chrono::nanoseconds::max() if there are no timers stored in the object.
-   * @throws std::runtime_error if the timers thread was already running.
-   */
-  RCLCPP_PUBLIC
-  std::chrono::nanoseconds get_head_timeout();
-
-private:
-  RCLCPP_DISABLE_COPY(TimersManager)
-
-  using TimerPtr = rclcpp::TimerBase::SharedPtr;
-  using WeakTimerPtr = rclcpp::TimerBase::WeakPtr;
-
-  // Forward declaration
-  class TimersHeap;
-
-  /**
-   * @brief This class allows to store weak pointers to timers in a heap-like data structure.
-   * The root of the heap is the timer that triggers first.
-   * Since this class uses weak ownership, it is not guaranteed that it represents a valid heap
-   * at any point in time as timers could go out of scope, thus invalidating it.
-   * The "validate_and_lock" API allows to restore the heap property and also returns a locked version
-   * of the timers heap.
-   * This class is not thread safe and requires external mutexes to protect its usage.
-   */
-  class WeakTimersHeap
-  {
-public:
-    /**
-     * @brief Add a new timer to the heap. After the addition, the heap property is enforced.
-     *
-     * @param timer new timer to add.
-     * @return true if timer has been added, false if it was already there.
-     */
-    bool add_timer(TimerPtr timer)
-    {
-      TimersHeap locked_heap = this->validate_and_lock();
-      bool added = locked_heap.add_timer(std::move(timer));
-
-      if (added) {
-        // Re-create the weak heap with the new timer added
-        this->store(locked_heap);
-      }
-
-      return added;
-    }
-
-    /**
-     * @brief Remove a timer from the heap. After the removal, the heap property is enforced.
-     *
-     * @param timer timer to remove.
-     * @return true if timer has been removed, false if it was not there.
-     */
-    bool remove_timer(TimerPtr timer)
-    {
-      TimersHeap locked_heap = this->validate_and_lock();
-      bool removed = locked_heap.remove_timer(std::move(timer));
-
-      if (removed) {
-        // Re-create the weak heap with the timer removed
-        this->store(locked_heap);
-      }
-
-      return removed;
-    }
-
-    TimerPtr get_timer(const void * timer_id)
-    {
-      for (auto & weak_timer : weak_heap_) {
-        auto timer = weak_timer.lock();
-        if (timer.get() == timer_id) {
-          return timer;
-        }
-      }
-      return nullptr;
-    }
-
-    /**
-     * @brief Returns a const reference to the front element.
-     */
-    const WeakTimerPtr & front() const
-    {
-      return weak_heap_.front();
-    }
-
-    /**
-     * @brief Returns whether the heap is empty or not.
-     */
-    bool empty() const
-    {
-      return weak_heap_.empty();
-    }
-
-    /**
-     * @brief This function restores the current object as a valid heap
-     * and it returns a locked version of it.
-     * Timers that went out of scope are removed from the container.
-     * It is the only public API to access and manipulate the stored timers.
-     *
-     * @return TimersHeap owned timers corresponding to the current object
-     */
-    TimersHeap validate_and_lock()
-    {
-      TimersHeap locked_heap;
-      bool any_timer_destroyed = false;
-
-      for (auto weak_timer : weak_heap_) {
-        auto timer = weak_timer.lock();
-        if (timer) {
-          // This timer is valid, so add it to the locked heap
-          // Note: we access friend private `owned_heap_` member field.
-          locked_heap.owned_heap_.push_back(std::move(timer));
-        } else {
-          // This timer went out of scope, so we don't add it to locked heap
-          // and we mark the corresponding flag.
-          // It's not needed to erase it from weak heap, as we are going to re-heapify.
-          // Note: we can't exit from the loop here, as we need to find all valid timers.
-          any_timer_destroyed = true;
-        }
-      }
-
-      // If a timer has gone out of scope, then the remaining elements do not represent
-      // a valid heap anymore. We need to re-heapify the timers heap.
-      if (any_timer_destroyed) {
-        locked_heap.heapify();
-        // Re-create the weak heap now that elements have been heapified again
-        this->store(locked_heap);
-      }
-
-      return locked_heap;
-    }
-
-    /**
-     * @brief This function allows to recreate the heap of weak pointers
-     * from an heap of owned pointers.
-     * It is required to be called after a locked TimersHeap generated from this object
-     * has been modified in any way (e.g. timers triggered, added, removed).
-     *
-     * @param heap timers heap to store as weak pointers
-     */
-    void store(const TimersHeap & heap)
-    {
-      weak_heap_.clear();
-      // Note: we access friend private `owned_heap_` member field.
-      for (auto t : heap.owned_heap_) {
-        weak_heap_.push_back(t);
-      }
-    }
-
-    /**
-     * @brief Remove all timers from the heap.
-     */
-    void clear()
-    {
-      weak_heap_.clear();
-    }
-
-private:
-    std::vector<WeakTimerPtr> weak_heap_;
-  };
-
-  /**
-   * @brief This class is the equivalent of WeakTimersHeap but with ownership of the timers.
-   * It can be generated by locking the weak version.
-   * It provides operations to manipulate the heap.
-   * This class is not thread safe and requires external mutexes to protect its usage.
-   */
-  class TimersHeap
-  {
-public:
-    /**
-     * @brief Try to add a new timer to the heap.
-     * After the addition, the heap property is preserved.
-     * @param timer new timer to add.
-     * @return true if timer has been added, false if it was already there.
-     */
-    bool add_timer(TimerPtr timer)
-    {
-      // Nothing to do if the timer is already stored here
-      auto it = std::find(owned_heap_.begin(), owned_heap_.end(), timer);
-      if (it != owned_heap_.end()) {
-        return false;
-      }
-
-      owned_heap_.push_back(std::move(timer));
-      std::push_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
-
-      return true;
-    }
-
-    /**
-     * @brief Try to remove a timer from the heap.
-     * After the removal, the heap property is preserved.
-     * @param timer timer to remove.
-     * @return true if timer has been removed, false if it was not there.
-     */
-    bool remove_timer(TimerPtr timer)
-    {
-      // Nothing to do if the timer is not stored here
-      auto it = std::find(owned_heap_.begin(), owned_heap_.end(), timer);
-      if (it == owned_heap_.end()) {
-        return false;
-      }
-
-      owned_heap_.erase(it);
-      this->heapify();
-
-      return true;
-    }
-
-    /**
-     * @brief Returns a reference to the front element.
-     * @return reference to front element.
-     */
-    TimerPtr & front()
-    {
-      return owned_heap_.front();
-    }
-
-    /**
-     * @brief Returns a const reference to the front element.
-     * @return const reference to front element.
-     */
-    const TimerPtr & front() const
-    {
-      return owned_heap_.front();
-    }
-
-    /**
-     * @brief Returns whether the heap is empty or not.
-     * @return true if the heap is empty.
-     */
-    bool empty() const
-    {
-      return owned_heap_.empty();
-    }
-
-    /**
-     * @brief Returns the size of the heap.
-     * @return the number of valid timers in the heap.
-     */
-    size_t size() const
-    {
-      return owned_heap_.size();
-    }
-
-    /**
-     * @brief Get the number of timers that are currently ready.
-     * @return size_t number of ready timers.
-     */
-    size_t get_number_ready_timers() const
-    {
-      size_t ready_timers = 0;
-
-      for (TimerPtr t : owned_heap_) {
-        if (t->is_ready()) {
-          ready_timers++;
-        }
-      }
-
-      return ready_timers;
-    }
-
-    /**
-    * @brief Restore a valid heap after the root value has been replaced (e.g. timer triggered).
-    */
-    void heapify_root()
-    {
-      // The following code is a more efficient version than doing
-      // pop_heap, pop_back, push_back, push_heap
-      // as it removes the need for the last push_heap
-
-      // Push the modified element (i.e. the current root) at the bottom of the heap
-      owned_heap_.push_back(owned_heap_[0]);
-      // Exchange first and last-1 elements and reheapify
-      std::pop_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
-      // Remove last element
-      owned_heap_.pop_back();
-    }
-
-    /**
-     * @brief Completely restores the structure to a valid heap
-     */
-    void heapify()
-    {
-      std::make_heap(owned_heap_.begin(), owned_heap_.end(), timer_greater);
-    }
-
-    void clear_callbacks()
-    {
-      for (TimerPtr & t : owned_heap_) {
-        t->clear_on_reset_callback();
-      }
-    }
-
-    /**
-     * @brief Friend declaration to allow the `validate_and_lock()` function to access the
-     * underlying heap container
-     */
-    friend TimersHeap WeakTimersHeap::validate_and_lock();
-
-    /**
-     * @brief Friend declaration to allow the `store()` function to access the
-     * underlying heap container
-     */
-    friend void WeakTimersHeap::store(const TimersHeap & heap);
-
-private:
-    /**
-     * @brief Comparison function between timers.
-     * @return true if `a` triggers after `b`.
-     */
-    static bool timer_greater(TimerPtr a, TimerPtr b)
-    {
-      // FIXME!
-      return a->time_until_trigger() > b->time_until_trigger();
-    }
-
-    std::vector<TimerPtr> owned_heap_;
-  };
-
-  /**
-   * @brief Implements a loop that keeps executing ready timers.
-   * This function is executed in the timers thread.
-   */
-  void run_timers();
-
-  /**
-   * @brief Get the amount of time before the next timer triggers.
-   * This function is not thread safe, acquire a mutex before calling it.
-   *
-   * @return std::chrono::nanoseconds to wait,
-   * the returned value could be negative if the timer is already expired
-   * or std::chrono::nanoseconds::max() if the heap is empty.
-   * This function is not thread safe, acquire the timers_mutex_ before calling it.
-   */
-  std::chrono::nanoseconds get_head_timeout_unsafe();
-
-  /**
-   * @brief Executes all the timers currently ready when the function is invoked
-   * while keeping the heap correctly sorted.
-   * This function is not thread safe, acquire the timers_mutex_ before calling it.
-   */
-  void execute_ready_timers_unsafe();
-
-  // Callback to be called when timer is ready
-  std::function<void(void *)> on_ready_callback_ = nullptr;
-
-  // Thread used to run the timers execution task
-  std::thread timers_thread_;
-  // Protects access to timers
-  std::mutex timers_mutex_;
-  // Protects access to stop()
-  std::mutex stop_mutex_;
-  // Notifies the timers thread whenever timers are added/removed
-  std::condition_variable timers_cv_;
-  // Flag used as predicate by timers_cv_ that denotes one or more timers being added/removed
-  bool timers_updated_ {false};
-  // Indicates whether the timers thread is currently running or not
-  std::atomic<bool> running_ {false};
-  // Parent context used to understand if ROS is still active
-  std::shared_ptr<rclcpp::Context> context_;
-  // Timers heap storage with weak ownership
-  WeakTimersHeap weak_timers_heap_;
-};
-
-}  // namespace experimental
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EXPERIMENTAL__TIMERS_MANAGER_HPP_

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -84,7 +84,7 @@ public:
       options.to_rcl_subscription_options(qos),
       options.event_callbacks,
       options.use_default_callbacks,
-      true),
+      SubscriptionType::SERIALIZED_MESSAGE),
     callback_(callback),
     ts_lib_(ts_lib)
   {}
@@ -123,6 +123,32 @@ public:
   RCLCPP_PUBLIC
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
+
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr get_shared_dynamic_message_type()
+  override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr get_shared_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override;
+
+  RCLCPP_PUBLIC
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr create_dynamic_message() override;
+
+  RCLCPP_PUBLIC
+  void return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override;
+
+  RCLCPP_PUBLIC
+  void handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override;
+
 private:
   RCLCPP_DISABLE_COPY(GenericSubscription)
 

rclcpp/include/rclcpp/logger.hpp

@@ -170,6 +170,24 @@ public:
   RCLCPP_PUBLIC
   void
   set_level(Level level);
+
+  /// Get effective level for current logger.
+  /**
+   * The effective level is determined as the severity level of
+   * the logger if it is set, otherwise it is the first specified severity
+   * level of the logger's ancestors, starting with its closest ancestor.
+   * The ancestor hierarchy is signified by logger names being separated by dots:
+   * a logger named `x` is an ancestor of `x.y`, and both `x` and `x.y` are
+   * ancestors of `x.y.z`, etc.
+   * If the level has not been set for the logger nor any of its
+   * ancestors, the default level is used.
+   *
+   * \throws rclcpp::exceptions::RCLError if any error happens.
+   * \return Level for the current logger.
+   */
+  RCLCPP_PUBLIC
+  Level
+  get_effective_level() const;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/rclcpp.hpp

@@ -117,6 +117,21 @@
  * - Allocator related items:
  *   - rclcpp/allocator/allocator_common.hpp
  *   - rclcpp/allocator/allocator_deleter.hpp
+ * - Dynamic typesupport wrappers
+ *   - rclcpp::dynamic_typesupport::DynamicMessage
+ *   - rclcpp::dynamic_typesupport::DynamicMessageType
+ *   - rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder
+ *   - rclcpp::dynamic_typesupport::DynamicSerializationSupport
+ *   - rclcpp/dynamic_typesupport/dynamic_message.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp
+ *   - rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp
+ * - Dynamic typesupport
+ *   - rclcpp::dynamic_typesupport::DynamicMessageTypeSupport
+ *   - rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp
+ * - Dynamic subscription
+ *   - rclcpp::DynamicSubscription
+ *   - rclcpp/dynamic_subscription.hpp
  * - Generic publisher
  *   - rclcpp::Node::create_generic_publisher()
  *   - rclcpp::GenericPublisher
@@ -167,4 +182,6 @@
 #include "rclcpp/waitable.hpp"
 #include "rclcpp/wait_set.hpp"
 
+#include "rclcpp/dynamic_subscription.hpp"
+
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/scope_exit.hpp

@@ -1,56 +0,0 @@
-// Copyright 2015 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Based on: http://the-witness.net/news/2012/11/scopeexit-in-c11/
-// But I changed the lambda to include by reference rather than value, see:
-// http://the-witness.net/news/2012/11/scopeexit-in-c11/comment-page-1/#comment-86873
-
-#ifndef RCLCPP__SCOPE_EXIT_HPP_
-#define RCLCPP__SCOPE_EXIT_HPP_
-
-// TODO(christophebedard) remove this header completely in I-turtle
-
-#warning rclcpp/scope_exit.hpp has been deprecated, please use rcpputils/scope_exit.hpp instead
-
-#include <functional>
-
-#include "rclcpp/macros.hpp"
-
-namespace rclcpp
-{
-
-template<typename Callable>
-struct ScopeExit
-{
-  explicit ScopeExit(Callable callable)
-  : callable_(callable) {}
-  ~ScopeExit() {callable_();}
-
-private:
-  Callable callable_;
-};
-
-template<typename Callable>
-ScopeExit<Callable>
-make_scope_exit(Callable callable)
-{
-  return ScopeExit<Callable>(callable);
-}
-
-}  // namespace rclcpp
-
-#define RCLCPP_SCOPE_EXIT(code) \
-  auto RCLCPP_STRING_JOIN(scope_exit_, __LINE__) = rclcpp::make_scope_exit([&]() {code;})
-
-#endif  // RCLCPP__SCOPE_EXIT_HPP_

rclcpp/include/rclcpp/subscription.hpp

@@ -144,7 +144,7 @@ public:
       // NOTE(methylDragon): Passing these args separately is necessary for event binding
       options.event_callbacks,
       options.use_default_callbacks,
-      callback.is_serialized_message_callback()),
+      callback.is_serialized_message_callback() ? SubscriptionType::SERIALIZED_MESSAGE : SubscriptionType::ROS_MESSAGE),  // NOLINT
     any_callback_(callback),
     options_(options),
     message_memory_strategy_(message_memory_strategy)
@@ -388,6 +388,57 @@ public:
     return any_callback_.use_take_shared_method();
   }
 
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  // TODO(methylDragon): Implement later...
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "get_shared_dynamic_message_type is not implemented for Subscription");
+  }
+
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  get_shared_dynamic_message() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "get_shared_dynamic_message is not implemented for Subscription");
+  }
+
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "get_shared_dynamic_serialization_support is not implemented for Subscription");
+  }
+
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  create_dynamic_message() override
+  {
+    throw rclcpp::exceptions::UnimplementedError(
+            "create_dynamic_message is not implemented for Subscription");
+  }
+
+  void
+  return_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) override
+  {
+    (void) message;
+    throw rclcpp::exceptions::UnimplementedError(
+            "return_dynamic_message is not implemented for Subscription");
+  }
+
+  void
+  handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) override
+  {
+    (void) message;
+    (void) message_info;
+    throw rclcpp::exceptions::UnimplementedError(
+            "handle_dynamic_message is not implemented for Subscription");
+  }
+
 private:
   RCLCPP_DISABLE_COPY(Subscription)
 

rclcpp/include/rclcpp/subscription_base.hpp

@@ -31,6 +31,9 @@
 
 #include "rclcpp/any_subscription_callback.hpp"
 #include "rclcpp/detail/cpp_callback_trampoline.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
 #include "rclcpp/experimental/subscription_intra_process_base.hpp"
 #include "rclcpp/macros.hpp"
@@ -60,6 +63,14 @@ namespace experimental
 class IntraProcessManager;
 }  // namespace experimental
 
+enum class SubscriptionType : uint8_t
+{
+  ROS_MESSAGE = 1,  // take message as ROS message and handle as ROS message
+  SERIALIZED_MESSAGE = 2,  // take message as serialized and handle as serialized
+  DYNAMIC_MESSAGE_DIRECT = 3,  // take message as DynamicMessage and handle as DynamicMessage
+  DYNAMIC_MESSAGE_FROM_SERIALIZED = 4  // take message as serialized and handle as DynamicMessage
+};
+
 /// Virtual base class for subscriptions. This pattern allows us to iterate over different template
 /// specializations of Subscription, among other things.
 class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
@@ -76,7 +87,7 @@ public:
    * \param[in] type_support_handle rosidl type support struct, for the Message type of the topic.
    * \param[in] topic_name Name of the topic to subscribe to.
    * \param[in] subscription_options Options for the subscription.
-   * \param[in] is_serialized is true if the message will be delivered still serialized
+   * \param[in] subscription_type Enum flag to change how the message will be received and delivered
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
@@ -86,7 +97,7 @@ public:
     const rcl_subscription_options_t & subscription_options,
     const SubscriptionEventCallbacks & event_callbacks,
     bool use_default_callbacks,
-    bool is_serialized = false);
+    SubscriptionType subscription_type = SubscriptionType::ROS_MESSAGE);
 
   /// Destructor.
   RCLCPP_PUBLIC
@@ -227,13 +238,13 @@ public:
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
-  /// Return if the subscription is serialized
+  /// Return the type of the subscription.
   /**
-   * \return `true` if the subscription is serialized, `false` otherwise
+   * \return `SubscriptionType`, which adjusts how messages are received and delivered.
    */
   RCLCPP_PUBLIC
-  bool
-  is_serialized() const;
+  SubscriptionType
+  get_subscription_type() const;
 
   /// Get matching publisher count.
   /** \return The number of publishers on this topic. */
@@ -535,6 +546,49 @@ public:
   rclcpp::ContentFilterOptions
   get_content_filter() const;
 
+  // DYNAMIC TYPE ==================================================================================
+  // TODO(methylDragon): Reorder later
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+  get_shared_dynamic_message_type() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  get_shared_dynamic_message() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+  get_shared_dynamic_serialization_support() = 0;
+
+  /// Borrow a new serialized message (this clones!)
+  /** \return Shared pointer to a rclcpp::dynamic_typesupport::DynamicMessage. */
+  RCLCPP_PUBLIC
+  virtual
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+  create_dynamic_message() = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  return_dynamic_message(rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message) = 0;
+
+  RCLCPP_PUBLIC
+  virtual
+  void
+  handle_dynamic_message(
+    const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+    const rclcpp::MessageInfo & message_info) = 0;
+
+  RCLCPP_PUBLIC
+  bool
+  take_dynamic_message(
+    rclcpp::dynamic_typesupport::DynamicMessage & message_out,
+    rclcpp::MessageInfo & message_info_out);
+  // ===============================================================================================
+
 protected:
   template<typename EventCallbackT>
   void
@@ -568,6 +622,10 @@ protected:
 
   rclcpp::node_interfaces::NodeBaseInterface * const node_base_;
 
