add noexcept to get_parameter methods.

https://github.com/ros2/rclcpp/issues/2047

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

README.md

@@ -8,8 +8,7 @@ rclcpp provides the standard C++ API for interacting with ROS 2.
 
 `#include "rclcpp/rclcpp.hpp"` allows use of the most common elements of the ROS 2 system.
 
-The link to the latest API documentation can be found on the rclcpp package info page, at the [ROS Index](https://index.ros.org/p/rclcpp/).
-
+Visit the [rclcpp API documentation](http://docs.ros2.org/latest/api/rclcpp/) for a complete list of its main components.
 
 ### Examples
 

rclcpp/CHANGELOG.rst

@@ -2,55 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-19.3.0 (2023-03-01)
--------------------
-* Fix memory leak in tracetools::get_symbol() (`#2104 <https://github.com/ros2/rclcpp/issues/2104>`_)
-* Service introspection (`#1985 <https://github.com/ros2/rclcpp/issues/1985>`_)
-* Allow publishing borrowed messages with intra-process enabled (`#2108 <https://github.com/ros2/rclcpp/issues/2108>`_)
-* to fix flaky test about TestTimeSource.callbacks (`#2111 <https://github.com/ros2/rclcpp/issues/2111>`_)
-* Contributors: Brian, Chen Lihui, Christophe Bedard, Miguel Company
-
-19.2.0 (2023-02-24)
--------------------
-* to create a sublogger while getting child of Logger (`#1717 <https://github.com/ros2/rclcpp/issues/1717>`_)
-* Fix documentation of Context class (`#2107 <https://github.com/ros2/rclcpp/issues/2107>`_)
-* fixes for rmw callbacks in qos_event class (`#2102 <https://github.com/ros2/rclcpp/issues/2102>`_)
-* Contributors: Alberto Soragna, Chen Lihui, Silvio Traversaro
-
-19.1.0 (2023-02-14)
--------------------
-* Add support for timers on reset callback (`#1979 <https://github.com/ros2/rclcpp/issues/1979>`_)
-* Topic node guard condition in executor (`#2074 <https://github.com/ros2/rclcpp/issues/2074>`_)
-* Fix bug on the disorder of calling shutdown callback (`#2097 <https://github.com/ros2/rclcpp/issues/2097>`_)
-* Contributors: Barry Xu, Chen Lihui, mauropasse
-
-19.0.0 (2023-01-30)
--------------------
-* Add default constructor to NodeInterfaces (`#2094 <https://github.com/ros2/rclcpp/issues/2094>`_)
-* Fix clock state cached time to be a copy, not a reference. (`#2092 <https://github.com/ros2/rclcpp/issues/2092>`_)
-* Fix -Wmaybe-uninitialized warning (`#2081 <https://github.com/ros2/rclcpp/issues/2081>`_)
-* Fix the keep_last warning when using system defaults. (`#2082 <https://github.com/ros2/rclcpp/issues/2082>`_)
-* Add in a fix for older compilers. (`#2075 <https://github.com/ros2/rclcpp/issues/2075>`_)
-* Contributors: Alexander Hans, Chris Lalancette, Shane Loretz
-
-18.0.0 (2022-12-29)
--------------------
-* Implement Unified Node Interface (NodeInterfaces class) (`#2041 <https://github.com/ros2/rclcpp/issues/2041>`_)
-* Do not throw exception if trying to dequeue an empty intra-process buffer (`#2061 <https://github.com/ros2/rclcpp/issues/2061>`_)
-* Move event callback binding to PublisherBase and SubscriptionBase (`#2066 <https://github.com/ros2/rclcpp/issues/2066>`_)
-* Implement validity checks for rclcpp::Clock (`#2040 <https://github.com/ros2/rclcpp/issues/2040>`_)
-* Explicitly set callback type (`#2059 <https://github.com/ros2/rclcpp/issues/2059>`_)
-* Fix logging macros to build with msvc and cpp20 (`#2063 <https://github.com/ros2/rclcpp/issues/2063>`_)
-* Add clock type to node_options (`#1982 <https://github.com/ros2/rclcpp/issues/1982>`_)
-* Fix nullptr dereference in prune_requests_older_than (`#2008 <https://github.com/ros2/rclcpp/issues/2008>`_)
-* Remove templating on to_rcl_subscription_options (`#2056 <https://github.com/ros2/rclcpp/issues/2056>`_)
-* Fix SharedFuture from async_send_request never becoming valid (`#2044 <https://github.com/ros2/rclcpp/issues/2044>`_)
-* Add in a warning for a KeepLast depth of 0. (`#2048 <https://github.com/ros2/rclcpp/issues/2048>`_)
-* Mark rclcpp::Clock::now() as const (`#2050 <https://github.com/ros2/rclcpp/issues/2050>`_)
-* Fix a case that did not throw ParameterUninitializedException (`#2036 <https://github.com/ros2/rclcpp/issues/2036>`_)
-* Update maintainers (`#2043 <https://github.com/ros2/rclcpp/issues/2043>`_)
-* Contributors: Alberto Soragna, Audrow Nash, Chen Lihui, Chris Lalancette, Jeffery Hsu, Lei Liu, Mateusz Szczygielski, Shane Loretz, andrei, mauropasse, methylDragon
-
 17.1.0 (2022-11-02)
 -------------------
 * MultiThreadExecutor number of threads is at least 2+ in default. (`#2032 <https://github.com/ros2/rclcpp/issues/2032>`_)

rclcpp/CMakeLists.txt

@@ -25,7 +25,6 @@ find_package(tracetools REQUIRED)
 # Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
-  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   # About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
@@ -49,11 +48,6 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
   src/rclcpp/detail/