+  // TODO(methylDragon): Remove if we don't need this
+  // rclcpp::node_interfaces::NodeGraphInterface * const node_graph_;
+  // rclcpp::node_interfaces::NodeServicesInterface * const node_services_;
+
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rcl_subscription_t> subscription_handle_;
   std::shared_ptr<rcl_subscription_t> intra_process_subscription_handle_;
@@ -587,7 +645,7 @@ private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 
   rosidl_message_type_support_t type_support_;
-  bool is_serialized_;
+  SubscriptionType subscription_type_;
 
   std::atomic<bool> subscription_in_use_by_wait_set_{false};
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};

rclcpp/package.xml

@@ -39,6 +39,7 @@
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
+  <depend>rosidl_dynamic_typesupport</depend>
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 

rclcpp/src/rclcpp/dynamic_subscription.cpp

@@ -0,0 +1,113 @@
+// Copyright 2022 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/dynamic_subscription.hpp"
+
+#include <memory>
+#include <string>
+
+#include "rcl/subscription.h"
+
+#include "rclcpp/exceptions.hpp"
+
+namespace rclcpp
+{
+
+std::shared_ptr<void> DynamicSubscription::create_message()
+{
+  return create_serialized_message();
+}
+
+std::shared_ptr<rclcpp::SerializedMessage> DynamicSubscription::create_serialized_message()
+{
+  return std::make_shared<rclcpp::SerializedMessage>(0);
+}
+
+void DynamicSubscription::handle_message(std::shared_ptr<void> &, const rclcpp::MessageInfo &)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_message is not implemented for DynamicSubscription");
+}
+
+void DynamicSubscription::handle_serialized_message(
+  const std::shared_ptr<rclcpp::SerializedMessage> &, const rclcpp::MessageInfo &)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_serialized_message is not implemented for DynamicSubscription");
+}
+
+void DynamicSubscription::handle_loaned_message(void *, const rclcpp::MessageInfo &)
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_loaned_message is not implemented for DynamicSubscription");
+}
+
+void DynamicSubscription::return_message(std::shared_ptr<void> & message)
+{
+  auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
+  return_serialized_message(typed_message);
+}
+
+void DynamicSubscription::return_serialized_message(
+  std::shared_ptr<rclcpp::SerializedMessage> & message)
+{
+  message.reset();
+}
+
+
+// DYNAMIC TYPE ====================================================================================
+// TODO(methylDragon): Re-order later
+
+// Does not clone
+rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+DynamicSubscription::get_shared_dynamic_message_type()
+{
+  return dynamic_message_type_;
+}
+
+// Does not clone
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+DynamicSubscription::get_shared_dynamic_message()
+{
+  return dynamic_message_;
+}
+
+rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+DynamicSubscription::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+DynamicSubscription::create_dynamic_message()
+{
+  return dynamic_message_->init_from_type_shared(*dynamic_message_type_);
+}
+
+void
+DynamicSubscription::return_dynamic_message(
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message)
+{
+  message.reset();
+}
+
+void DynamicSubscription::handle_dynamic_message(
+  const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+  const rclcpp::MessageInfo & message_info)
+{
+  (void) message_info;
+  callback_(message, ts_->get_rosidl_runtime_c_type_description());
+}
+
+}  // namespace rclcpp

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message.cpp

@@ -0,0 +1,769 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/allocator.h"
+#include "rcl/types.h"
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_IMPL_HPP_
+// Template specialization implementations
+#include "rclcpp/dynamic_typesupport/detail/dynamic_message_impl.hpp"
+#endif
+
+
+// CONSTRUCTION ==================================================================================
+DynamicMessage::DynamicMessage(const DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder)
+: DynamicMessage::DynamicMessage(
+    dynamic_type_builder, dynamic_type_builder->get_rosidl_dynamic_type_builder().allocator) {}
+
+
+DynamicMessage::DynamicMessage(
+  const DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder,
+  rcl_allocator_t allocator)
+: serialization_support_(dynamic_type_builder->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_data_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data()),
+  is_loaned_(false),
+  parent_data_(nullptr)
+{
+  if (!serialization_support_) {
+    throw std::runtime_error("dynamic message could not bind serialization support!");
+  }
+  if (!dynamic_type_builder) {
+    throw std::runtime_error("dynamic message type builder cannot be nullptr!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    dynamic_type_builder->get_rosidl_dynamic_type_builder();
+
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type_builder(
+    &rosidl_dynamic_type_builder, &allocator, &get_rosidl_dynamic_data());
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic data object from dynamic type builder");
+  }
+}
+
+
+DynamicMessage::DynamicMessage(const DynamicMessageType::SharedPtr dynamic_type)
+: DynamicMessage::DynamicMessage(
+    dynamic_type, dynamic_type->get_rosidl_dynamic_type().allocator) {}
+
+
+DynamicMessage::DynamicMessage(
+  const DynamicMessageType::SharedPtr dynamic_type,
+  rcl_allocator_t allocator)
+: serialization_support_(dynamic_type->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_data_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data()),
+  is_loaned_(false),
+  parent_data_(nullptr)
+{
+  if (!serialization_support_) {
+    throw std::runtime_error("dynamic type could not bind serialization support!");
+  }
+  if (!dynamic_type) {
+    throw std::runtime_error("dynamic message type cannot be nullptr!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    dynamic_type->get_rosidl_dynamic_type();
+
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+    &rosidl_dynamic_type, &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not init new dynamic data object from dynamic type") +
+            rcl_get_error_string().str);
+  }
+}
+
+
+DynamicMessage::DynamicMessage(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  rosidl_dynamic_typesupport_dynamic_data_t && rosidl_dynamic_data)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_data_(std::move(rosidl_dynamic_data)),
+  is_loaned_(false),
+  parent_data_(nullptr)
+{
+  if (serialization_support) {
+    if (!match_serialization_support_(*serialization_support, rosidl_dynamic_data)) {
+      throw std::runtime_error(
+              "serialization support library identifier does not match dynamic data's!");
+    }
+  }
+}
+
+
+DynamicMessage::DynamicMessage(
+  DynamicMessage::SharedPtr parent_data,
+  rosidl_dynamic_typesupport_dynamic_data_t && rosidl_loaned_data)
+: serialization_support_(parent_data->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_data_(std::move(rosidl_loaned_data)),
+  is_loaned_(true),
+  parent_data_(nullptr)
+{
+  if (!parent_data) {
+    throw std::runtime_error("parent dynamic data cannot be nullptr!");
+  }
+  if (serialization_support_) {
+    if (!match_serialization_support_(*serialization_support_, rosidl_loaned_data)) {
+      throw std::runtime_error(
+              "serialization support library identifier does not match loaned dynamic data's!");
+    }
+  }
+  parent_data_ = parent_data;
+}
+
+
+DynamicMessage::DynamicMessage(DynamicMessage && other) noexcept
+: serialization_support_(std::exchange(other.serialization_support_, nullptr)),
+  rosidl_dynamic_data_(std::exchange(
+      other.rosidl_dynamic_data_,
+      rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data())),
+  is_loaned_(other.is_loaned_),
+  parent_data_(std::exchange(other.parent_data_, nullptr))
+{}
+
+
+DynamicMessage &
+DynamicMessage::operator=(DynamicMessage && other) noexcept
+{
+  std::swap(serialization_support_, other.serialization_support_);
+  std::swap(rosidl_dynamic_data_, other.rosidl_dynamic_data_);
+  is_loaned_ = other.is_loaned_;
+  std::swap(parent_data_, other.parent_data_);
+  return *this;
+}
+
+
+DynamicMessage::~DynamicMessage()
+{
+  if (!is_loaned_) {
+    if (rosidl_dynamic_typesupport_dynamic_data_fini(&get_rosidl_dynamic_data()) !=
+      RCUTILS_RET_OK)
+    {
+      RCUTILS_LOG_ERROR("could not fini rosidl dynamic data");
+    }
+    return;
+  }
+
+  // Loaned case
+  if (!parent_data_) {
+    RCUTILS_LOG_ERROR("dynamic data is loaned, but parent is missing!!");
+  } else {
+    rosidl_dynamic_typesupport_dynamic_data_return_loaned_value(
+      &parent_data_->get_rosidl_dynamic_data(), &get_rosidl_dynamic_data());
+  }
+}
+
+
+bool
+DynamicMessage::match_serialization_support_(
+  const DynamicSerializationSupport & serialization_support,
+  const rosidl_dynamic_typesupport_dynamic_data_t & rosidl_dynamic_type_data)
+{
+  if (serialization_support.get_serialization_library_identifier() != std::string(
+      rosidl_dynamic_type_data.serialization_support->serialization_library_identifier))
+  {
+    RCUTILS_LOG_ERROR("serialization support library identifier does not match dynamic data's");
+    return false;
+  }
+  return true;
+}
+
+
+// GETTERS =======================================================================================
+const std::string
+DynamicMessage::get_serialization_library_identifier() const
+{
+  return std::string(
+    get_rosidl_dynamic_data().serialization_support->serialization_library_identifier);
+}
+
+
+const std::string
+DynamicMessage::get_name() const
+{
+  size_t buf_length;
+  const char * buf;
+  if (
+    rosidl_dynamic_typesupport_dynamic_data_get_name(
+      &get_rosidl_dynamic_data(), &buf,
+      &buf_length) !=
+    RCUTILS_RET_OK)
+  {
+    throw std::runtime_error(
+            std::string("could not get name for dynamic data") + rcl_get_error_string().str);
+  }
+  return std::string(buf, buf_length);
+}
+
+
+rosidl_dynamic_typesupport_dynamic_data_t &
+DynamicMessage::get_rosidl_dynamic_data()
+{
+  return rosidl_dynamic_data_;
+}
+
+
+const rosidl_dynamic_typesupport_dynamic_data_t &
+DynamicMessage::get_rosidl_dynamic_data() const
+{
+  return rosidl_dynamic_data_;
+}
+
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessage::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessage::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+
+size_t
+DynamicMessage::get_item_count() const
+{
+  size_t item_count;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_item_count(
+    &get_rosidl_dynamic_data(), &item_count);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not get item count of dynamic data");
+  }
+  return item_count;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_member_id(size_t index) const
+{
+  rosidl_dynamic_typesupport_member_id_t member_id;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_member_id_at_index(
+    &get_rosidl_dynamic_data(), index, &member_id);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not member id of dynamic data element by index");
+  }
+  return member_id;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_member_id(const std::string & name) const
+{
+  rosidl_dynamic_typesupport_member_id_t member_id;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_member_id_by_name(
+    &get_rosidl_dynamic_data(), name.c_str(), name.size(), &member_id);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not member id of dynamic data element by name");
+  }
+  return member_id;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_array_index(size_t index) const
+{
+  rosidl_dynamic_typesupport_member_id_t array_index;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_get_array_index(
+    &get_rosidl_dynamic_data(), index, &array_index);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not array index of dynamic data element by index");
+  }
+  return array_index;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::get_array_index(const std::string & name) const
+{
+  return get_array_index(get_member_id(name));
+}
+
+
+// METHODS =======================================================================================
+DynamicMessage
+DynamicMessage::clone(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_clone(
+    &get_rosidl_dynamic_data(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic data: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessage(get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::clone_shared(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_clone(
+    &get_rosidl_dynamic_data(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic data: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessage::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage
+DynamicMessage::init_from_type(DynamicMessageType & type, rcl_allocator_t allocator) const
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+    &type.get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic data object from dynamic type");
+  }
+  return DynamicMessage(serialization_support_, std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::init_from_type_shared(DynamicMessageType & type, rcl_allocator_t allocator) const
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_init_from_dynamic_type(
+    &type.get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic data object from dynamic type");
+  }
+  return DynamicMessage::make_shared(serialization_support_, std::move(rosidl_dynamic_data));
+}
+
+
+bool
+DynamicMessage::equals(const DynamicMessage & other) const
+{
+  if (get_serialization_library_identifier() != other.get_serialization_library_identifier()) {
+    throw std::runtime_error("library identifiers don't match");
+  }
+  bool equals;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_equals(
+    &get_rosidl_dynamic_data(), &other.get_rosidl_dynamic_data(), &equals);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not equate dynamic messages");
+  }
+  return equals;
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::loan_value(
+  rosidl_dynamic_typesupport_member_id_t id,
+  rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t rosidl_dynamic_data =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_loan_value(
+    &get_rosidl_dynamic_data(), id, &allocator, &rosidl_dynamic_data);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not loan dynamic data: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessage::make_shared(shared_from_this(), std::move(rosidl_dynamic_data));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::loan_value(const std::string & name, rcl_allocator_t allocator)
+{
+  return loan_value(get_member_id(name), allocator);
+}
+
+
+void
+DynamicMessage::clear_all_values()
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_all_values(&get_rosidl_dynamic_data());
+}
+
+
+void
+DynamicMessage::clear_nonkey_values()
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_nonkey_values(&get_rosidl_dynamic_data());
+}
+
+
+void
+DynamicMessage::clear_value(rosidl_dynamic_typesupport_member_id_t id)
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_value(&get_rosidl_dynamic_data(), id);
+}
+
+
+void
+DynamicMessage::clear_value(const std::string & name)
+{
+  clear_value(get_member_id(name));
+}
+
+
+void
+DynamicMessage::clear_sequence()
+{
+  rosidl_dynamic_typesupport_dynamic_data_clear_sequence_data(&get_rosidl_dynamic_data());
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_sequence_data()
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_sequence_data(&get_rosidl_dynamic_data(), &out);
+  return out;
+}
+
+
+void
+DynamicMessage::remove_sequence_data(rosidl_dynamic_typesupport_member_id_t index)
+{
+  rosidl_dynamic_typesupport_dynamic_data_remove_sequence_data(
+    &get_rosidl_dynamic_data(), index);
+}
+
+
+bool
+DynamicMessage::serialize(rcl_serialized_message_t & buffer)
+{
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_serialize(
+    &get_rosidl_dynamic_data(), &buffer);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could serialize loan dynamic data: ") + rcl_get_error_string().str);
+  }
+  return true;
+}
+
+
+bool
+DynamicMessage::deserialize(rcl_serialized_message_t & buffer)
+{
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_data_deserialize(
+    &get_rosidl_dynamic_data(), &buffer);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could deserialize loan dynamic data: ") + rcl_get_error_string().str);
+  }
+  return true;
+}
+
+
+// MEMBER ACCESS ===================================================================================
+// Defined in "detail/dynamic_message_impl.hpp"
+
+
+// FIXED STRING MEMBER ACCESS ======================================================================
+const std::string
+DynamicMessage::get_fixed_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t string_length)
+{
+  size_t buf_length;
+  char * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_fixed_string_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, string_length);
+  auto out = std::string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::string
+DynamicMessage::get_fixed_string_value(const std::string & name, size_t string_length)
+{
+  return get_fixed_string_value(get_member_id(name), string_length);
+}
+
+
+const std::u16string
+DynamicMessage::get_fixed_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t wstring_length)
+{
+  size_t buf_length;
+  char16_t * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_fixed_wstring_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, wstring_length);
+  auto out = std::u16string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::u16string
+DynamicMessage::get_fixed_wstring_value(const std::string & name, size_t wstring_length)
+{
+  return get_fixed_wstring_value(get_member_id(name), wstring_length);
+}
+
+
+void
+DynamicMessage::set_fixed_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_length)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_fixed_string_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), string_length);
+}
+
+
+void
+DynamicMessage::set_fixed_string_value(
+  const std::string & name, const std::string value, size_t string_length)
+{
+  set_fixed_string_value(get_member_id(name), value, string_length);
+}
+
+
+void
+DynamicMessage::set_fixed_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_length)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_fixed_wstring_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), wstring_length);
+}
+
+
+void
+DynamicMessage::set_fixed_wstring_value(
+  const std::string & name, const std::u16string value, size_t wstring_length)
+{
+  set_fixed_wstring_value(get_member_id(name), value, wstring_length);
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_fixed_string_value(const std::string value, size_t string_length)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_fixed_string_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), string_length, &out);
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_fixed_wstring_value(const std::u16string value, size_t wstring_length)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_fixed_wstring_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), wstring_length, &out);
+  return out;
+}
+
+
+// BOUNDED STRING MEMBER ACCESS ====================================================================
+const std::string
+DynamicMessage::get_bounded_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t string_bound)
+{
+  size_t buf_length;
+  char * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_bounded_string_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, string_bound);
+  auto out = std::string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::string
+DynamicMessage::get_bounded_string_value(const std::string & name, size_t string_bound)
+{
+  return get_bounded_string_value(get_member_id(name), string_bound);
+}
+
+
+const std::u16string
+DynamicMessage::get_bounded_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, size_t wstring_bound)
+{
+  size_t buf_length;
+  char16_t * buf = nullptr;
+  rosidl_dynamic_typesupport_dynamic_data_get_bounded_wstring_value(
+    &get_rosidl_dynamic_data(), id, &buf, &buf_length, wstring_bound);
+  auto out = std::u16string(buf, buf_length);
+  delete buf;
+  return out;
+}
+
+
+const std::u16string
+DynamicMessage::get_bounded_wstring_value(const std::string & name, size_t wstring_bound)
+{
+  return get_bounded_wstring_value(get_member_id(name), wstring_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_string_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string value, size_t string_bound)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_bounded_string_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), string_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_string_value(
+  const std::string & name, const std::string value, size_t string_bound)
+{
+  set_bounded_string_value(get_member_id(name), value, string_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_wstring_value(
+  rosidl_dynamic_typesupport_member_id_t id, const std::u16string value, size_t wstring_bound)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_bounded_wstring_value(
+    &get_rosidl_dynamic_data(), id, value.c_str(), value.size(), wstring_bound);
+}
+
+
+void
+DynamicMessage::set_bounded_wstring_value(
+  const std::string & name, const std::u16string value, size_t wstring_bound)
+{
+  set_bounded_wstring_value(get_member_id(name), value, wstring_bound);
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_bounded_string_value(const std::string value, size_t string_bound)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_bounded_string_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), string_bound, &out);
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_bounded_wstring_value(const std::u16string value, size_t wstring_bound)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_bounded_wstring_value(
+    &get_rosidl_dynamic_data(), value.c_str(), value.size(), wstring_bound, &out);
+  return out;
+}
+
+
+// NESTED MEMBER ACCESS ============================================================================
+DynamicMessage
+DynamicMessage::get_complex_value(
+  rosidl_dynamic_typesupport_member_id_t id, rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t out =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
+    &get_rosidl_dynamic_data(), id, &allocator, &out);
+  return DynamicMessage(get_shared_dynamic_serialization_support(), std::move(out));
+}
+
+
+DynamicMessage
+DynamicMessage::get_complex_value(const std::string & name, rcl_allocator_t allocator)
+{
+  return get_complex_value(get_member_id(name), allocator);
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::get_complex_value_shared(
+  rosidl_dynamic_typesupport_member_id_t id, rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_data_t out =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_data();
+  rosidl_dynamic_typesupport_dynamic_data_get_complex_value(
+    &get_rosidl_dynamic_data(), id, &allocator, &out);
+  return DynamicMessage::make_shared(get_shared_dynamic_serialization_support(), std::move(out));
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessage::get_complex_value_shared(const std::string & name, rcl_allocator_t allocator)
+{
+  return get_complex_value_shared(get_member_id(name), allocator);
+}
+
+
+void
+DynamicMessage::set_complex_value(
+  rosidl_dynamic_typesupport_member_id_t id, DynamicMessage & value)
+{
+  rosidl_dynamic_typesupport_dynamic_data_set_complex_value(
+    &get_rosidl_dynamic_data(), id, &value.get_rosidl_dynamic_data());
+}
+
+
+void
+DynamicMessage::set_complex_value(const std::string & name, DynamicMessage & value)
+{
+  set_complex_value(get_member_id(name), value);
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_complex_value_copy(const DynamicMessage & value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_complex_value_copy(
+    &get_rosidl_dynamic_data(), &value.get_rosidl_dynamic_data(), &out);
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_member_id_t
+DynamicMessage::insert_complex_value(DynamicMessage & value)
+{
+  rosidl_dynamic_typesupport_member_id_t out;
+  rosidl_dynamic_typesupport_dynamic_data_insert_complex_value(
+    &get_rosidl_dynamic_data(), &value.get_rosidl_dynamic_data(), &out);
+  return out;
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp

@@ -0,0 +1,281 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+
+// CONSTRUCTION ====================================================================================
+DynamicMessageType::DynamicMessageType(DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder)
+: DynamicMessageType::DynamicMessageType(
+    dynamic_type_builder, dynamic_type_builder->get_rosidl_dynamic_type_builder().allocator) {}
+
+
+DynamicMessageType::DynamicMessageType(
+  DynamicMessageTypeBuilder::SharedPtr dynamic_type_builder,
+  rcl_allocator_t allocator)
+: serialization_support_(dynamic_type_builder->get_shared_dynamic_serialization_support()),
+  rosidl_dynamic_type_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type())
+{
+  if (!serialization_support_) {
+    throw std::runtime_error("dynamic type could not bind serialization support!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    dynamic_type_builder->get_rosidl_dynamic_type_builder();
+
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_init_from_dynamic_type_builder(
+    &rosidl_dynamic_type_builder, &allocator, &get_rosidl_dynamic_type());
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic type object");
+  }
+}
+
+
+DynamicMessageType::DynamicMessageType(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  rosidl_dynamic_typesupport_dynamic_type_t && rosidl_dynamic_type)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_(std::move(rosidl_dynamic_type))
+{
+  if (serialization_support) {
+    if (!match_serialization_support_(*serialization_support, rosidl_dynamic_type)) {
+      throw std::runtime_error(
+              "serialization support library identifier does not match dynamic type's!");
+    }
+  }
+}
+
+
+DynamicMessageType::DynamicMessageType(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_(rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type())
+{
+  init_from_description(description, allocator, serialization_support);
+}
+
+
+DynamicMessageType::DynamicMessageType(DynamicMessageType && other) noexcept
+: serialization_support_(std::exchange(other.serialization_support_, nullptr)),
+  rosidl_dynamic_type_(std::exchange(
+      other.rosidl_dynamic_type_, rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type()))
+{}
+
+
+DynamicMessageType &
+DynamicMessageType::operator=(DynamicMessageType && other) noexcept
+{
+  std::swap(serialization_support_, other.serialization_support_);
+  std::swap(rosidl_dynamic_type_, other.rosidl_dynamic_type_);
+  return *this;
+}
+
+
+DynamicMessageType::~DynamicMessageType()
+{
+  if (rosidl_dynamic_typesupport_dynamic_type_fini(&get_rosidl_dynamic_type()) != RCUTILS_RET_OK) {
+    RCUTILS_LOG_ERROR("could not fini rosidl dynamic type");
+  }
+}
+
+
+void
+DynamicMessageType::init_from_description(
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator,
+  DynamicSerializationSupport::SharedPtr serialization_support)
+{
+  if (serialization_support) {
+    // Swap serialization support if serialization support is given
+    serialization_support_ = serialization_support;
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_init_from_description(
+    &serialization_support_->get_rosidl_serialization_support(),
+    &description,
+    &allocator,
+    &rosidl_dynamic_type);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic type object");
+  }
+
+  rosidl_dynamic_type_ = std::move(rosidl_dynamic_type);
+}
+
+
+bool
+DynamicMessageType::match_serialization_support_(
+  const DynamicSerializationSupport & serialization_support,
+  const rosidl_dynamic_typesupport_dynamic_type_t & rosidl_dynamic_type)
+{
+  if (serialization_support.get_serialization_library_identifier() != std::string(
+      rosidl_dynamic_type.serialization_support->serialization_library_identifier))
+  {
+    RCUTILS_LOG_ERROR(
+      "serialization support library identifier does not match dynamic type's (%s vs %s)",
+      serialization_support.get_serialization_library_identifier().c_str(),
+      rosidl_dynamic_type.serialization_support->serialization_library_identifier);
+    return false;
+  }
+  return true;
+}
+
+
+// GETTERS =========================================================================================
+const std::string
+DynamicMessageType::get_serialization_library_identifier() const
+{
+  return std::string(
+    get_rosidl_dynamic_type().serialization_support->serialization_library_identifier);
+}
+
+
+const std::string
+DynamicMessageType::get_name() const
+{
+  size_t buf_length;
+  const char * buf;
+  rosidl_dynamic_typesupport_dynamic_type_get_name(&get_rosidl_dynamic_type(), &buf, &buf_length);
+  return std::string(buf, buf_length);
+}
+
+
+size_t
+DynamicMessageType::get_member_count() const
+{
+  size_t out;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_get_member_count(
+    &get_rosidl_dynamic_type(), &out);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not get member count: ") + rcl_get_error_string().str);
+  }
+  return out;
+}
+
+
+rosidl_dynamic_typesupport_dynamic_type_t &
+DynamicMessageType::get_rosidl_dynamic_type()
+{
+  return rosidl_dynamic_type_;
+}
+
+
+const rosidl_dynamic_typesupport_dynamic_type_t &
+DynamicMessageType::get_rosidl_dynamic_type() const
+{
+  return rosidl_dynamic_type_;
+}
+
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessageType::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessageType::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+
+// METHODS =========================================================================================
+DynamicMessageType
+DynamicMessageType::clone(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_clone(
+    &get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_type);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageType(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type));
+}
+
+
+DynamicMessageType::SharedPtr
+DynamicMessageType::clone_shared(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_t rosidl_dynamic_type =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_clone(
+    &get_rosidl_dynamic_type(), &allocator, &rosidl_dynamic_type);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageType::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type));
+}
+
+
+bool
+DynamicMessageType::equals(const DynamicMessageType & other) const
+{
+  if (get_serialization_library_identifier() != other.get_serialization_library_identifier()) {
+    throw std::runtime_error("library identifiers don't match");
+  }
+  bool out;
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_equals(
+    &get_rosidl_dynamic_type(), &other.get_rosidl_dynamic_type(), &out);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not equate dynamic message types: ") + rcl_get_error_string().str);
+  }
+  return out;
+}
+
+
+DynamicMessage
+DynamicMessageType::build_dynamic_message(rcl_allocator_t allocator)
+{
+  return DynamicMessage(shared_from_this(), allocator);
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessageType::build_dynamic_message_shared(rcl_allocator_t allocator)
+{
+  return DynamicMessage::make_shared(shared_from_this(), allocator);
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp

@@ -0,0 +1,614 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/api/dynamic_data.h>
+#include <rosidl_dynamic_typesupport/api/dynamic_type.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+#include <rosidl_dynamic_typesupport/types.h>
+
+#include <memory>
+#include <string>
+
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeBuilder;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+#ifndef RCLCPP__DYNAMIC_TYPESUPPORT__DETAIL__DYNAMIC_MESSAGE_TYPE_BUILDER_IMPL_HPP_
+// Template specialization implementations
+#include "rclcpp/dynamic_typesupport/detail/dynamic_message_type_builder_impl.hpp"
+#endif
+
+// CONSTRUCTION ====================================================================================
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support, const std::string & name)
+: DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+    serialization_support,
+    name,
+    serialization_support->get_rosidl_serialization_support().allocator) {}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const std::string & name,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_builder_(
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())
+{
+  init_from_serialization_support_(serialization_support, name, allocator);
+}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  rosidl_dynamic_typesupport_dynamic_type_builder_t && rosidl_dynamic_type_builder)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_builder_(
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())
+{
+  if (!serialization_support) {
+    throw std::runtime_error("serialization support cannot be nullptr!");
+  }
+  if (!match_serialization_support_(*serialization_support, rosidl_dynamic_type_builder)) {
+    throw std::runtime_error(
+            "serialization support library does not match dynamic type builder's!");
+  }
+}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  rosidl_dynamic_type_builder_(
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())
+{
+  if (!serialization_support) {
+    throw std::runtime_error("serialization support cannot be nullptr!");
+  }
+  init_from_description(description, allocator, serialization_support);
+}
+
+
+DynamicMessageTypeBuilder::DynamicMessageTypeBuilder(DynamicMessageTypeBuilder && other) noexcept
+: serialization_support_(std::exchange(other.serialization_support_, nullptr)),
+  rosidl_dynamic_type_builder_(std::exchange(
+      other.rosidl_dynamic_type_builder_,
+      rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder())) {}
+
+
+DynamicMessageTypeBuilder &
+DynamicMessageTypeBuilder::operator=(DynamicMessageTypeBuilder && other) noexcept
+{
+  std::swap(serialization_support_, other.serialization_support_);
+  std::swap(rosidl_dynamic_type_builder_, other.rosidl_dynamic_type_builder_);
+  return *this;
+}
+
+
+DynamicMessageTypeBuilder::~DynamicMessageTypeBuilder()
+{
+  if (rosidl_dynamic_typesupport_dynamic_type_builder_fini(&get_rosidl_dynamic_type_builder()) !=
+    RCUTILS_RET_OK)
+  {
+    RCUTILS_LOG_ERROR("could not fini rosidl dynamic type builder");
+  }
+}
+
+
+void
+DynamicMessageTypeBuilder::init_from_description(
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator,
+  DynamicSerializationSupport::SharedPtr serialization_support)
+{
+  if (serialization_support) {
+    // Swap serialization support if serialization support is given
+    serialization_support_ = serialization_support;
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_init_from_description(
+    &serialization_support_->get_rosidl_serialization_support(),
+    &description,
+    &allocator,
+    &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init new dynamic type builder object");
+  }
+
+  rosidl_dynamic_type_builder_ = std::move(rosidl_dynamic_type_builder);
+}
+
+
+void
+DynamicMessageTypeBuilder::init_from_serialization_support_(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const std::string & name,
+  rcl_allocator_t allocator)
+{
+  if (!serialization_support) {
+    throw std::runtime_error("serialization support cannot be nullptr!");
+  }
+  if (!&serialization_support->get_rosidl_serialization_support()) {
+    throw std::runtime_error("serialization support raw pointer cannot be nullptr!");
+  }
+
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_init(
+    &serialization_support->get_rosidl_serialization_support(),
+    name.c_str(), name.size(),
+    &allocator,
+    &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not init dynamic type builder: ") + rcl_get_error_string().str);
+  }
+}
+
+
+bool
+DynamicMessageTypeBuilder::match_serialization_support_(
+  const DynamicSerializationSupport & serialization_support,
+  const rosidl_dynamic_typesupport_dynamic_type_builder_t & rosidl_dynamic_type_builder)
+{
+  if (serialization_support.get_serialization_library_identifier() != std::string(
+      rosidl_dynamic_type_builder.serialization_support->serialization_library_identifier))
+  {
+    RCUTILS_LOG_ERROR(
+      "serialization support library identifier does not match dynamic type builder's");
+    return false;
+  }
+  return true;
+}
+
+
+// GETTERS =======================================================================================
+const std::string
+DynamicMessageTypeBuilder::get_serialization_library_identifier() const
+{
+  return std::string(
+    get_rosidl_dynamic_type_builder().serialization_support->serialization_library_identifier);
+}
+
+
+const std::string
+DynamicMessageTypeBuilder::get_name() const
+{
+  size_t buf_length;
+  const char * buf;
+  rosidl_dynamic_typesupport_dynamic_type_builder_get_name(
+    &get_rosidl_dynamic_type_builder(), &buf, &buf_length);
+  return std::string(buf, buf_length);
+}
+
+
+rosidl_dynamic_typesupport_dynamic_type_builder_t &
+DynamicMessageTypeBuilder::get_rosidl_dynamic_type_builder()
+{
+  return rosidl_dynamic_type_builder_;
+}
+
+
+const rosidl_dynamic_typesupport_dynamic_type_builder_t &
+DynamicMessageTypeBuilder::get_rosidl_dynamic_type_builder() const
+{
+  return rosidl_dynamic_type_builder_;
+}
+
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessageTypeBuilder::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessageTypeBuilder::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+
+// METHODS =======================================================================================
+void
+DynamicMessageTypeBuilder::set_name(const std::string & name)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_set_name(
+    &get_rosidl_dynamic_type_builder(), name.c_str(), name.size());
+}
+
+
+DynamicMessageTypeBuilder
+DynamicMessageTypeBuilder::clone(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_clone(
+    &get_rosidl_dynamic_type_builder(), &allocator, &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type builder: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageTypeBuilder(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type_builder));
+}
+
+
+DynamicMessageTypeBuilder::SharedPtr
+DynamicMessageTypeBuilder::clone_shared(rcl_allocator_t allocator)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_t rosidl_dynamic_type_builder =
+    rosidl_dynamic_typesupport_get_zero_initialized_dynamic_type_builder();
+  rcutils_ret_t ret = rosidl_dynamic_typesupport_dynamic_type_builder_clone(
+    &get_rosidl_dynamic_type_builder(), &allocator, &rosidl_dynamic_type_builder);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error(
+            std::string("could not clone dynamic type builder: ") + rcl_get_error_string().str);
+  }
+  return DynamicMessageTypeBuilder::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(rosidl_dynamic_type_builder));
+}
+
+
+void
+DynamicMessageTypeBuilder::clear(rcl_allocator_t allocator)
+{
+  if (!serialization_support_) {
+    throw std::runtime_error(
+            "cannot call clear() on a dynamic type builder with uninitialized serialization support"
+    );
+  }
+
+  const std::string & name = get_name();
+  init_from_serialization_support_(serialization_support_, name, allocator);
+}
+
+
+DynamicMessage
+DynamicMessageTypeBuilder::build_dynamic_message(rcl_allocator_t allocator)
+{
+  return DynamicMessage(shared_from_this(), allocator);
+}
+
+
+DynamicMessage::SharedPtr
+DynamicMessageTypeBuilder::build_dynamic_message_shared(rcl_allocator_t allocator)
+{
+  return DynamicMessage::make_shared(shared_from_this(), allocator);
+}
+
+
+DynamicMessageType
+DynamicMessageTypeBuilder::build_dynamic_message_type(rcl_allocator_t allocator)
+{
+  return DynamicMessageType(shared_from_this(), allocator);
+}
+
+
+DynamicMessageType::SharedPtr
+DynamicMessageTypeBuilder::build_dynamic_message_type_shared(rcl_allocator_t allocator)
+{
+  return DynamicMessageType::make_shared(shared_from_this(), allocator);
+}
+
+
+// ADD MEMBERS =====================================================================================
+// Defined in "detail/dynamic_message_type_builder_impl.hpp"
+
+
+// ADD FIXED STRING MEMBERS ========================================================================
+void
+DynamicMessageTypeBuilder::add_fixed_string_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_string_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_length, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_length, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_string_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_string_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_length, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_string_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_length, sequence_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_fixed_wstring_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_length, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_fixed_wstring_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_length, sequence_bound);
+}
+
+
+// ADD BOUNDED STRING MEMBERS ======================================================================
+void
+DynamicMessageTypeBuilder::add_bounded_string_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_string_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_bound, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_bound, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound, array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_string_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t string_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name, size_t wstring_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_string_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t string_bound, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_string_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    string_bound, sequence_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_bounded_wstring_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  size_t wstring_bound, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_bounded_wstring_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    wstring_bound, sequence_bound);
+}
+
+
+// ADD NESTED MEMBERS ==============================================================================
+void
+DynamicMessageTypeBuilder::add_complex_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_array_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, size_t array_length, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_array_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type(), array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_unbounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_unbounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_bounded_sequence_member(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageType & nested_type, size_t sequence_bound, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_bounded_sequence_member(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type.get_rosidl_dynamic_type(), sequence_bound);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_array_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, size_t array_length,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_array_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder(), array_length);
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_unbounded_sequence_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_unbounded_sequence_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder());
+}
+
+
+void
+DynamicMessageTypeBuilder::add_complex_bounded_sequence_member_builder(
+  rosidl_dynamic_typesupport_member_id_t id, const std::string & name,
+  DynamicMessageTypeBuilder & nested_type_builder, size_t sequence_bound,
+  const std::string & default_value)
+{
+  rosidl_dynamic_typesupport_dynamic_type_builder_add_complex_bounded_sequence_member_builder(
+    &get_rosidl_dynamic_type_builder(),
+    id, name.c_str(), name.size(), default_value.c_str(), default_value.size(),
+    &nested_type_builder.get_rosidl_dynamic_type_builder(), sequence_bound);
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp

@@ -0,0 +1,317 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rosidl_dynamic_typesupport/identifier.h>
+#include <rosidl_dynamic_typesupport/types.h>
+#include <rosidl_runtime_c/message_type_support_struct.h>
+#include <rosidl_runtime_c/type_description_utils.h>
+#include <rosidl_runtime_c/type_description/type_description__functions.h>
+#include <rosidl_runtime_c/type_description/type_description__struct.h>
+#include <rosidl_runtime_c/type_description/type_source__functions.h>
+#include <rosidl_runtime_c/type_description/type_source__struct.h>
+
+#include <memory>
+#include <string>
+
+#include "rcl/allocator.h"
+#include "rcl/dynamic_message_type_support.h"
+#include "rcl/type_hash.h"
+#include "rcl/types.h"
+#include "rcutils/logging_macros.h"
+#include "rcutils/types/rcutils_ret.h"
+#include "rmw/dynamic_message_type_support.h"
+
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_message_type_support.hpp"
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp/visibility_control.hpp"
+
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicMessageTypeSupport;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+// CONSTRUCTION ====================================================================================
+DynamicMessageTypeSupport::DynamicMessageTypeSupport(
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  const std::string & serialization_library_name,
+  rcl_allocator_t allocator)
+: serialization_support_(nullptr),
+  dynamic_message_type_(nullptr),
+  dynamic_message_(nullptr),
+  rosidl_message_type_support_(rosidl_get_zero_initialized_message_type_support_handle())
+{
+  rcl_ret_t ret;
+  if (serialization_library_name.empty()) {
+    ret = rcl_dynamic_message_type_support_handle_init(
+      nullptr, &description, &allocator, &rosidl_message_type_support_);
+  } else {
+    ret = rcl_dynamic_message_type_support_handle_init(
+      serialization_library_name.c_str(), &description, &allocator, &rosidl_message_type_support_);
+  }
+  if (ret != RCL_RET_OK) {
+    std::string error_msg =
+      std::string("error initializing rosidl message type support: ") + rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(error_msg);
+  }
+  if (rosidl_message_type_support_.typesupport_identifier !=
+    rosidl_get_dynamic_typesupport_identifier())
+  {
+    throw std::runtime_error("rosidl message type support is of the wrong type");
+  }
+
+  auto ts_impl = static_cast<rosidl_dynamic_message_type_support_impl_t *>(const_cast<void *>(
+      rosidl_message_type_support_.data));
+
+  serialization_support_ = DynamicSerializationSupport::make_shared(
+    std::move(ts_impl->serialization_support));
+
+  dynamic_message_type_ = DynamicMessageType::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message_type));
+
+  dynamic_message_ = DynamicMessage::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message));
+}
+
+DynamicMessageTypeSupport::DynamicMessageTypeSupport(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  dynamic_message_type_(nullptr),
+  dynamic_message_(nullptr),
+  rosidl_message_type_support_(rosidl_get_zero_initialized_message_type_support_handle())
+{
+  // Check null
+  if (!serialization_support) {
+    throw std::runtime_error("serialization_support cannot be nullptr.");
+  }
+
+  rosidl_type_hash_t type_hash;
+  rcutils_ret_t hash_ret = rcl_calculate_type_hash(
+    // TODO(methylDragon): Swap this out with the conversion function when it is ready
+    reinterpret_cast<const type_description_interfaces__msg__TypeDescription *>(&description),
+    &type_hash);
+  if (hash_ret != RCL_RET_OK) {
+    throw std::runtime_error("failed to get type hash");
+  }
+
+  rcutils_ret_t ret = rosidl_dynamic_message_type_support_handle_init(
+    &serialization_support->get_rosidl_serialization_support(),
+    &type_hash,       // type_hash
+    &description,     // type_description
+    nullptr,          // type_description_sources (not implemented for dynamic types)
+    &allocator,
+    &rosidl_message_type_support_);
+  if (ret != RCUTILS_RET_OK) {
+    throw std::runtime_error("could not init rosidl message type support");
+  }
+  if (rosidl_message_type_support_.typesupport_identifier !=
+    rosidl_get_dynamic_typesupport_identifier())
+  {
+    throw std::runtime_error("rosidl message type support is of the wrong type");
+  }
+
+  auto ts_impl = static_cast<const rosidl_dynamic_message_type_support_impl_t *>(
+    rosidl_message_type_support_.data);
+
+  dynamic_message_type_ = DynamicMessageType::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message_type));
+
+  dynamic_message_ = DynamicMessage::make_shared(
+    get_shared_dynamic_serialization_support(), std::move(*ts_impl->dynamic_message));
+}
+
+DynamicMessageTypeSupport::DynamicMessageTypeSupport(
+  DynamicSerializationSupport::SharedPtr serialization_support,
+  DynamicMessageType::SharedPtr dynamic_message_type,
+  DynamicMessage::SharedPtr dynamic_message,
+  const rosidl_runtime_c__type_description__TypeDescription & description,
+  rcl_allocator_t allocator)
+: serialization_support_(serialization_support),
+  dynamic_message_type_(dynamic_message_type),
+  dynamic_message_(dynamic_message),
+  rosidl_message_type_support_(rosidl_get_zero_initialized_message_type_support_handle())
+{
+  // Check null
+  if (!serialization_support) {
+    throw std::runtime_error("serialization_support cannot be nullptr.");
+  }
+  if (!dynamic_message_type) {
+    throw std::runtime_error("dynamic_message_type cannot be nullptr.");
+  }
+  if (!dynamic_message) {
+    throw std::runtime_error("dynamic_message cannot be nullptr.");
+  }
+
+  // Check identifiers
+  if (serialization_support->get_serialization_library_identifier() !=
+    dynamic_message_type->get_serialization_library_identifier())
+  {
+    throw std::runtime_error(
+            "serialization support library identifier does not match "
+            "dynamic message type library identifier.");
+  }
+  if (dynamic_message_type->get_serialization_library_identifier() !=
+    dynamic_message->get_serialization_library_identifier())
+  {
+    throw std::runtime_error(
+            "dynamic message type library identifier does not match "
+            "dynamic message library identifier.");
+  }
+
+  rosidl_type_hash_t type_hash;
+  rcutils_ret_t hash_ret = rcl_calculate_type_hash(
+    // TODO(methylDragon): Swap this out with the conversion function when it is ready
+    //   from https://github.com/ros2/rcl/pull/1052
+    reinterpret_cast<const type_description_interfaces__msg__TypeDescription *>(&description),
+    &type_hash);
+  if (hash_ret != RCL_RET_OK) {
+    std::string error_msg = std::string("failed to get type hash: ") + rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(error_msg);
+  }
+
+  auto ts_impl = static_cast<rosidl_dynamic_message_type_support_impl_t *>(
+    allocator.zero_allocate(1, sizeof(rosidl_dynamic_message_type_support_impl_t), allocator.state)
+  );
+  if (!ts_impl) {
+    throw std::runtime_error("could not allocate rosidl_message_type_support_t");
+  }
+
+  ts_impl->allocator = allocator;
+  ts_impl->type_hash = type_hash;
+  if (!rosidl_runtime_c__type_description__TypeDescription__copy(
+      &description, &ts_impl->type_description))
+  {
+    throw std::runtime_error("could not copy type description");
+  }
+  // ts_impl->type_description_sources  = // Not used
+
+  ts_impl->serialization_support = serialization_support->get_rosidl_serialization_support();
+  ts_impl->dynamic_message_type = &dynamic_message_type->get_rosidl_dynamic_type();
+  ts_impl->dynamic_message = &dynamic_message->get_rosidl_dynamic_data();
+
+  rosidl_message_type_support_ = {
+    rosidl_get_dynamic_typesupport_identifier(),            // typesupport_identifier
+    ts_impl,                                                // data
+    get_message_typesupport_handle_function,                // func
+    // get_type_hash_func
+    rosidl_get_dynamic_message_type_support_type_hash_function,
+    // get_type_description_func
+    rosidl_get_dynamic_message_type_support_type_description_function,
+    // get_type_description_sources_func
+    rosidl_get_dynamic_message_type_support_type_description_sources_function
+  };
+}
+
+DynamicMessageTypeSupport::~DynamicMessageTypeSupport()
+{
+  // These must go first
+  serialization_support_.reset();
+  dynamic_message_type_.reset();
+  dynamic_message_.reset();
+
+  // Early return if type support isn't populated to avoid segfaults
+  if (!rosidl_message_type_support_.data) {
+    return;
+  }
+
+  // We only partially finalize the rosidl_message_type_support->data since its pointer members are
+  // managed by their respective SharedPtr wrapper classes.
+  auto ts_impl = static_cast<rosidl_dynamic_message_type_support_impl_t *>(
+    const_cast<void *>(rosidl_message_type_support_.data)
+  );
+  rcutils_allocator_t allocator = ts_impl->allocator;
+
+  rosidl_runtime_c__type_description__TypeDescription__fini(&ts_impl->type_description);
+  rosidl_runtime_c__type_description__TypeSource__Sequence__fini(
+    &ts_impl->type_description_sources);
+  allocator.deallocate(static_cast<void *>(ts_impl), allocator.state);  // Always C allocated
+}
+
+
+// GETTERS =========================================================================================
+const std::string
+DynamicMessageTypeSupport::get_serialization_library_identifier() const
+{
+  return serialization_support_->get_serialization_library_identifier();
+}
+
+rosidl_message_type_support_t &
+DynamicMessageTypeSupport::get_rosidl_message_type_support()
+{
+  return rosidl_message_type_support_;
+}
+
+const rosidl_message_type_support_t &
+DynamicMessageTypeSupport::get_const_rosidl_message_type_support()
+{
+  return rosidl_message_type_support_;
+}
+
+const rosidl_message_type_support_t &
+DynamicMessageTypeSupport::get_const_rosidl_message_type_support() const
+{
+  return rosidl_message_type_support_;
+}
+
+const rosidl_runtime_c__type_description__TypeDescription &
+DynamicMessageTypeSupport::get_rosidl_runtime_c_type_description() const
+{
+  auto ts_impl = static_cast<const rosidl_dynamic_message_type_support_impl_t *>(
+    get_const_rosidl_message_type_support().data
+  );
+  return ts_impl->type_description;
+}
+
+DynamicSerializationSupport::SharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_serialization_support()
+{
+  return serialization_support_;
+}
+
+DynamicSerializationSupport::ConstSharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_serialization_support() const
+{
+  return serialization_support_;
+}
+
+DynamicMessageType::SharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message_type()
+{
+  return dynamic_message_type_;
+}
+
+DynamicMessageType::ConstSharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message_type() const
+{
+  return dynamic_message_type_;
+}
+
+DynamicMessage::SharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message()
+{
+  return dynamic_message_;
+}
+
+DynamicMessage::ConstSharedPtr
+DynamicMessageTypeSupport::get_shared_dynamic_message() const
+{
+  return dynamic_message_;
+}

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp

@@ -0,0 +1,98 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rcl/allocator.h>
+#include <rcutils/logging_macros.h>
+#include <rmw/dynamic_message_type_support.h>
+#include <rmw/ret_types.h>
+#include <rosidl_dynamic_typesupport/api/serialization_support.h>
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp"
+#include "rclcpp/exceptions.hpp"
+
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+// CONSTRUCTION ====================================================================================
+DynamicSerializationSupport::DynamicSerializationSupport(rcl_allocator_t allocator)
+: DynamicSerializationSupport::DynamicSerializationSupport("", allocator) {}
+
+DynamicSerializationSupport::DynamicSerializationSupport(
+  const std::string & serialization_library_name,
+  rcl_allocator_t allocator)
+: rosidl_serialization_support_(
+    rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())
+{
+  rmw_ret_t ret = RMW_RET_ERROR;
+
+  if (serialization_library_name.empty()) {
+    ret = rmw_serialization_support_init(NULL, &allocator, &rosidl_serialization_support_);
+  } else {
+    ret = rmw_serialization_support_init(
+      serialization_library_name.c_str(), &allocator, &rosidl_serialization_support_);
+  }
+  if (ret != RCL_RET_OK) {
+    std::string error_msg =
+      std::string("could not initialize new serialization support object: ") +
+      rcl_get_error_string().str;
+    rcl_reset_error();
+    throw std::runtime_error(error_msg);
+  }
+}
+
+DynamicSerializationSupport::DynamicSerializationSupport(
+  rosidl_dynamic_typesupport_serialization_support_t && rosidl_serialization_support)
+: rosidl_serialization_support_(std::move(rosidl_serialization_support)) {}
+
+DynamicSerializationSupport::DynamicSerializationSupport(
+  DynamicSerializationSupport && other) noexcept
+: rosidl_serialization_support_(std::exchange(
+      other.rosidl_serialization_support_,
+      rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())) {}
+
+DynamicSerializationSupport &
+DynamicSerializationSupport::operator=(DynamicSerializationSupport && other) noexcept
+{
+  std::swap(rosidl_serialization_support_, other.rosidl_serialization_support_);
+  return *this;
+}
+
+DynamicSerializationSupport::~DynamicSerializationSupport()
+{
+  rosidl_dynamic_typesupport_serialization_support_fini(&rosidl_serialization_support_);
+}
+
+
+// GETTERS =========================================================================================
+const std::string
+DynamicSerializationSupport::get_serialization_library_identifier() const
+{
+  return std::string(
+    rosidl_dynamic_typesupport_serialization_support_get_library_identifier(
+      &rosidl_serialization_support_));
+}
+
+rosidl_dynamic_typesupport_serialization_support_t &
+DynamicSerializationSupport::get_rosidl_serialization_support()
+{
+  return rosidl_serialization_support_;
+}
+
+const rosidl_dynamic_typesupport_serialization_support_t &
+DynamicSerializationSupport::get_rosidl_serialization_support() const
+{
+  return rosidl_serialization_support_;
+}

rclcpp/src/rclcpp/executor.cpp

@@ -24,6 +24,7 @@
 #include "rcl/error_handling.h"
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/executor.hpp"
 #include "rclcpp/guard_condition.hpp"
@@ -558,13 +559,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   }
 }
 
+template<typename Taker, typename Handler>
 static
 void
 take_and_do_error_handling(
   const char * action_description,
   const char * topic_or_service_name,
-  std::function<bool()> take_action,
-  std::function<void()> handle_action)
+  Taker take_action,
+  Handler handle_action)
 {
   bool taken = false;
   try {
@@ -597,70 +599,136 @@ take_and_do_error_handling(
 void
 Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
 {
+  using rclcpp::dynamic_typesupport::DynamicMessage;
+
   rclcpp::MessageInfo message_info;
   message_info.get_rmw_message_info().from_intra_process = false;
 
-  if (subscription->is_serialized()) {
-    // This is the case where a copy of the serialized message is taken from
-    // the middleware via inter-process communication.
-    std::shared_ptr<SerializedMessage> serialized_msg = subscription->create_serialized_message();
-    take_and_do_error_handling(
-      "taking a serialized message from topic",
-      subscription->get_topic_name(),
-      [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
-      [&]()
+  switch (subscription->get_subscription_type()) {
+    // Take ROS message
+    case rclcpp::SubscriptionType::ROS_MESSAGE:
       {
-        subscription->handle_serialized_message(serialized_msg, message_info);
-      });
-    subscription->return_serialized_message(serialized_msg);
-  } else if (subscription->can_loan_messages()) {
-    // This is the case where a loaned message is taken from the middleware via
-    // inter-process communication, given to the user for their callback,
-    // and then returned.
-    void * loaned_msg = nullptr;
-    // TODO(wjwwood): refactor this into methods on subscription when LoanedMessage
-    //   is extened to support subscriptions as well.
-    take_and_do_error_handling(
-      "taking a loaned message from topic",
-      subscription->get_topic_name(),
-      [&]()
-      {
-        rcl_ret_t ret = rcl_take_loaned_message(
-          subscription->get_subscription_handle().get(),
-          &loaned_msg,
-          &message_info.get_rmw_message_info(),
-          nullptr);
-        if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
-          return false;
-        } else if (RCL_RET_OK != ret) {
-          rclcpp::exceptions::throw_from_rcl_error(ret);
+        if (subscription->can_loan_messages()) {
+          // This is the case where a loaned message is taken from the middleware via
+          // inter-process communication, given to the user for their callback,
+          // and then returned.
+          void * loaned_msg = nullptr;
+          // TODO(wjwwood): refactor this into methods on subscription when LoanedMessage
+          //   is extened to support subscriptions as well.
+          take_and_do_error_handling(
+            "taking a loaned message from topic",
+            subscription->get_topic_name(),
+            [&]()
+            {
+              rcl_ret_t ret = rcl_take_loaned_message(
+                subscription->get_subscription_handle().get(),
+                &loaned_msg,
+                &message_info.get_rmw_message_info(),
+                nullptr);
+              if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
+                return false;
+              } else if (RCL_RET_OK != ret) {
+                rclcpp::exceptions::throw_from_rcl_error(ret);
+              }
+              return true;
+            },
+            [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
+          if (nullptr != loaned_msg) {
+            rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
+              subscription->get_subscription_handle().get(), loaned_msg);
+            if (RCL_RET_OK != ret) {
+              RCLCPP_ERROR(
+                rclcpp::get_logger("rclcpp"),
+                "rcl_return_loaned_message_from_subscription() failed for subscription on topic "
+                "'%s': %s",
+                subscription->get_topic_name(), rcl_get_error_string().str);
+            }
+            loaned_msg = nullptr;
+          }
+        } else {
+          // This case is taking a copy of the message data from the middleware via
+          // inter-process communication.
+          std::shared_ptr<void> message = subscription->create_message();
+          take_and_do_error_handling(
+            "taking a message from topic",
+            subscription->get_topic_name(),
+            [&]() {return subscription->take_type_erased(message.get(), message_info);},
+            [&]() {subscription->handle_message(message, message_info);});
+          subscription->return_message(message);
         }
-        return true;
-      },
-      [&]() {subscription->handle_loaned_message(loaned_msg, message_info);});
-    if (nullptr != loaned_msg) {
-      rcl_ret_t ret = rcl_return_loaned_message_from_subscription(
-        subscription->get_subscription_handle().get(),
-        loaned_msg);
-      if (RCL_RET_OK != ret) {
-        RCLCPP_ERROR(
-          rclcpp::get_logger("rclcpp"),
-          "rcl_return_loaned_message_from_subscription() failed for subscription on topic '%s': %s",
-          subscription->get_topic_name(), rcl_get_error_string().str);
+        break;
+      }
+
+    // Take serialized message
+    case rclcpp::SubscriptionType::SERIALIZED_MESSAGE:
+      {
+        // This is the case where a copy of the serialized message is taken from
+        // the middleware via inter-process communication.
+        std::shared_ptr<SerializedMessage> serialized_msg =
+          subscription->create_serialized_message();
+        take_and_do_error_handling(
+          "taking a serialized message from topic",
+          subscription->get_topic_name(),
+          [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
+          [&]()
+          {
+            subscription->handle_serialized_message(serialized_msg, message_info);
+          });
+        subscription->return_serialized_message(serialized_msg);
+        break;
+      }
+
+    // DYNAMIC SUBSCRIPTION ========================================================================
+    // If a subscription is dynamic, then it will use its serialization-specific dynamic data.
+    //
+    // Two cases:
+    // - Dynamic type subscription using dynamic type stored in its own internal type support struct
+    // - Non-dynamic type subscription with no stored dynamic type
+    //   - Subscriptions of this type must be able to lookup the local message description to
+    //     generate a dynamic type at runtime!
+    //   - TODO(methylDragon): I won't be handling this case yet
+
+    // Take dynamic message directly from the middleware
+    case rclcpp::SubscriptionType::DYNAMIC_MESSAGE_DIRECT:
+      {
+        DynamicMessage::SharedPtr dynamic_message = subscription->create_dynamic_message();
+        take_and_do_error_handling(
+          "taking a dynamic message from topic",
+          subscription->get_topic_name(),
+          // This modifies the stored dynamic data in the DynamicMessage in-place
+          [&]() {return subscription->take_dynamic_message(*dynamic_message, message_info);},
+          [&]() {subscription->handle_dynamic_message(dynamic_message, message_info);});
+        subscription->return_dynamic_message(dynamic_message);
+        break;
+      }
+
+    // Take serialized and then convert to dynamic message
+    case rclcpp::SubscriptionType::DYNAMIC_MESSAGE_FROM_SERIALIZED:
+      {
+        std::shared_ptr<SerializedMessage> serialized_msg =
+          subscription->create_serialized_message();
+
+        // NOTE(methylDragon): Is this clone necessary? If I'm following the pattern, it seems so.
+        DynamicMessage::SharedPtr dynamic_message = subscription->create_dynamic_message();
+        take_and_do_error_handling(
+          "taking a serialized message from topic",
+          subscription->get_topic_name(),
+          [&]() {return subscription->take_serialized(*serialized_msg.get(), message_info);},
+          [&]()
+          {
+            bool ret = dynamic_message->deserialize(serialized_msg->get_rcl_serialized_message());
+            if (!ret) {
+              throw_from_rcl_error(ret, "Couldn't convert serialized message to dynamic data!");
+            }
+            subscription->handle_dynamic_message(dynamic_message, message_info);
+          }
+        );
+        subscription->return_serialized_message(serialized_msg);
+        subscription->return_dynamic_message(dynamic_message);
+        break;
       }
-      loaned_msg = nullptr;
-    }
-  } else {
-    // This case is taking a copy of the message data from the middleware via
-    // inter-process communication.
-    std::shared_ptr<void> message = subscription->create_message();
-    take_and_do_error_handling(
-      "taking a message from topic",
-      subscription->get_topic_name(),
-      [&]() {return subscription->take_type_erased(message.get(), message_info);},
-      [&]() {subscription->handle_message(message, message_info);});
-    subscription->return_message(message);
   }
+  return;
 }
 
 void

rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp

@@ -1,327 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
-
-#include <memory>
-#include <queue>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rcpputils/scope_exit.hpp"
-
-#include "rclcpp/exceptions/exceptions.hpp"
-
-using namespace std::chrono_literals;
-
-using rclcpp::experimental::executors::EventsExecutor;
-
-EventsExecutor::EventsExecutor(
-  rclcpp::experimental::executors::EventsQueue::UniquePtr events_queue,
-  bool execute_timers_separate_thread,
-  const rclcpp::ExecutorOptions & options)
-: rclcpp::Executor(options)
-{
-  // Get ownership of the queue used to store events.
-  if (!events_queue) {
-    throw std::invalid_argument("events_queue can't be a null pointer");
-  }
-  events_queue_ = std::move(events_queue);
-
-  // Create timers manager
-  std::function<void(void *)> timer_on_ready_cb = nullptr;
-  if (execute_timers_separate_thread) {
-    timer_on_ready_cb = [this](const void * timer_id) {
-        ExecutorEvent event = {timer_id, -1, ExecutorEventType::TIMER_EVENT, 1};
-        this->events_queue_->enqueue(event);
-      };
-  }
-  timers_manager_ =
-    std::make_shared<rclcpp::experimental::TimersManager>(context_, timer_on_ready_cb);
-
-  // Create entities collector
-  entities_collector_ = std::make_shared<EventsExecutorEntitiesCollector>(this);
-  entities_collector_->init();
-
-  // Setup the executor notifier to wake up the executor when some guard conditions are tiggered.
-  // The added guard conditions are guaranteed to not go out of scope before the executor itself.
-  executor_notifier_ = std::make_shared<EventsExecutorNotifyWaitable>();
-  executor_notifier_->add_guard_condition(shutdown_guard_condition_.get());
-  executor_notifier_->add_guard_condition(&interrupt_guard_condition_);
-
-  entities_collector_->add_waitable(executor_notifier_);
-}
-
-EventsExecutor::~EventsExecutor()
-{
-  spinning.store(false);
-}
-
-void
-EventsExecutor::spin()
-{
-  if (spinning.exchange(true)) {
-    throw std::runtime_error("spin() called while already spinning");
-  }
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-
-  timers_manager_->start();
-  RCPPUTILS_SCOPE_EXIT(timers_manager_->stop(); );
-
-  while (rclcpp::ok(context_) && spinning.load()) {
-    // Wait until we get an event
-    ExecutorEvent event;
-    bool has_event = events_queue_->dequeue(event);
-    if (has_event) {
-      this->execute_event(event);
-    }
-  }
-}
-
-void
-EventsExecutor::spin_some(std::chrono::nanoseconds max_duration)
-{
-  return this->spin_some_impl(max_duration, false);
-}
-
-void
-EventsExecutor::spin_all(std::chrono::nanoseconds max_duration)
-{
-  if (max_duration <= 0ns) {
-    throw std::invalid_argument("max_duration must be positive");
-  }
-  return this->spin_some_impl(max_duration, true);
-}
-
-void
-EventsExecutor::spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive)
-{
-  if (spinning.exchange(true)) {
-    throw std::runtime_error("spin_some() called while already spinning");
-  }
-
-  RCPPUTILS_SCOPE_EXIT(this->spinning.store(false); );
-
-  auto start = std::chrono::steady_clock::now();
-
-  auto max_duration_not_elapsed = [max_duration, start]() {
-      if (std::chrono::nanoseconds(0) == max_duration) {
-        // told to spin forever if need be
-        return true;
-      } else if (std::chrono::steady_clock::now() - start < max_duration) {
-        // told to spin only for some maximum amount of time
-        return true;
-      }
-      // spun too long
-      return false;
-    };
-
-  // Get the number of events and timers ready at start
-  const size_t ready_events_at_start = events_queue_->size();
-  size_t executed_events = 0;
-  const size_t ready_timers_at_start = timers_manager_->get_number_ready_timers();
-  size_t executed_timers = 0;
-
-  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
-    // Execute first ready event from queue if exists
-    if (exhaustive || (executed_events < ready_events_at_start)) {
-      bool has_event = !events_queue_->empty();
-
-      if (has_event) {
-        ExecutorEvent event;
-        bool ret = events_queue_->dequeue(event, std::chrono::nanoseconds(0));
-        if (ret) {
-          this->execute_event(event);
-          executed_events++;
-          continue;
-        }
-      }
-    }
-
-    // Execute first timer if it is ready
-    if (exhaustive || (executed_timers < ready_timers_at_start)) {
-      bool timer_executed = timers_manager_->execute_head_timer();
-      if (timer_executed) {
-        executed_timers++;
-        continue;
-      }
-    }
-
-    // If there's no more work available, exit
-    break;
-  }
-}
-
-void
-EventsExecutor::spin_once_impl(std::chrono::nanoseconds timeout)
-{
-  // In this context a negative input timeout means no timeout
-  if (timeout < 0ns) {
-    timeout = std::chrono::nanoseconds::max();
-  }
-
-  // Select the smallest between input timeout and timer timeout
-  bool is_timer_timeout = false;
-  auto next_timer_timeout = timers_manager_->get_head_timeout();
-  if (next_timer_timeout < timeout) {
-    timeout = next_timer_timeout;
-    is_timer_timeout = true;
-  }
-
-  ExecutorEvent event;
-  bool has_event = events_queue_->dequeue(event, timeout);
-
-  // If we wake up from the wait with an event, it means that it
-  // arrived before any of the timers expired.
-  if (has_event) {
-    this->execute_event(event);
-  } else if (is_timer_timeout) {
-    timers_manager_->execute_head_timer();
-  }
-}
-
-void
-EventsExecutor::add_node(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
-{
-  // This field is unused because we don't have to wake up the executor when a node is added.
-  (void) notify;
-
-  // Add node to entities collector
-  entities_collector_->add_node(node_ptr);
-}
-
-void
-EventsExecutor::add_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
-{
-  this->add_node(node_ptr->get_node_base_interface(), notify);
-}
-
-void
-EventsExecutor::remove_node(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr, bool notify)
-{
-  // This field is unused because we don't have to wake up the executor when a node is removed.
-  (void)notify;
-
-  // Remove node from entities collector.
-  // This will result in un-setting all the event callbacks from its entities.
-  // After this function returns, this executor will not receive any more events associated
-  // to these entities.
-  entities_collector_->remove_node(node_ptr);
-}
-
-void
-EventsExecutor::remove_node(std::shared_ptr<rclcpp::Node> node_ptr, bool notify)
-{
-  this->remove_node(node_ptr->get_node_base_interface(), notify);
-}
-
-void
-EventsExecutor::execute_event(const ExecutorEvent & event)
-{
-  switch (event.type) {
-    case ExecutorEventType::CLIENT_EVENT:
-      {
-        auto client = entities_collector_->get_client(event.exec_entity_id);
-
-        if (client) {
-          for (size_t i = 0; i < event.num_events; i++) {
-            execute_client(client);
-          }
-        }
-        break;
-      }
-    case ExecutorEventType::SUBSCRIPTION_EVENT:
-      {
-        auto subscription = entities_collector_->get_subscription(event.exec_entity_id);
-
-        if (subscription) {
-          for (size_t i = 0; i < event.num_events; i++) {
-            execute_subscription(subscription);
-          }
-        }
-        break;
-      }
-    case ExecutorEventType::SERVICE_EVENT:
-      {
-        auto service = entities_collector_->get_service(event.exec_entity_id);
-
-        if (service) {
-          for (size_t i = 0; i < event.num_events; i++) {
-            execute_service(service);
-          }
-        }
-        break;
-      }
-    case ExecutorEventType::TIMER_EVENT:
-      {
-        timers_manager_->execute_ready_timer(event.exec_entity_id);
-        break;
-      }
-    case ExecutorEventType::WAITABLE_EVENT:
-      {
-        auto waitable = entities_collector_->get_waitable(event.exec_entity_id);
-
-        if (waitable) {
-          for (size_t i = 0; i < event.num_events; i++) {
-            auto data = waitable->take_data_by_entity_id(event.gen_entity_id);
-            waitable->execute(data);
-          }
-        }
-        break;
-      }
-  }
-}
-
-void
-EventsExecutor::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  bool notify)
-{
-  // This field is unused because we don't have to wake up
-  // the executor when a callback group is added.
-  (void)notify;
-  entities_collector_->add_callback_group(group_ptr, node_ptr);
-}
-
-void
-EventsExecutor::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr, bool notify)
-{
-  // This field is unused because we don't have to wake up
-  // the executor when a callback group is removed.
-  (void)notify;
-  entities_collector_->remove_callback_group(group_ptr);
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-EventsExecutor::get_all_callback_groups()
-{
-  return entities_collector_->get_all_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-EventsExecutor::get_manually_added_callback_groups()
-{
-  return entities_collector_->get_manually_added_callback_groups();
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-EventsExecutor::get_automatically_added_callback_groups_from_nodes()
-{
-  return entities_collector_->get_automatically_added_callback_groups_from_nodes();
-}

rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor_entities_collector.cpp

@@ -1,699 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/experimental/executors/events_executor/events_executor_entities_collector.hpp"
-
-#include <algorithm>
-#include <memory>
-#include <stdexcept>
-#include <string>
-#include <utility>
-#include <vector>
-
-#include "rclcpp/memory_strategy.hpp"
-#include "rclcpp/detail/add_guard_condition_to_rcl_wait_set.hpp"
-#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
-
-using rclcpp::experimental::executors::ExecutorEvent;
-using rclcpp::experimental::executors::ExecutorEventType;
-using rclcpp::experimental::executors::EventsExecutorEntitiesCollector;
-
-EventsExecutorEntitiesCollector::EventsExecutorEntitiesCollector(
-  rclcpp::experimental::executors::EventsExecutor * executor)
-{
-  if (executor == nullptr) {
-    throw std::runtime_error("Received nullptr executor in EventsExecutorEntitiesCollector.");
-  }
-
-  associated_executor_ = executor;
-  timers_manager_ = associated_executor_->timers_manager_;
-}
-
-void
-EventsExecutorEntitiesCollector::init()
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-  // Add the EventsExecutorEntitiesCollector shared_ptr to waitables map
-  weak_waitables_map_.emplace(this, this->shared_from_this());
-}
-
-EventsExecutorEntitiesCollector::~EventsExecutorEntitiesCollector()
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  // Disassociate all callback groups and thus nodes.
-  for (const auto & pair : weak_groups_associated_with_executor_to_nodes_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-      callback_group_removed_impl(group);
-    }
-  }
-  for (const auto & pair : weak_groups_to_nodes_associated_with_executor_) {
-    auto group = pair.first.lock();
-    if (group) {
-      std::atomic_bool & has_executor = group->get_associated_with_executor_atomic();
-      has_executor.store(false);
-      callback_group_removed_impl(group);
-    }
-  }
-  // Disassociate all nodes
-  for (const auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      std::atomic_bool & has_executor = node->get_associated_with_executor_atomic();
-      has_executor.store(false);
-      node_removed_impl(node);
-    }
-  }
-
-  // Unset callback group notify guard condition executor callback
-  for (const auto & pair : weak_groups_to_guard_conditions_) {
-    auto group = pair.first.lock();
-    if (group) {
-      auto & group_gc = pair.second;
-      unset_guard_condition_callback(group_gc);
-    }
-  }
-
-  weak_clients_map_.clear();
-  weak_services_map_.clear();
-  weak_waitables_map_.clear();
-  weak_subscriptions_map_.clear();
-  weak_nodes_to_guard_conditions_.clear();
-  weak_groups_to_guard_conditions_.clear();
-
-  weak_groups_associated_with_executor_to_nodes_.clear();
-  weak_groups_to_nodes_associated_with_executor_.clear();
-  weak_nodes_.clear();
-}
-
-void
-EventsExecutorEntitiesCollector::execute(std::shared_ptr<void> & data)
-{
-  // This function is called when the associated executor is notified that something changed.
-  // We do not know if an entity has been added or removed so we have to rebuild everything.
-  (void)data;
-
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-  timers_manager_->clear();
-
-  // If a registered node has a new callback group, register the group.
-  add_callback_groups_from_nodes_associated_to_executor();
-
-  // For all groups registered in the executor, set their event callbacks.
-  set_entities_event_callbacks_from_map(weak_groups_associated_with_executor_to_nodes_);
-  set_entities_event_callbacks_from_map(weak_groups_to_nodes_associated_with_executor_);
-}
-
-std::shared_ptr<void>
-EventsExecutorEntitiesCollector::take_data()
-{
-  return nullptr;
-}
-
-std::shared_ptr<void>
-EventsExecutorEntitiesCollector::take_data_by_entity_id(size_t id)
-{
-  (void)id;
-  return nullptr;
-}
-
-void
-EventsExecutorEntitiesCollector::add_to_wait_set(rcl_wait_set_t * wait_set)
-{
-  (void)wait_set;
-}
-
-bool
-EventsExecutorEntitiesCollector::is_ready(rcl_wait_set_t * p_wait_set)
-{
-  (void)p_wait_set;
-  return false;
-}
-
-bool
-EventsExecutorEntitiesCollector::add_node(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  bool is_new_node = false;
-  // If the node already has an executor
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Node has already been added to an executor.");
-  }
-  node_ptr->for_each_callback_group(
-    [this, node_ptr, &is_new_node](rclcpp::CallbackGroup::SharedPtr group_ptr)
-    {
-      if (
-        !group_ptr->get_associated_with_executor_atomic().load() &&
-        group_ptr->automatically_add_to_executor_with_node())
-      {
-        is_new_node = (add_callback_group(
-          group_ptr,
-          node_ptr,
-          weak_groups_to_nodes_associated_with_executor_) ||
-        is_new_node);
-      }
-    });
-  weak_nodes_.push_back(node_ptr);
-  return is_new_node;
-}
-
-bool
-EventsExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  // If the callback_group already has an executor
-  std::atomic_bool & has_executor = group_ptr->get_associated_with_executor_atomic();
-  if (has_executor.exchange(true)) {
-    throw std::runtime_error("Callback group has already been added to an executor.");
-  }
-  bool is_new_node = !has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_);
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto insert_info = weak_groups_to_nodes.insert(
-    std::make_pair(weak_group_ptr, node_ptr));
-  bool was_inserted = insert_info.second;
-  if (!was_inserted) {
-    throw std::runtime_error("Callback group was already added to executor.");
-  }
-
-  if (is_new_node) {
-    node_added_impl(node_ptr);
-  }
-
-  if (node_ptr->get_context()->is_valid()) {
-    auto callback_group_guard_condition =
-      group_ptr->get_notify_guard_condition(node_ptr->get_context());
-
-    rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-    weak_groups_to_guard_conditions_[weak_group_ptr] = callback_group_guard_condition.get();
-  }
-
-  callback_group_added_impl(group_ptr);
-
-  return is_new_node;
-}
-
-bool
-EventsExecutorEntitiesCollector::add_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  return add_callback_group(group_ptr, node_ptr, weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-EventsExecutorEntitiesCollector::remove_callback_group(
-  rclcpp::CallbackGroup::SharedPtr group_ptr)
-{
-  return this->remove_callback_group_from_map(
-    group_ptr,
-    weak_groups_associated_with_executor_to_nodes_);
-}
-
-bool
-EventsExecutorEntitiesCollector::remove_callback_group_from_map(
-  rclcpp::CallbackGroup::SharedPtr group_ptr,
-  rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr;
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group_ptr;
-  auto iter = weak_groups_to_nodes.find(weak_group_ptr);
-  if (iter != weak_groups_to_nodes.end()) {
-    node_ptr = iter->second.lock();
-    if (node_ptr == nullptr) {
-      throw std::runtime_error("Node must not be deleted before its callback group(s).");
-    }
-    weak_groups_to_nodes.erase(iter);
-    callback_group_removed_impl(group_ptr);
-  } else {
-    throw std::runtime_error("Callback group needs to be associated with executor.");
-  }
-  // If the node was matched and removed, interrupt waiting.
-  bool node_removed = false;
-  if (!has_node(node_ptr, weak_groups_associated_with_executor_to_nodes_) &&
-    !has_node(node_ptr, weak_groups_to_nodes_associated_with_executor_))
-  {
-    node_removed_impl(node_ptr);
-    node_removed = true;
-  }
-
-  weak_groups_to_guard_conditions_.erase(weak_group_ptr);
-
-  return node_removed;
-}
-
-bool
-EventsExecutorEntitiesCollector::remove_node(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr)
-{
-  if (!node_ptr->get_associated_with_executor_atomic().load()) {
-    return false;
-  }
-  bool node_found = false;
-  auto node_it = weak_nodes_.begin();
-  while (node_it != weak_nodes_.end()) {
-    bool matched = (node_it->lock() == node_ptr);
-    if (matched) {
-      weak_nodes_.erase(node_it);
-      node_found = true;
-      break;
-    }
-    ++node_it;
-  }
-  if (!node_found) {
-    return false;
-  }
-  std::vector<rclcpp::CallbackGroup::SharedPtr> found_group_ptrs;
-  std::for_each(
-    weak_groups_to_nodes_associated_with_executor_.begin(),
-    weak_groups_to_nodes_associated_with_executor_.end(),
-    [&found_group_ptrs, node_ptr](std::pair<rclcpp::CallbackGroup::WeakPtr,
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> key_value_pair) {
-      auto & weak_node_ptr = key_value_pair.second;
-      auto shared_node_ptr = weak_node_ptr.lock();
-      auto group_ptr = key_value_pair.first.lock();
-      if (shared_node_ptr == node_ptr) {
-        found_group_ptrs.push_back(group_ptr);
-      }
-    });
-  std::for_each(
-    found_group_ptrs.begin(), found_group_ptrs.end(), [this]
-      (rclcpp::CallbackGroup::SharedPtr group_ptr) {
-      this->remove_callback_group_from_map(
-        group_ptr,
-        weak_groups_to_nodes_associated_with_executor_);
-    });
-  std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
-  has_executor.store(false);
-  return true;
-}
-
-// Returns true iff the weak_groups_to_nodes map has node_ptr as the value in any of its entry.
-bool
-EventsExecutorEntitiesCollector::has_node(
-  const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
-  const rclcpp::memory_strategy::MemoryStrategy::WeakCallbackGroupsToNodesMap &
-  weak_groups_to_nodes) const
-{
-  return std::find_if(
-    weak_groups_to_nodes.begin(),
-    weak_groups_to_nodes.end(),
-    [&](const WeakCallbackGroupsToNodesMap::value_type & other) -> bool {
-      auto other_ptr = other.second.lock();
-      return other_ptr == node_ptr;
-    }) != weak_groups_to_nodes.end();
-}
-
-void
-EventsExecutorEntitiesCollector::add_callback_groups_from_nodes_associated_to_executor()
-{
-  for (const auto & weak_node : weak_nodes_) {
-    auto node = weak_node.lock();
-    if (node) {
-      node->for_each_callback_group(
-        [this, node](rclcpp::CallbackGroup::SharedPtr shared_group_ptr)
-        {
-          if (shared_group_ptr->automatically_add_to_executor_with_node() &&
-          !shared_group_ptr->get_associated_with_executor_atomic().load())
-          {
-            add_callback_group(
-              shared_group_ptr,
-              node,
-              weak_groups_to_nodes_associated_with_executor_);
-          }
-        });
-    }
-  }
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-EventsExecutorEntitiesCollector::get_all_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-EventsExecutorEntitiesCollector::get_manually_added_callback_groups()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_associated_with_executor_to_nodes_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-std::vector<rclcpp::CallbackGroup::WeakPtr>
-EventsExecutorEntitiesCollector::get_automatically_added_callback_groups_from_nodes()
-{
-  std::vector<rclcpp::CallbackGroup::WeakPtr> groups;
-  for (const auto & group_node_ptr : weak_groups_to_nodes_associated_with_executor_) {
-    groups.push_back(group_node_ptr.first);
-  }
-  return groups;
-}
-
-void
-EventsExecutorEntitiesCollector::callback_group_added_impl(
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  rclcpp::CallbackGroup::WeakPtr weak_group_ptr = group;
-
-  auto iter = weak_groups_to_guard_conditions_.find(weak_group_ptr);
-  if (iter != weak_groups_to_guard_conditions_.end()) {
-    // Set an event callback for the group's notify guard condition, so if new entities are added
-    // or removed to this node we will receive an event.
-    set_guard_condition_callback(iter->second);
-  }
-  // For all entities in the callback group, set their event callback
-  set_callback_group_entities_callbacks(group);
-}
-
-void
-EventsExecutorEntitiesCollector::node_added_impl(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  auto notify_guard_condition = &(node->get_notify_guard_condition());
-  // Set an event callback for the node's notify guard condition, so if new entities are added
-  // or removed to this node we will receive an event.
-  set_guard_condition_callback(notify_guard_condition);
-
-  // Store node's notify guard condition
-  weak_nodes_to_guard_conditions_[node] = notify_guard_condition;
-}
-
-void
-EventsExecutorEntitiesCollector::callback_group_removed_impl(
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-  // For all the entities in the group, unset their callbacks
-  unset_callback_group_entities_callbacks(group);
-}
-
-void
-EventsExecutorEntitiesCollector::node_removed_impl(
-  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-  // Node doesn't have more callback groups associated to the executor.
-  // Unset the event callback for the node's notify guard condition, to stop
-  // receiving events if entities are added or removed to this node.
-  unset_guard_condition_callback(&(node->get_notify_guard_condition()));
-
-  // Remove guard condition from list
-  rclcpp::node_interfaces::NodeBaseInterface::WeakPtr weak_node_ptr(node);
-  weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
-}
-
-void
-EventsExecutorEntitiesCollector::set_entities_event_callbacks_from_map(
-  const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes)
-{
-  for (const auto & pair : weak_groups_to_nodes) {
-    auto group = pair.first.lock();
-    auto node = pair.second.lock();
-    if (!node || !group || !group->can_be_taken_from().load()) {
-      continue;
-    }
-    set_callback_group_entities_callbacks(group);
-  }
-}
-
-void
-EventsExecutorEntitiesCollector::set_callback_group_entities_callbacks(
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  // Timers are handled by the timers manager
-  group->find_timer_ptrs_if(
-    [this](const rclcpp::TimerBase::SharedPtr & timer) {
-      if (timer) {
-        timers_manager_->add_timer(timer);
-      }
-      return false;
-    });
-
-  // Set callbacks for all other entity types
-  group->find_subscription_ptrs_if(
-    [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-      if (subscription) {
-        weak_subscriptions_map_.emplace(subscription.get(), subscription);
-
-        subscription->set_on_new_message_callback(
-          create_entity_callback(subscription.get(), ExecutorEventType::SUBSCRIPTION_EVENT));
-      }
-      return false;
-    });
-  group->find_service_ptrs_if(
-    [this](const rclcpp::ServiceBase::SharedPtr & service) {
-      if (service) {
-        weak_services_map_.emplace(service.get(), service);
-
-        service->set_on_new_request_callback(
-          create_entity_callback(service.get(), ExecutorEventType::SERVICE_EVENT));
-      }
-      return false;
-    });
-  group->find_client_ptrs_if(
-    [this](const rclcpp::ClientBase::SharedPtr & client) {
-      if (client) {
-        weak_clients_map_.emplace(client.get(), client);
-
-        client->set_on_new_response_callback(
-          create_entity_callback(client.get(), ExecutorEventType::CLIENT_EVENT));
-      }
-      return false;
-    });
-  group->find_waitable_ptrs_if(
-    [this](const rclcpp::Waitable::SharedPtr & waitable) {
-      if (waitable) {
-        weak_waitables_map_.emplace(waitable.get(), waitable);
-
-        waitable->set_on_ready_callback(
-          create_waitable_callback(waitable.get()));
-      }
-      return false;
-    });
-}
-
-void
-EventsExecutorEntitiesCollector::unset_callback_group_entities_callbacks(
-  rclcpp::CallbackGroup::SharedPtr group)
-{
-  auto iter = weak_groups_to_guard_conditions_.find(group);
-
-  if (iter != weak_groups_to_guard_conditions_.end()) {
-    unset_guard_condition_callback(iter->second);
-  }
-
-  // Timers are handled by the timers manager
-  group->find_timer_ptrs_if(
-    [this](const rclcpp::TimerBase::SharedPtr & timer) {
-      if (timer) {
-        timers_manager_->remove_timer(timer);
-      }
-      return false;
-    });
-
-  // Unset callbacks for all other entity types
-  group->find_subscription_ptrs_if(
-    [this](const rclcpp::SubscriptionBase::SharedPtr & subscription) {
-      if (subscription) {
-        subscription->clear_on_new_message_callback();
-        weak_subscriptions_map_.erase(subscription.get());
-      }
-      return false;
-    });
-  group->find_service_ptrs_if(
-    [this](const rclcpp::ServiceBase::SharedPtr & service) {
-      if (service) {
-        service->clear_on_new_request_callback();
-        weak_services_map_.erase(service.get());
-      }
-      return false;
-    });
-  group->find_client_ptrs_if(
-    [this](const rclcpp::ClientBase::SharedPtr & client) {
-      if (client) {
-        client->clear_on_new_response_callback();
-        weak_clients_map_.erase(client.get());
-      }
-      return false;
-    });
-  group->find_waitable_ptrs_if(
-    [this](const rclcpp::Waitable::SharedPtr & waitable) {
-      if (waitable) {
-        waitable->clear_on_ready_callback();
-        weak_waitables_map_.erase(waitable.get());
-      }
-      return false;
-    });
-}
-
-void
-EventsExecutorEntitiesCollector::set_guard_condition_callback(
-  rclcpp::GuardCondition * guard_condition)
-{
-  auto gc_callback = [this](size_t num_events) {
-      // Override num events (we don't care more than a single event)
-      num_events = 1;
-      int gc_id = -1;
-      ExecutorEvent event = {this, gc_id, ExecutorEventType::WAITABLE_EVENT, num_events};
-      associated_executor_->events_queue_->enqueue(event);
-    };
-
-  guard_condition->set_on_trigger_callback(gc_callback);
-}
-
-void
-EventsExecutorEntitiesCollector::unset_guard_condition_callback(
-  rclcpp::GuardCondition * guard_condition)
-{
-  guard_condition->set_on_trigger_callback(nullptr);
-}
-
-rclcpp::SubscriptionBase::SharedPtr
-EventsExecutorEntitiesCollector::get_subscription(const void * subscription_id)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  auto it = weak_subscriptions_map_.find(subscription_id);
-
-  if (it != weak_subscriptions_map_.end()) {
-    auto subscription_weak_ptr = it->second;
-    auto subscription_shared_ptr = subscription_weak_ptr.lock();
-
-    if (subscription_shared_ptr) {
-      return subscription_shared_ptr;
-    }
-
-    // The subscription expired, remove from map
-    weak_subscriptions_map_.erase(it);
-  }
-  return nullptr;
-}
-
-rclcpp::ClientBase::SharedPtr
-EventsExecutorEntitiesCollector::get_client(const void * client_id)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  auto it = weak_clients_map_.find(client_id);
-
-  if (it != weak_clients_map_.end()) {
-    auto client_weak_ptr = it->second;
-    auto client_shared_ptr = client_weak_ptr.lock();
-
-    if (client_shared_ptr) {
-      return client_shared_ptr;
-    }
-
-    // The client expired, remove from map
-    weak_clients_map_.erase(it);
-  }
-  return nullptr;
-}
-
-rclcpp::ServiceBase::SharedPtr
-EventsExecutorEntitiesCollector::get_service(const void * service_id)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  auto it = weak_services_map_.find(service_id);
-
-  if (it != weak_services_map_.end()) {
-    auto service_weak_ptr = it->second;
-    auto service_shared_ptr = service_weak_ptr.lock();
-
-    if (service_shared_ptr) {
-      return service_shared_ptr;
-    }
-
-    // The service expired, remove from map
-    weak_services_map_.erase(it);
-  }
-  return nullptr;
-}
-
-rclcpp::Waitable::SharedPtr
-EventsExecutorEntitiesCollector::get_waitable(const void * waitable_id)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  auto it = weak_waitables_map_.find(waitable_id);
-
-  if (it != weak_waitables_map_.end()) {
-    auto waitable_weak_ptr = it->second;
-    auto waitable_shared_ptr = waitable_weak_ptr.lock();
-
-    if (waitable_shared_ptr) {
-      return waitable_shared_ptr;
-    }
-
-    // The waitable expired, remove from map
-    weak_waitables_map_.erase(it);
-  }
-  return nullptr;
-}
-
-void
-EventsExecutorEntitiesCollector::add_waitable(rclcpp::Waitable::SharedPtr waitable)
-{
-  std::lock_guard<std::recursive_mutex> lock(reentrant_mutex_);
-
-  weak_waitables_map_.emplace(waitable.get(), waitable);
-
-  waitable->set_on_ready_callback(
-    create_waitable_callback(waitable.get()));
-}
-
-std::function<void(size_t)>
-EventsExecutorEntitiesCollector::create_entity_callback(
-  void * exec_entity_id, ExecutorEventType event_type)
-{
-  std::function<void(size_t)>
-  callback = [this, exec_entity_id, event_type](size_t num_events) {
-      ExecutorEvent event = {exec_entity_id, -1, event_type, num_events};
-      associated_executor_->events_queue_->enqueue(event);
-    };
-  return callback;
-}
-
-std::function<void(size_t, int)>
-EventsExecutorEntitiesCollector::create_waitable_callback(void * exec_entity_id)
-{
-  std::function<void(size_t, int)>
-  callback = [this, exec_entity_id](size_t num_events, int gen_entity_id) {
-      ExecutorEvent event =
-      {exec_entity_id, gen_entity_id, ExecutorEventType::WAITABLE_EVENT, num_events};
-      associated_executor_->events_queue_->enqueue(event);
-    };
-  return callback;
-}

rclcpp/src/rclcpp/experimental/timers_manager.cpp

@@ -1,311 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include "rclcpp/experimental/timers_manager.hpp"
-
-#include <inttypes.h>
-
-#include <ctime>
-#include <iostream>
-#include <memory>
-#include <stdexcept>
-
-using rclcpp::experimental::TimersManager;
-
-TimersManager::TimersManager(
-  std::shared_ptr<rclcpp::Context> context,
-  std::function<void(void *)> on_ready_callback)
-{
-  context_ = context;
-  on_ready_callback_ = on_ready_callback;
-}
-
-TimersManager::~TimersManager()
-{
-  // Remove all timers
-  this->clear();
-
-  // Make sure timers thread is stopped before destroying this object
-  this->stop();
-}
-
-void TimersManager::add_timer(rclcpp::TimerBase::SharedPtr timer)
-{
-  if (!timer) {
-    throw std::invalid_argument("TimersManager::add_timer() trying to add nullptr timer");
-  }
-
-  bool added = false;
-  {
-    std::unique_lock<std::mutex> lock(timers_mutex_);
-    added = weak_timers_heap_.add_timer(timer);
-    timers_updated_ = timers_updated_ || added;
-  }
-
-  timer->set_on_reset_callback(
-    [this](size_t arg) {
-      {
-        (void)arg;
-        std::unique_lock<std::mutex> lock(timers_mutex_);
-        timers_updated_ = true;
-      }
-      timers_cv_.notify_one();
-    });
-
-  if (added) {
-    // Notify that a timer has been added
-    timers_cv_.notify_one();
-  }
-}
-
-void TimersManager::start()
-{
-  // Make sure that the thread is not already running
-  if (running_.exchange(true)) {
-    throw std::runtime_error("TimersManager::start() can't start timers thread as already running");
-  }
-
-  timers_thread_ = std::thread(&TimersManager::run_timers, this);
-}
-
-void TimersManager::stop()
-{
-  // Lock stop() function to prevent race condition in destructor
-  std::unique_lock<std::mutex> lock(stop_mutex_);
-  running_ = false;
-
-  // Notify the timers manager thread to wake up
-  {
-    std::unique_lock<std::mutex> lock(timers_mutex_);
-    timers_updated_ = true;
-  }
-  timers_cv_.notify_one();
-
-  // Join timers thread if it's running
-  if (timers_thread_.joinable()) {
-    timers_thread_.join();
-  }
-}
-
-std::chrono::nanoseconds TimersManager::get_head_timeout()
-{
-  // Do not allow to interfere with the thread running
-  if (running_) {
-    throw std::runtime_error(
-            "get_head_timeout() can't be used while timers thread is running");
-  }
-
-  std::unique_lock<std::mutex> lock(timers_mutex_);
-  return this->get_head_timeout_unsafe();
-}
-
-size_t TimersManager::get_number_ready_timers()
-{
-  // Do not allow to interfere with the thread running
-  if (running_) {
-    throw std::runtime_error(
-            "get_number_ready_timers() can't be used while timers thread is running");
-  }
-
-  std::unique_lock<std::mutex> lock(timers_mutex_);
-  TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-  return locked_heap.get_number_ready_timers();
-}
-
-void TimersManager::execute_ready_timers()
-{
-  // Do not allow to interfere with the thread running
-  if (running_) {
-    throw std::runtime_error(
-            "execute_ready_timers() can't be used while timers thread is running");
-  }
-
-  std::unique_lock<std::mutex> lock(timers_mutex_);
-  this->execute_ready_timers_unsafe();
-}
-
-bool TimersManager::execute_head_timer()
-{
-  // Do not allow to interfere with the thread running
-  if (running_) {
-    throw std::runtime_error(
-            "execute_head_timer() can't be used while timers thread is running");
-  }
-
-  std::unique_lock<std::mutex> lock(timers_mutex_);
-
-  TimersHeap timers_heap = weak_timers_heap_.validate_and_lock();
-
-  // Nothing to do if we don't have any timer
-  if (timers_heap.empty()) {
-    return false;
-  }
-
-  TimerPtr head_timer = timers_heap.front();
-
-  const bool timer_ready = head_timer->is_ready();
-  if (timer_ready) {
-    head_timer->call();
-    if (on_ready_callback_) {
-      on_ready_callback_(head_timer.get());
-    } else {
-      head_timer->execute_callback();
-    }
-    timers_heap.heapify_root();
-    weak_timers_heap_.store(timers_heap);
-  }
-
-  return timer_ready;
-}
-
-void TimersManager::execute_ready_timer(const void * timer_id)
-{
-  TimerPtr ready_timer;
-  {
-    std::unique_lock<std::mutex> lock(timers_mutex_);
-    ready_timer = weak_timers_heap_.get_timer(timer_id);
-  }
-  if (ready_timer) {
-    ready_timer->execute_callback();
-  }
-}
-
-std::chrono::nanoseconds TimersManager::get_head_timeout_unsafe()
-{
-  // If we don't have any weak pointer, then we just return maximum timeout
-  if (weak_timers_heap_.empty()) {
-    return std::chrono::nanoseconds::max();
-  }
-  // Weak heap is not empty, so try to lock the first element.
-  // If it is still a valid pointer, it is guaranteed to be the correct head
-  TimerPtr head_timer = weak_timers_heap_.front().lock();
-
-  if (!head_timer) {
-    // The first element has expired, we can't make other assumptions on the heap
-    // and we need to entirely validate it.
-    TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-    // NOTE: the following operations will not modify any element in the heap, so we
-    // don't have to call `weak_timers_heap_.store(locked_heap)` at the end.
-
-    if (locked_heap.empty()) {
-      return std::chrono::nanoseconds::max();
-    }
-    head_timer = locked_heap.front();
-  }
-
-  return head_timer->time_until_trigger();
-}
-
-void TimersManager::execute_ready_timers_unsafe()
-{
-  // We start by locking the timers
-  TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-
-  // Nothing to do if we don't have any timer
-  if (locked_heap.empty()) {
-    return;
-  }
-
-  // Keep executing timers until they are ready and they were already ready when we started.
-  // The two checks prevent this function from blocking indefinitely if the
-  // time required for executing the timers is longer than their period.
-
-  TimerPtr head_timer = locked_heap.front();
-  const size_t number_ready_timers = locked_heap.get_number_ready_timers();
-  size_t executed_timers = 0;
-  while (executed_timers < number_ready_timers && head_timer->is_ready()) {
-    head_timer->call();
-    if (on_ready_callback_) {
-      on_ready_callback_(head_timer.get());
-    } else {
-      head_timer->execute_callback();
-    }
-
-    executed_timers++;
-    // Executing a timer will result in updating its time_until_trigger, so re-heapify
-    locked_heap.heapify_root();
-    // Get new head timer
-    head_timer = locked_heap.front();
-  }
-
-  // After having performed work on the locked heap we reflect the changes to weak one.
-  // Timers will be already sorted the next time we need them if none went out of scope.
-  weak_timers_heap_.store(locked_heap);
-}
-
-void TimersManager::run_timers()
-{
-  while (rclcpp::ok(context_) && running_) {
-    // Lock mutex
-    std::unique_lock<std::mutex> lock(timers_mutex_);
-
-    std::chrono::nanoseconds time_to_sleep = get_head_timeout_unsafe();
-
-    // No need to wait if a timer is already available
-    if (time_to_sleep > std::chrono::nanoseconds::zero()) {
-      if (time_to_sleep != std::chrono::nanoseconds::max()) {
-        // Wait until timeout or notification that timers have been updated
-        timers_cv_.wait_for(lock, time_to_sleep, [this]() {return timers_updated_;});
-      } else {
-        // Wait until notification that timers have been updated
-        timers_cv_.wait(lock, [this]() {return timers_updated_;});
-      }
-    }
-
-    // Reset timers updated flag
-    timers_updated_ = false;
-
-    // Execute timers
-    this->execute_ready_timers_unsafe();
-  }
-
-  // Make sure the running flag is set to false when we exit from this function
-  // to allow restarting the timers thread.
-  running_ = false;
-}
-
-void TimersManager::clear()
-{
-  {
-    // Lock mutex and then clear all data structures
-    std::unique_lock<std::mutex> lock(timers_mutex_);
-
-    TimersHeap locked_heap = weak_timers_heap_.validate_and_lock();
-    locked_heap.clear_callbacks();
-
-    weak_timers_heap_.clear();
-
-    timers_updated_ = true;
-  }
-
-  // Notify timers thread such that it can re-compute its timeout
-  timers_cv_.notify_one();
-}
-
-void TimersManager::remove_timer(TimerPtr timer)
-{
-  bool removed = false;
-  {
-    std::unique_lock<std::mutex> lock(timers_mutex_);
-    removed = weak_timers_heap_.remove_timer(timer);
-
-    timers_updated_ = timers_updated_ || removed;
-  }
-
-  if (removed) {
-    // Notify timers thread such that it can re-compute its timeout
-    timers_cv_.notify_one();
-    timer->clear_on_reset_callback();
-  }
-}

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -43,8 +43,7 @@ void GenericSubscription::handle_message(
           "handle_message is not implemented for GenericSubscription");
 }
 
-void
-GenericSubscription::handle_serialized_message(
+void GenericSubscription::handle_serialized_message(
   const std::shared_ptr<rclcpp::SerializedMessage> & message,
   const rclcpp::MessageInfo &)
 {
@@ -72,4 +71,55 @@ void GenericSubscription::return_serialized_message(
   message.reset();
 }
 
+
+// DYNAMIC TYPE ====================================================================================
+// TODO(methylDragon): Reorder later
+rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr
+GenericSubscription::get_shared_dynamic_message_type()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "get_shared_dynamic_message_type is not implemented for GenericSubscription");
+}
+
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+GenericSubscription::get_shared_dynamic_message()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "get_shared_dynamic_message is not implemented for GenericSubscription");
+}
+
+rclcpp::dynamic_typesupport::DynamicSerializationSupport::SharedPtr
+GenericSubscription::get_shared_dynamic_serialization_support()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "get_shared_dynamic_serialization_support is not implemented for GenericSubscription");
+}
+
+rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr
+GenericSubscription::create_dynamic_message()
+{
+  throw rclcpp::exceptions::UnimplementedError(
+          "create_dynamic_message is not implemented for GenericSubscription");
+}
+
+void
+GenericSubscription::return_dynamic_message(
+  rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message)
+{
+  (void) message;
+  throw rclcpp::exceptions::UnimplementedError(
+          "return_dynamic_message is not implemented for GenericSubscription");
+}
+
+void
+GenericSubscription::handle_dynamic_message(
+  const rclcpp::dynamic_typesupport::DynamicMessage::SharedPtr & message,
+  const rclcpp::MessageInfo & message_info)
+{
+  (void) message;
+  (void) message_info;
+  throw rclcpp::exceptions::UnimplementedError(
+          "handle_dynamic_message is not implemented for GenericSubscription");
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/logger.cpp

@@ -125,4 +125,18 @@ Logger::set_level(Level level)
   }
 }
 
+Logger::Level
+Logger::get_effective_level() const
+{
+  int logger_level = rcutils_logging_get_logger_effective_level(get_name());
+
+  if (logger_level < 0) {
+    exceptions::throw_from_rcl_error(
+      RCL_RET_ERROR, "Couldn't get logger level",
+      rcutils_get_error_state(), rcutils_reset_error);
+  }
+
+  return static_cast<Level>(logger_level);
+}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -651,7 +651,7 @@ NodeParameters::undeclare_parameter(const std::string & name)
   }
   if (!parameter_info->second.descriptor.dynamic_typing) {
     throw rclcpp::exceptions::InvalidParameterTypeException{
-            name, "cannot undeclare an statically typed parameter"};
+            name, "cannot undeclare a statically typed parameter"};
   }
 
   parameters_.erase(parameter_info);
@@ -824,7 +824,7 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       auto it = parameters_.find(parameter.get_name());
       if (it != parameters_.end() && rclcpp::PARAMETER_NOT_SET != it->second.value.get_type()) {
         if (!it->second.descriptor.dynamic_typing) {
-          result.reason = "cannot undeclare an statically typed parameter";
+          result.reason = "cannot undeclare a statically typed parameter";
           result.successful = false;
           return result;
         }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -22,6 +22,7 @@
 
 #include "rcpputils/scope_exit.hpp"
 
+#include "rclcpp/dynamic_typesupport/dynamic_message.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
 #include "rclcpp/experimental/intra_process_manager.hpp"
@@ -32,6 +33,8 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
+#include "rosidl_dynamic_typesupport/types.h"
+
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
@@ -41,7 +44,7 @@ SubscriptionBase::SubscriptionBase(
   const rcl_subscription_options_t & subscription_options,
   const SubscriptionEventCallbacks & event_callbacks,
   bool use_default_callbacks,
-  bool is_serialized)
+  SubscriptionType subscription_type)
 : node_base_(node_base),
   node_handle_(node_base_->get_shared_rcl_node_handle()),
   node_logger_(rclcpp::get_node_logger(node_handle_.get())),
@@ -49,8 +52,16 @@ SubscriptionBase::SubscriptionBase(
   intra_process_subscription_id_(0),
   event_callbacks_(event_callbacks),
   type_support_(type_support_handle),
-  is_serialized_(is_serialized)
+  subscription_type_(subscription_type)
 {
+  if (!rmw_feature_supported(RMW_MIDDLEWARE_CAN_TAKE_DYNAMIC_MESSAGE) &&
+    subscription_type == rclcpp::SubscriptionType::DYNAMIC_MESSAGE_DIRECT)
+  {
+    throw std::runtime_error(
+            "Cannot set subscription to take dynamic message directly, feature not supported in rmw"
+    );
+  }
+
   auto custom_deletor = [node_handle = this->node_handle_](rcl_subscription_t * rcl_subs)
     {
       if (rcl_subscription_fini(rcl_subs, node_handle.get()) != RCL_RET_OK) {
@@ -255,10 +266,10 @@ SubscriptionBase::get_message_type_support_handle() const
   return type_support_;
 }
 
-bool
-SubscriptionBase::is_serialized() const
+rclcpp::SubscriptionType
+SubscriptionBase::get_subscription_type() const
 {
-  return is_serialized_;
+  return subscription_type_;
 }
 
 size_t
@@ -442,8 +453,7 @@ SubscriptionBase::set_content_filter(
   rcl_subscription_content_filter_options_t options =
     rcl_get_zero_initialized_subscription_content_filter_options();
 
-  std::vector<const char *> cstrings =
-    get_c_vector_string(expression_parameters);
+  std::vector<const char *> cstrings = get_c_vector_string(expression_parameters);
   rcl_ret_t ret = rcl_subscription_content_filter_options_init(
     subscription_handle_.get(),
     get_c_string(filter_expression),
@@ -515,3 +525,24 @@ SubscriptionBase::get_content_filter() const
 
   return ret_options;
 }
+
+
+// DYNAMIC TYPE ==================================================================================
+// TODO(methylDragon): Reorder later
+bool
+SubscriptionBase::take_dynamic_message(
+  rclcpp::dynamic_typesupport::DynamicMessage & message_out,
+  rclcpp::MessageInfo & message_info_out)
+{
+  rcl_ret_t ret = rcl_take_dynamic_message(
+    this->get_subscription_handle().get(),
+    &message_out.get_rosidl_dynamic_data(),
+    &message_info_out.get_rmw_message_info(),
+    nullptr);
+  if (RCL_RET_SUBSCRIPTION_TAKE_FAILED == ret) {
+    return false;
+  } else if (RCL_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret);
+  }
+  return true;
+}

rclcpp/test/rclcpp/CMakeLists.txt

@@ -618,14 +618,6 @@ if(TARGET test_timer)
   target_link_libraries(test_timer ${PROJECT_NAME} mimick)
 endif()
 
-ament_add_gtest(test_timers_manager test_timers_manager.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_timers_manager)
-  ament_target_dependencies(test_timers_manager
-    "rcl")
-  target_link_libraries(test_timers_manager ${PROJECT_NAME} mimick)
-endif()
-
 ament_add_gtest(test_time_source test_time_source.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_time_source)
@@ -696,22 +688,6 @@ if(TARGET test_static_executor_entities_collector)
   target_link_libraries(test_static_executor_entities_collector ${PROJECT_NAME} mimick)
 endif()
 
-ament_add_gtest(test_events_executor executors/test_events_executor.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_events_executor)
-  ament_target_dependencies(test_events_executor
-    "test_msgs")
-  target_link_libraries(test_events_executor ${PROJECT_NAME})
-endif()
-
-ament_add_gtest(test_events_queue executors/test_events_queue.cpp
-  APPEND_LIBRARY_DIRS "${append_library_dirs}")
-if(TARGET test_events_queue)
-  ament_target_dependencies(test_events_queue
-    "test_msgs")
-  target_link_libraries(test_events_queue ${PROJECT_NAME})
-endif()
-
 ament_add_gtest(test_guard_condition test_guard_condition.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_guard_condition)

rclcpp/test/rclcpp/executors/test_events_executor.cpp

@@ -1,499 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <chrono>
-#include <memory>
-#include <string>
-
-#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
-
-#include "test_msgs/srv/empty.hpp"
-#include "test_msgs/msg/empty.hpp"
-
-using namespace std::chrono_literals;
-
-using rclcpp::experimental::executors::EventsExecutor;
-
-class TestEventsExecutor : public ::testing::Test
-{
-public:
-  void SetUp()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  void TearDown()
-  {
-    rclcpp::shutdown();
-  }
-};
-
-TEST_F(TestEventsExecutor, run_clients_servers)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-
-  bool request_received = false;
-  bool response_received = false;
-  auto service =
-    node->create_service<test_msgs::srv::Empty>(
-    "service",
-    [&request_received](
-      const test_msgs::srv::Empty::Request::SharedPtr,
-      test_msgs::srv::Empty::Response::SharedPtr)
-    {
-      request_received = true;
-    });
-  auto client = node->create_client<test_msgs::srv::Empty>("service");
-
-  EventsExecutor executor;
-  executor.add_node(node);
-
-  bool spin_exited = false;
-  std::thread spinner([&spin_exited, &executor, this]() {
-      executor.spin();
-      spin_exited = true;
-    });
-
-  auto request = std::make_shared<test_msgs::srv::Empty::Request>();
-  client->async_send_request(
-    request,
-    [&response_received](rclcpp::Client<test_msgs::srv::Empty>::SharedFuture result_future) {
-      (void)result_future;
-      response_received = true;
-    });
-
-  // Wait some time for the client-server to be invoked
-  auto start = std::chrono::steady_clock::now();
-  while (
-    !response_received &&
-    !spin_exited &&
-    (std::chrono::steady_clock::now() - start < 1s))
-  {
-    std::this_thread::sleep_for(5ms);
-  }
-
-  executor.cancel();
-  spinner.join();
-  executor.remove_node(node);
-
-  EXPECT_TRUE(request_received);
-  EXPECT_TRUE(response_received);
-  EXPECT_TRUE(spin_exited);
-}
-
-TEST_F(TestEventsExecutor, spin_once_max_duration_timeout)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-
-  EventsExecutor executor;
-  executor.add_node(node);
-
-  // Consume previous events so we have a fresh start
-  executor.spin_all(1s);
-
-  size_t t_runs = 0;
-  auto t = node->create_wall_timer(
-    10s,
-    [&]() {
-      t_runs++;
-    });
-
-  // This first spin_once takes care of the waitable event
-  // generated by the addition of the timer to the node
-  executor.spin_once(1s);
-  EXPECT_EQ(0u, t_runs);
-
-  auto start = std::chrono::steady_clock::now();
-
-  // This second spin_once should take care of the timer,
-  executor.spin_once(10ms);
-
-  // but doesn't spin the time enough to call the timer callback.
-  EXPECT_EQ(0u, t_runs);
-  EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
-}
-
-// FIX THIS TEST! The entities collector is being called too many times!
-/*
-TEST_F(TestEventsExecutor, spin_once_max_duration_timer)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-
-  EventsExecutor executor;
-  executor.add_node(node);
-
-  // Consume previous events so we have a fresh start
-  executor.spin_all(1s);
-
-  size_t t_runs = 0;
-  auto t = node->create_wall_timer(
-    10ms,
-    [&]() {
-      t_runs++;
-    });
-
-  // This first spin_once takes care of the waitable event
-  // generated by the addition of the timer to the node
-  executor.spin_once(1s);
-  EXPECT_EQ(0u, t_runs);
-
-  auto start = std::chrono::steady_clock::now();
-
-  // This second spin_once should take care of the timer
-  executor.spin_once(11ms);
-
-  EXPECT_EQ(1u, t_runs);
-  EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
-}
-*/
-
-TEST_F(TestEventsExecutor, spin_some_max_duration)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  {
-    auto node = std::make_shared<rclcpp::Node>("node");
-
-    size_t t_runs = 0;
-    auto t = node->create_wall_timer(
-      10s,
-      [&]() {
-        t_runs++;
-      });
-
-    EventsExecutor executor;
-    executor.add_node(node);
-
-    auto start = std::chrono::steady_clock::now();
-    executor.spin_some(10ms);
-
-    EXPECT_EQ(0u, t_runs);
-    EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
-  }
-
-  {
-    auto node = std::make_shared<rclcpp::Node>("node");
-
-    size_t t_runs = 0;
-    auto t = node->create_wall_timer(
-      10ms,
-      [&]() {
-        t_runs++;
-      });
-
-    // Sleep some time for the timer to be ready when spin
-    std::this_thread::sleep_for(10ms);
-
-    EventsExecutor executor;
-    executor.add_node(node);
-
-    auto start = std::chrono::steady_clock::now();
-    executor.spin_some(10s);
-
-    EXPECT_EQ(1u, t_runs);
-    EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
-  }
-}
-
-TEST_F(TestEventsExecutor, spin_some_zero_duration)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-
-  size_t t_runs = 0;
-  auto t = node->create_wall_timer(
-    20ms,
-    [&]() {
-      t_runs++;
-    });
-
-  // Sleep some time for the timer to be ready when spin
-  std::this_thread::sleep_for(20ms);
-
-  EventsExecutor executor;
-  executor.add_node(node);
-  executor.spin_some(0ms);
-
-  EXPECT_EQ(1u, t_runs);
-}
-
-TEST_F(TestEventsExecutor, spin_all_max_duration)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  {
-    auto node = std::make_shared<rclcpp::Node>("node");
-
-    size_t t_runs = 0;
-    auto t = node->create_wall_timer(
-      10s,
-      [&]() {
-        t_runs++;
-      });
-
-    EventsExecutor executor;
-    executor.add_node(node);
-
-    auto start = std::chrono::steady_clock::now();
-    executor.spin_all(10ms);
-
-    EXPECT_EQ(0u, t_runs);
-    EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
-  }
-
-  {
-    auto node = std::make_shared<rclcpp::Node>("node");
-
-    size_t t_runs = 0;
-    auto t = node->create_wall_timer(
-      10ms,
-      [&]() {
-        t_runs++;
-      });
-
-    // Sleep some time for the timer to be ready when spin
-    std::this_thread::sleep_for(10ms);
-
-    EventsExecutor executor;
-    executor.add_node(node);
-
-    auto start = std::chrono::steady_clock::now();
-    executor.spin_all(10s);
-
-    EXPECT_EQ(1u, t_runs);
-    EXPECT_TRUE(std::chrono::steady_clock::now() - start < 200ms);
-  }
-
-  EventsExecutor executor;
-  EXPECT_THROW(executor.spin_all(0ms), std::invalid_argument);
-  EXPECT_THROW(executor.spin_all(-5ms), std::invalid_argument);
-}
-
-TEST_F(TestEventsExecutor, cancel_while_timers_running)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-
-  EventsExecutor executor;
-  executor.add_node(node);
-
-  // Take care of previous events for a fresh start
-  executor.spin_all(1s);
-
-  size_t t1_runs = 0;
-  auto t1 = node->create_wall_timer(
-    1ms,
-    [&]() {
-      t1_runs++;
-      std::this_thread::sleep_for(50ms);
-    });
-
-  size_t t2_runs = 0;
-  auto t2 = node->create_wall_timer(
-    1ms,
-    [&]() {
-      t2_runs++;
-      std::this_thread::sleep_for(50ms);
-    });
-
-
-  std::thread spinner([&executor, this]() {executor.spin();});
-
-  std::this_thread::sleep_for(10ms);
-  // Call cancel while t1 callback is still being executed
-  executor.cancel();
-  spinner.join();
-
-  // Depending on the latency on the system, t2 may start to execute before cancel is signaled
-  EXPECT_GE(1u, t1_runs);
-  EXPECT_GE(1u, t2_runs);
-}
-
-TEST_F(TestEventsExecutor, cancel_while_timers_waiting)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-
-  size_t t1_runs = 0;
-  auto t1 = node->create_wall_timer(
-    100s,
-    [&]() {
-      t1_runs++;
-    });
-
-  EventsExecutor executor;
-  executor.add_node(node);
-
-  auto start = std::chrono::steady_clock::now();
-  std::thread spinner([&executor, this]() {executor.spin();});
-
-  std::this_thread::sleep_for(10ms);
-  executor.cancel();
-  spinner.join();
-
-  EXPECT_EQ(0u, t1_runs);
-  EXPECT_TRUE(std::chrono::steady_clock::now() - start < 1s);
-}
-
-TEST_F(TestEventsExecutor, destroy_entities)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  // Create a publisher node and start publishing messages
-  auto node_pub = std::make_shared<rclcpp::Node>("node_pub");
-  auto publisher = node_pub->create_publisher<test_msgs::msg::Empty>("topic", rclcpp::QoS(10));
-  auto timer = node_pub->create_wall_timer(
-    2ms, [&]() {publisher->publish(std::make_unique<test_msgs::msg::Empty>());});
-  EventsExecutor executor_pub;
-  executor_pub.add_node(node_pub);
-  std::thread spinner([&executor_pub, this]() {executor_pub.spin();});
-
-  // Create a node with two different subscriptions to the topic
-  auto node_sub = std::make_shared<rclcpp::Node>("node_sub");
-  size_t callback_count_1 = 0;
-  auto subscription_1 =
-    node_sub->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [&](test_msgs::msg::Empty::ConstSharedPtr) {callback_count_1++;});
-  size_t callback_count_2 = 0;
-  auto subscription_2 =
-    node_sub->create_subscription<test_msgs::msg::Empty>(
-    "topic", rclcpp::QoS(10), [&](test_msgs::msg::Empty::ConstSharedPtr) {callback_count_2++;});
-  EventsExecutor executor_sub;
-  executor_sub.add_node(node_sub);
-
-  // Wait some time while messages are published
-  std::this_thread::sleep_for(10ms);
-
-  // Destroy one of the two subscriptions
-  subscription_1.reset();
-
-  // Let subscriptions executor spin
-  executor_sub.spin_some(10ms);
-
-  // The callback count of the destroyed subscription remained at 0
-  EXPECT_EQ(0u, callback_count_1);
-  EXPECT_LT(0u, callback_count_2);
-
-  executor_pub.cancel();
-  spinner.join();
-}
-
-/*
-   Testing construction of a subscriptions with QoS event callback functions.
- */
-std::string * g_pub_log_msg;
-std::string * g_sub_log_msg;
-std::promise<void> * g_log_msgs_promise;
-TEST_F(TestEventsExecutor, test_default_incompatible_qos_callbacks)
-{
-  // rmw_connextdds doesn't support events-executor
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  auto node = std::make_shared<rclcpp::Node>("node");
-  rcutils_logging_output_handler_t original_output_handler = rcutils_logging_get_output_handler();
-
-  std::string pub_log_msg;
-  std::string sub_log_msg;
-  std::promise<void> log_msgs_promise;
-  g_pub_log_msg = &pub_log_msg;
-  g_sub_log_msg = &sub_log_msg;
-  g_log_msgs_promise = &log_msgs_promise;
-  auto logger_callback = [](
-    const rcutils_log_location_t * /*location*/,
-    int /*level*/, const char * /*name*/, rcutils_time_point_value_t /*timestamp*/,
-    const char * format, va_list * args) -> void {
-      char buffer[1024];
-      vsnprintf(buffer, sizeof(buffer), format, *args);
-      const std::string msg = buffer;
-      if (msg.rfind("New subscription discovered on topic '/test_topic'", 0) == 0) {
-        *g_pub_log_msg = buffer;
-      } else if (msg.rfind("New publisher discovered on topic '/test_topic'", 0) == 0) {
-        *g_sub_log_msg = buffer;
-      }
-
-      if (!g_pub_log_msg->empty() && !g_sub_log_msg->empty()) {
-        g_log_msgs_promise->set_value();
-      }
-    };
-  rcutils_logging_set_output_handler(logger_callback);
-
-  std::shared_future<void> log_msgs_future = log_msgs_promise.get_future();
-
-  rclcpp::QoS qos_profile_publisher(10);
-  qos_profile_publisher.durability(RMW_QOS_POLICY_DURABILITY_VOLATILE);
-  auto publisher = node->create_publisher<test_msgs::msg::Empty>(
-    "test_topic", qos_profile_publisher);
-
-  rclcpp::QoS qos_profile_subscription(10);
-  qos_profile_subscription.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
-  auto subscription = node->create_subscription<test_msgs::msg::Empty>(
-    "test_topic", qos_profile_subscription, [&](test_msgs::msg::Empty::ConstSharedPtr) {});
-
-  EventsExecutor ex;
-  ex.add_node(node->get_node_base_interface());
-
-  const auto timeout = std::chrono::seconds(10);
-  ex.spin_until_future_complete(log_msgs_future, timeout);
-
-  EXPECT_EQ(
-    "New subscription discovered on topic '/test_topic', requesting incompatible QoS. "
-    "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
-    pub_log_msg);
-  EXPECT_EQ(
-    "New publisher discovered on topic '/test_topic', offering incompatible QoS. "
-    "No messages will be sent to it. Last incompatible policy: DURABILITY_QOS_POLICY",
-    sub_log_msg);
-
-  rcutils_logging_set_output_handler(original_output_handler);
-}

rclcpp/test/rclcpp/executors/test_events_queue.cpp

@@ -1,82 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <memory>
-
-#include "rclcpp/experimental/executors/events_executor/events_executor_event_types.hpp"
-#include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
-
-using namespace std::chrono_literals;
-
-TEST(TestEventsQueue, SimpleQueueTest)
-{
-  // Create a SimpleEventsQueue and a local queue
-  auto simple_queue = std::make_unique<rclcpp::experimental::executors::SimpleEventsQueue>();
-  rclcpp::experimental::executors::ExecutorEvent event {};
-  bool ret = false;
-
-  // Make sure the queue is empty at startup
-  EXPECT_TRUE(simple_queue->empty());
-  EXPECT_EQ(simple_queue->size(), 0u);
-
-  // Push 11 messages
-  for (uint32_t i = 1; i < 11; i++) {
-    rclcpp::experimental::executors::ExecutorEvent stub_event {};
-    stub_event.num_events = 1;
-    simple_queue->enqueue(stub_event);
-
-    EXPECT_FALSE(simple_queue->empty());
-    EXPECT_EQ(simple_queue->size(), i);
-  }
-
-  // Pop one message
-  ret = simple_queue->dequeue(event);
-  EXPECT_TRUE(ret);
-  EXPECT_FALSE(simple_queue->empty());
-  EXPECT_EQ(simple_queue->size(), 9u);
-
-  // Pop one message
-  ret = simple_queue->dequeue(event, std::chrono::nanoseconds(0));
-  EXPECT_TRUE(ret);
-  EXPECT_FALSE(simple_queue->empty());
-  EXPECT_EQ(simple_queue->size(), 8u);
-
-  while (!simple_queue->empty()) {
-    ret = simple_queue->dequeue(event);
-    EXPECT_TRUE(ret);
-  }
-
-  EXPECT_TRUE(simple_queue->empty());
-  EXPECT_EQ(simple_queue->size(), 0u);
-
-  ret = simple_queue->dequeue(event, std::chrono::nanoseconds(0));
-  EXPECT_FALSE(ret);
-
-  // Lets push an event into the queue and get it back
-  rclcpp::experimental::executors::ExecutorEvent push_event = {
-    simple_queue.get(),
-    99,
-    rclcpp::experimental::executors::ExecutorEventType::SUBSCRIPTION_EVENT,
-    1};
-
-  simple_queue->enqueue(push_event);
-  ret = simple_queue->dequeue(event);
-  EXPECT_TRUE(ret);
-  EXPECT_EQ(push_event.exec_entity_id, event.exec_entity_id);
-  EXPECT_EQ(push_event.gen_entity_id, event.gen_entity_id);
-  EXPECT_EQ(push_event.type, event.type);
-  EXPECT_EQ(push_event.num_events, event.num_events);
-}

rclcpp/test/rclcpp/executors/test_executors.cpp

@@ -92,8 +92,7 @@ using ExecutorTypes =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
   rclcpp::executors::MultiThreadedExecutor,
-  rclcpp::executors::StaticSingleThreadedExecutor,
-  rclcpp::experimental::executors::EventsExecutor>;
+  rclcpp::executors::StaticSingleThreadedExecutor>;
 
 class ExecutorTypeNames
 {
@@ -114,10 +113,6 @@ public:
       return "StaticSingleThreadedExecutor";
     }
 
-    if (std::is_same<T, rclcpp::experimental::executors::EventsExecutor>()) {
-      return "EventsExecutor";
-    }
-
     return "";
   }
 };
@@ -131,22 +126,12 @@ TYPED_TEST_SUITE(TestExecutors, ExecutorTypes, ExecutorTypeNames);
 using StandardExecutors =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
-  rclcpp::executors::MultiThreadedExecutor,
-  rclcpp::experimental::executors::EventsExecutor>;
+  rclcpp::executors::MultiThreadedExecutor>;
 TYPED_TEST_SUITE(TestExecutorsStable, StandardExecutors, ExecutorTypeNames);
 
 // Make sure that executors detach from nodes when destructing
-TYPED_TEST(TestExecutors, detachOnDestruction)
-{
+TYPED_TEST(TestExecutors, detachOnDestruction) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   {
     ExecutorType executor;
     executor.add_node(this->node);
@@ -160,17 +145,8 @@ TYPED_TEST(TestExecutors, detachOnDestruction)
 // Make sure that the executor can automatically remove expired nodes correctly
 // Currently fails for StaticSingleThreadedExecutor so it is being skipped, see:
 // https://github.com/ros2/rclcpp/issues/1231
-TYPED_TEST(TestExecutorsStable, addTemporaryNode)
-{
+TYPED_TEST(TestExecutorsStable, addTemporaryNode) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
 
   {
@@ -188,17 +164,8 @@ TYPED_TEST(TestExecutorsStable, addTemporaryNode)
 }
 
 // Check executor throws properly if the same node is added a second time
-TYPED_TEST(TestExecutors, addNodeTwoExecutors)
-{
+TYPED_TEST(TestExecutors, addNodeTwoExecutors) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor1;
   ExecutorType executor2;
   EXPECT_NO_THROW(executor1.add_node(this->node));
@@ -207,17 +174,8 @@ TYPED_TEST(TestExecutors, addNodeTwoExecutors)
 }
 
 // Check simple spin example
-TYPED_TEST(TestExecutors, spinWithTimer)
-{
+TYPED_TEST(TestExecutors, spinWithTimer) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
 
   bool timer_completed = false;
@@ -238,17 +196,8 @@ TYPED_TEST(TestExecutors, spinWithTimer)
   executor.remove_node(this->node, true);
 }
 
-TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
-{
+TYPED_TEST(TestExecutors, spinWhileAlreadySpinning) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -273,17 +222,8 @@ TYPED_TEST(TestExecutors, spinWhileAlreadySpinning)
 }
 
 // Check executor exits immediately if future is complete.
-TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
-{
+TYPED_TEST(TestExecutors, testSpinUntilFutureComplete) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -304,17 +244,8 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureComplete)
 }
 
 // Same test, but uses a shared future.
-TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
-{
+TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -336,17 +267,8 @@ TYPED_TEST(TestExecutors, testSpinUntilSharedFutureComplete)
 }
 
 // For a longer running future that should require several iterations of spin_once
-TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
-{
+TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -391,17 +313,8 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteNoTimeout)
 }
 
 // Check spin_until_future_complete timeout works as expected
-TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout)
-{
+TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteWithTimeout) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -467,13 +380,6 @@ public:
     return nullptr;
   }
 
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
-  {
-    (void) id;
-    return nullptr;
-  }
-
   void
   execute(std::shared_ptr<void> & data) override
   {
@@ -482,21 +388,6 @@ public:
     std::this_thread::sleep_for(3ms);
   }
 
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override
-  {
-    auto gc_callback = [callback](size_t count) {
-        callback(count, 0);
-      };
-    gc_.set_on_trigger_callback(gc_callback);
-  }
-
-  void
-  clear_on_ready_callback() override
-  {
-    gc_.set_on_trigger_callback(nullptr);
-  }
-
   size_t
   get_number_of_ready_guard_conditions() override {return 1;}
 
@@ -511,17 +402,8 @@ private:
   rclcpp::GuardCondition gc_;
 };
 
-TYPED_TEST(TestExecutors, spinAll)
-{
+TYPED_TEST(TestExecutors, spinAll) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   auto waitable_interfaces = this->node->get_node_waitables_interface();
   auto my_waitable = std::make_shared<TestWaitable>();
@@ -561,17 +443,8 @@ TYPED_TEST(TestExecutors, spinAll)
   spinner.join();
 }
 
-TYPED_TEST(TestExecutors, spinSome)
-{
+TYPED_TEST(TestExecutors, spinSome) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   auto waitable_interfaces = this->node->get_node_waitables_interface();
   auto my_waitable = std::make_shared<TestWaitable>();
@@ -610,17 +483,8 @@ TYPED_TEST(TestExecutors, spinSome)
 }
 
 // Check spin_node_until_future_complete with node base pointer
-TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
-{
+TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
 
   std::promise<bool> promise;
@@ -634,17 +498,8 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodeBasePtr)
 }
 
 // Check spin_node_until_future_complete with node pointer
-TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
-{
+TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
 
   std::promise<bool> promise;
@@ -658,17 +513,8 @@ TYPED_TEST(TestExecutors, testSpinNodeUntilFutureCompleteNodePtr)
 }
 
 // Check spin_until_future_complete can be properly interrupted.
-TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted)
-{
+TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   ExecutorType executor;
   executor.add_node(this->node);
 
@@ -710,8 +556,7 @@ TYPED_TEST(TestExecutors, testSpinUntilFutureCompleteInterrupted)
 }
 
 // Check spin_until_future_complete with node base pointer (instantiates its own executor)
-TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr)
-{
+TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr) {
   rclcpp::init(0, nullptr);
 
   {
@@ -731,8 +576,7 @@ TEST(TestExecutors, testSpinUntilFutureCompleteNodeBasePtr)
 }
 
 // Check spin_until_future_complete with node pointer (instantiates its own executor)
-TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr)
-{
+TEST(TestExecutors, testSpinUntilFutureCompleteNodePtr) {
   rclcpp::init(0, nullptr);
 
   {

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -28,6 +28,11 @@
 #include "../../mocking_utils/patch.hpp"
 #include "../../utils/rclcpp_gtest_macros.hpp"
 
+using rclcpp::dynamic_typesupport::DynamicMessage;
+using rclcpp::dynamic_typesupport::DynamicMessageType;
+using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
+
+
 namespace
 {
 
@@ -77,6 +82,18 @@ public:
     const std::shared_ptr<rclcpp::SerializedMessage> &, const rclcpp::MessageInfo &) override {}
   void return_message(std::shared_ptr<void> &) override {}
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> &) override {}
+
+  DynamicMessageType::SharedPtr get_shared_dynamic_message_type() override {return nullptr;}
+  DynamicMessage::SharedPtr get_shared_dynamic_message() override {return nullptr;}
+  DynamicSerializationSupport::SharedPtr get_shared_dynamic_serialization_support() override
+  {
+    return nullptr;
+  }
+  DynamicMessage::SharedPtr create_dynamic_message() override {return nullptr;}
+  void return_dynamic_message(DynamicMessage::SharedPtr &) override {}
+  void handle_dynamic_message(
+    const DynamicMessage::SharedPtr &,
+    const rclcpp::MessageInfo &) override {}
 };
 
 class TestNodeTopics : public ::testing::Test

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -46,15 +46,11 @@ public:
   }
 };
 
-template<typename T>
-class TestAddCallbackGroupsToExecutorStable : public TestAddCallbackGroupsToExecutor<T> {};
-
 using ExecutorTypes =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
   rclcpp::executors::MultiThreadedExecutor,
-  rclcpp::executors::StaticSingleThreadedExecutor,
-  rclcpp::experimental::executors::EventsExecutor>;
+  rclcpp::executors::StaticSingleThreadedExecutor>;
 
 class ExecutorTypeNames
 {
@@ -75,38 +71,17 @@ public:
       return "StaticSingleThreadedExecutor";
     }
 
-    if (std::is_same<T, rclcpp::experimental::executors::EventsExecutor>()) {
-      return "EventsExecutor";
-    }
-
     return "";
   }
 };
 
 TYPED_TEST_SUITE(TestAddCallbackGroupsToExecutor, ExecutorTypes, ExecutorTypeNames);
 
-// StaticSingleThreadedExecutor is not included in these tests for now
-using StandardExecutors =
-  ::testing::Types<
-  rclcpp::executors::SingleThreadedExecutor,
-  rclcpp::executors::MultiThreadedExecutor,
-  rclcpp::experimental::executors::EventsExecutor>;
-TYPED_TEST_SUITE(TestAddCallbackGroupsToExecutorStable, StandardExecutors, ExecutorTypeNames);
-
 /*
  * Test adding callback groups.
  */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups)
-{
+TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
@@ -152,17 +127,8 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups)
 /*
  * Test removing callback groups.
  */
-TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups)
-{
+TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups) {
   using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
@@ -192,16 +158,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_groups)
  */
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_duplicate_callback_groups)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
-  ExecutorType executor;
+  rclcpp::executors::MultiThreadedExecutor executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
@@ -219,16 +176,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_duplicate_callback_groups)
  */
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups_after_add_node_to_executor)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
-  ExecutorType executor;
+  rclcpp::executors::MultiThreadedExecutor executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   executor.add_node(node->get_node_base_interface());
   ASSERT_EQ(executor.get_all_callback_groups().size(), 1u);
@@ -262,22 +210,13 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_callback_groups_after_add_node_t
  */
 TYPED_TEST(TestAddCallbackGroupsToExecutor, add_unallowable_callback_groups)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
-  ExecutorType executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive, false);
   rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
     2s, timer_callback, cb_grp);
+  rclcpp::executors::MultiThreadedExecutor executor;
   executor.add_callback_group(cb_grp, node->get_node_base_interface());
   ASSERT_EQ(executor.get_all_callback_groups().size(), 1u);
 
@@ -306,23 +245,14 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, add_unallowable_callback_groups)
  */
 TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_executors)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
-  ExecutorType timer_executor;
-  ExecutorType sub_executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive, false);
   rclcpp::TimerBase::SharedPtr timer_ = node->create_wall_timer(
     2s, timer_callback, cb_grp);
+  rclcpp::executors::MultiThreadedExecutor timer_executor;
+  rclcpp::executors::MultiThreadedExecutor sub_executor;
   timer_executor.add_callback_group(cb_grp, node->get_node_base_interface());
   const rclcpp::QoS qos(10);
   auto options = rclcpp::SubscriptionOptions();
@@ -352,23 +282,14 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, one_node_many_callback_groups_many_e
  * because the executor can't be triggered while a subscriber created, see
  * https://github.com/ros2/rclcpp/issues/1611
 */
-TYPED_TEST(TestAddCallbackGroupsToExecutorStable, subscriber_triggered_to_receive_message)
+TYPED_TEST(TestAddCallbackGroupsToExecutor, subscriber_triggered_to_receive_message)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
   // create a thread running an executor with a new callback group for a coming subscriber
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
     rclcpp::CallbackGroupType::MutuallyExclusive, false);
-  ExecutorType cb_grp_executor;
+  rclcpp::executors::SingleThreadedExecutor cb_grp_executor;
 
   std::promise<bool> received_message_promise;
   auto received_message_future = received_message_promise.get_future();
@@ -408,7 +329,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutorStable, subscriber_triggered_to_receiv
       timer_promise.set_value();
     };
 
-  ExecutorType timer_executor;
+  rclcpp::executors::SingleThreadedExecutor timer_executor;
   timer = node->create_wall_timer(100ms, timer_callback);
   timer_executor.add_node(node);
   auto future = timer_promise.get_future();
@@ -425,17 +346,8 @@ TYPED_TEST(TestAddCallbackGroupsToExecutorStable, subscriber_triggered_to_receiv
  * because the executor can't be triggered while a subscriber created, see
  * https://github.com/ros2/rclcpp/issues/2067
 */
-TYPED_TEST(TestAddCallbackGroupsToExecutorStable, callback_group_create_after_spin)
+TYPED_TEST(TestAddCallbackGroupsToExecutor, callback_group_create_after_spin)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
 
   // create a publisher to send data
@@ -445,7 +357,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutorStable, callback_group_create_after_sp
   publisher->publish(test_msgs::msg::Empty());
 
   // create a thread running an executor
-  ExecutorType executor;
+  rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node);
   std::promise<bool> received_message_promise;
   auto received_message_future = received_message_promise.get_future();
@@ -480,16 +392,7 @@ TYPED_TEST(TestAddCallbackGroupsToExecutorStable, callback_group_create_after_sp
  */
 TYPED_TEST(TestAddCallbackGroupsToExecutor, remove_callback_group)
 {
-  using ExecutorType = TypeParam;
-  // rmw_connextdds doesn't support events-executor
-  if (
-    std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>() &&
-    std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0)
-  {
-    GTEST_SKIP();
-  }
-
-  ExecutorType executor;
+  rclcpp::executors::MultiThreadedExecutor executor;
   auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
   auto timer_callback = []() {};
   rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(

rclcpp/test/rclcpp/test_generic_pubsub.cpp

@@ -89,9 +89,9 @@ public:
     T2 message;
     write_message(data, message);
 
-    rclcpp::Serialization<T2> ser;
+    rclcpp::Serialization<T2> serialization_support;
     SerializedMessage result;
-    ser.serialize_message(&message, &result);
+    serialization_support.serialize_message(&message, &result);
     return result;
   }
 

rclcpp/test/rclcpp/test_logger.cpp

@@ -160,6 +160,50 @@ TEST(TestLogger, set_level) {
   EXPECT_EQ(RCUTILS_RET_OK, rcutils_logging_shutdown());
 }
 
+TEST(TestLogger, get_effective_level) {
+  ASSERT_EQ(RCUTILS_RET_OK, rcutils_logging_initialize());
+
+  rclcpp::Logger logger = rclcpp::get_logger("test_logger");
+  rclcpp::Logger child_logger = rclcpp::get_logger("test_logger.child");
+
+  // set child logger level unset to test effective level
+  child_logger.set_level(rclcpp::Logger::Level::Unset);
+
+  // default
+  EXPECT_EQ(rclcpp::Logger::Level::Info, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Info, child_logger.get_effective_level());
+
+  // unset
+  logger.set_level(rclcpp::Logger::Level::Unset);
+  EXPECT_EQ(rclcpp::Logger::Level::Info, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Info, child_logger.get_effective_level());
+
+  // debug
+  logger.set_level(rclcpp::Logger::Level::Debug);
+  EXPECT_EQ(rclcpp::Logger::Level::Debug, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Debug, child_logger.get_effective_level());
+
+  // info
+  logger.set_level(rclcpp::Logger::Level::Info);
+  EXPECT_EQ(rclcpp::Logger::Level::Info, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Info, child_logger.get_effective_level());
+
+  // warn
+  logger.set_level(rclcpp::Logger::Level::Warn);
+  EXPECT_EQ(rclcpp::Logger::Level::Warn, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Warn, child_logger.get_effective_level());
+
+  // error
+  logger.set_level(rclcpp::Logger::Level::Error);
+  EXPECT_EQ(rclcpp::Logger::Level::Error, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Error, child_logger.get_effective_level());
+
+  // fatal
+  logger.set_level(rclcpp::Logger::Level::Fatal);
+  EXPECT_EQ(rclcpp::Logger::Level::Fatal, logger.get_effective_level());
+  EXPECT_EQ(rclcpp::Logger::Level::Fatal, child_logger.get_effective_level());
+}
+
 TEST(TestLogger, get_logging_directory) {
   ASSERT_EQ(true, rcutils_set_env("HOME", "/fake_home_dir"));
   ASSERT_EQ(true, rcutils_set_env("USERPROFILE", nullptr));

rclcpp/test/rclcpp/test_timers_manager.cpp

@@ -1,426 +0,0 @@
-// Copyright 2023 iRobot Corporation.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <chrono>
-#include <memory>
-#include <utility>
-
-#include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/experimental/timers_manager.hpp"
-
-using namespace std::chrono_literals;
-
-using rclcpp::experimental::TimersManager;
-
-using CallbackT = std::function<void ()>;
-using TimerT = rclcpp::WallTimer<CallbackT>;
-
-class TestTimersManager : public ::testing::Test
-{
-public:
-  void SetUp()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  void TearDown()
-  {
-    rclcpp::shutdown();
-  }
-};
-
-TEST_F(TestTimersManager, empty_manager)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  EXPECT_EQ(std::chrono::nanoseconds::max(), timers_manager->get_head_timeout());
-  EXPECT_FALSE(timers_manager->execute_head_timer());
-  EXPECT_NO_THROW(timers_manager->execute_ready_timers());
-  EXPECT_NO_THROW(timers_manager->clear());
-  EXPECT_NO_THROW(timers_manager->start());
-  EXPECT_NO_THROW(timers_manager->stop());
-}
-
-TEST_F(TestTimersManager, add_run_remove_timer)
-{
-  size_t t_runs = 0;
-  auto t = TimerT::make_shared(
-    1ms,
-    [&t_runs]() {
-      t_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-  std::weak_ptr<TimerT> t_weak = t;
-
-  // Add the timer to the timers manager
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-  timers_manager->add_timer(t);
-
-  // Sleep for more 3 times the timer period
-  std::this_thread::sleep_for(3ms);
-
-  // The timer is executed only once, even if we slept 3 times the period
-  timers_manager->execute_ready_timers();
-  EXPECT_EQ(1u, t_runs);
-
-  // Remove the timer from the manager
-  timers_manager->remove_timer(t);
-
-  t.reset();
-  // The timer is now not valid anymore
-  EXPECT_FALSE(t_weak.lock() != nullptr);
-}
-
-TEST_F(TestTimersManager, clear)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  auto t1 = TimerT::make_shared(1ms, CallbackT(), rclcpp::contexts::get_global_default_context());
-  std::weak_ptr<TimerT> t1_weak = t1;
-  auto t2 = TimerT::make_shared(1ms, CallbackT(), rclcpp::contexts::get_global_default_context());
-  std::weak_ptr<TimerT> t2_weak = t2;
-
-  timers_manager->add_timer(t1);
-  timers_manager->add_timer(t2);
-
-  EXPECT_TRUE(t1_weak.lock() != nullptr);
-  EXPECT_TRUE(t2_weak.lock() != nullptr);
-
-  timers_manager->clear();
-
-  t1.reset();
-  t2.reset();
-
-  EXPECT_FALSE(t1_weak.lock() != nullptr);
-  EXPECT_FALSE(t2_weak.lock() != nullptr);
-}
-
-TEST_F(TestTimersManager, remove_not_existing_timer)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  // Try to remove a nullptr timer
-  EXPECT_NO_THROW(timers_manager->remove_timer(nullptr));
-
-  auto t = TimerT::make_shared(1ms, CallbackT(), rclcpp::contexts::get_global_default_context());
-  timers_manager->add_timer(t);
-
-  // Remove twice the same timer
-  timers_manager->remove_timer(t);
-  EXPECT_NO_THROW(timers_manager->remove_timer(t));
-}
-
-TEST_F(TestTimersManager, timers_thread_exclusive_usage)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  timers_manager->start();
-
-  EXPECT_THROW(timers_manager->start(), std::exception);
-  EXPECT_THROW(timers_manager->get_head_timeout(), std::exception);
-  EXPECT_THROW(timers_manager->execute_ready_timers(), std::exception);
-  EXPECT_THROW(timers_manager->execute_head_timer(), std::exception);
-
-  timers_manager->stop();
-
-  EXPECT_NO_THROW(timers_manager->get_head_timeout());
-  EXPECT_NO_THROW(timers_manager->execute_ready_timers());
-  EXPECT_NO_THROW(timers_manager->execute_head_timer());
-}
-
-TEST_F(TestTimersManager, add_timer_twice)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  auto t = TimerT::make_shared(1ms, CallbackT(), rclcpp::contexts::get_global_default_context());
-
-  timers_manager->add_timer(t);
-  EXPECT_NO_THROW(timers_manager->add_timer(t));
-}
-
-TEST_F(TestTimersManager, add_nullptr)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  EXPECT_THROW(timers_manager->add_timer(nullptr), std::exception);
-}
-
-TEST_F(TestTimersManager, head_not_ready)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t_runs = 0;
-  auto t = TimerT::make_shared(
-    10s,
-    [&t_runs]() {
-      t_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  timers_manager->add_timer(t);
-
-  // Timer will take 10s to get ready, so nothing to execute here
-  bool ret = timers_manager->execute_head_timer();
-  EXPECT_FALSE(ret);
-  EXPECT_EQ(0u, t_runs);
-}
-
-TEST_F(TestTimersManager, timers_order)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t1_runs = 0;
-  auto t1 = TimerT::make_shared(
-    10ms,
-    [&t1_runs]() {
-      t1_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t2_runs = 0;
-  auto t2 = TimerT::make_shared(
-    30ms,
-    [&t2_runs]() {
-      t2_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t3_runs = 0;
-  auto t3 = TimerT::make_shared(
-    100ms,
-    [&t3_runs]() {
-      t3_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  // Add timers in a random order
-  timers_manager->add_timer(t2);
-  timers_manager->add_timer(t3);
-  timers_manager->add_timer(t1);
-
-  std::this_thread::sleep_for(10ms);
-  timers_manager->execute_ready_timers();
-  EXPECT_EQ(1u, t1_runs);
-  EXPECT_EQ(0u, t2_runs);
-  EXPECT_EQ(0u, t3_runs);
-
-  std::this_thread::sleep_for(30ms);
-  timers_manager->execute_ready_timers();
-  EXPECT_EQ(2u, t1_runs);
-  EXPECT_EQ(1u, t2_runs);
-  EXPECT_EQ(0u, t3_runs);
-
-  std::this_thread::sleep_for(100ms);
-  timers_manager->execute_ready_timers();
-  EXPECT_EQ(3u, t1_runs);
-  EXPECT_EQ(2u, t2_runs);
-  EXPECT_EQ(1u, t3_runs);
-
-  timers_manager->remove_timer(t1);
-
-  std::this_thread::sleep_for(30ms);
-  timers_manager->execute_ready_timers();
-  EXPECT_EQ(3u, t1_runs);
-  EXPECT_EQ(3u, t2_runs);
-  EXPECT_EQ(1u, t3_runs);
-}
-
-TEST_F(TestTimersManager, start_stop_timers_thread)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  auto t = TimerT::make_shared(1ms, []() {}, rclcpp::contexts::get_global_default_context());
-  timers_manager->add_timer(t);
-
-  // Calling start multiple times will throw an error
-  EXPECT_NO_THROW(timers_manager->start());
-  EXPECT_THROW(timers_manager->start(), std::exception);
-
-  // Calling stop multiple times does not throw an error
-  EXPECT_NO_THROW(timers_manager->stop());
-  EXPECT_NO_THROW(timers_manager->stop());
-}
-
-TEST_F(TestTimersManager, timers_thread)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t1_runs = 0;
-  auto t1 = TimerT::make_shared(
-    1ms,
-    [&t1_runs]() {
-      t1_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t2_runs = 0;
-  auto t2 = TimerT::make_shared(
-    1ms,
-    [&t2_runs]() {
-      t2_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  // Add timers
-  timers_manager->add_timer(t1);
-  timers_manager->add_timer(t2);
-
-  // Run timers thread for a while
-  timers_manager->start();
-  std::this_thread::sleep_for(5ms);
-  timers_manager->stop();
-
-  EXPECT_LT(1u, t1_runs);
-  EXPECT_LT(1u, t2_runs);
-  EXPECT_EQ(t1_runs, t2_runs);
-}
-
-TEST_F(TestTimersManager, destructor)
-{
-  size_t t_runs = 0;
-  auto t = TimerT::make_shared(
-    1ms,
-    [&t_runs]() {
-      t_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-  std::weak_ptr<TimerT> t_weak = t;
-
-  // When the timers manager is destroyed, it will stop the thread
-  // and clear the timers
-  {
-    auto timers_manager = std::make_shared<TimersManager>(
-      rclcpp::contexts::get_global_default_context());
-
-    timers_manager->add_timer(t);
-
-    timers_manager->start();
-    std::this_thread::sleep_for(100ms);
-
-    EXPECT_LT(1u, t_runs);
-  }
-
-  // The thread is not running anymore, so this value does not increase
-  size_t runs = t_runs;
-  std::this_thread::sleep_for(100ms);
-  EXPECT_EQ(runs, t_runs);
-  t.reset();
-  EXPECT_FALSE(t_weak.lock() != nullptr);
-}
-
-TEST_F(TestTimersManager, add_remove_while_thread_running)
-{
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t1_runs = 0;
-  auto t1 = TimerT::make_shared(
-    1ms,
-    [&t1_runs]() {
-      t1_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t2_runs = 0;
-  auto t2 = TimerT::make_shared(
-    1ms,
-    [&t2_runs]() {
-      t2_runs++;
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  // Add timers
-  timers_manager->add_timer(t1);
-
-  // Start timers thread
-  timers_manager->start();
-
-  // After a while remove t1 and add t2
-  std::this_thread::sleep_for(5ms);
-  timers_manager->remove_timer(t1);
-  size_t tmp_t1 = t1_runs;
-  timers_manager->add_timer(t2);
-
-  // Wait some more time and then stop
-  std::this_thread::sleep_for(5ms);
-  timers_manager->stop();
-
-  // t1 has stopped running
-  EXPECT_EQ(tmp_t1, t1_runs);
-  // t2 is correctly running
-  EXPECT_LT(1u, t2_runs);
-}
-
-TEST_F(TestTimersManager, infinite_loop)
-{
-  // This test makes sure that even if timers have a period shorter than the duration
-  // of their callback the functions never block indefinitely.
-
-  auto timers_manager = std::make_shared<TimersManager>(
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t1_runs = 0;
-  auto t1 = TimerT::make_shared(
-    1ms,
-    [&t1_runs]() {
-      t1_runs++;
-      std::this_thread::sleep_for(5ms);
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  size_t t2_runs = 0;
-  auto t2 = TimerT::make_shared(
-    1ms,
-    [&t2_runs]() {
-      t2_runs++;
-      std::this_thread::sleep_for(5ms);
-    },
-    rclcpp::contexts::get_global_default_context());
-
-  timers_manager->add_timer(t1);
-  timers_manager->add_timer(t2);
-
-  // Sleep for enough time to trigger timers
-  std::this_thread::sleep_for(3ms);
-  timers_manager->execute_ready_timers();
-  EXPECT_EQ(1u, t1_runs);
-  EXPECT_EQ(1u, t2_runs);
-
-  // Due to the long execution of timer callbacks, timers are already ready
-  bool ret = timers_manager->execute_head_timer();
-  EXPECT_TRUE(ret);
-  EXPECT_EQ(3u, t1_runs + t2_runs);
-
-  // Start a timers thread
-  timers_manager->start();
-  std::this_thread::sleep_for(10ms);
-  timers_manager->stop();
-
-  EXPECT_LT(3u, t1_runs + t2_runs);
-  EXPECT_LT(1u, t1_runs);
-  EXPECT_LT(1u, t2_runs);
-}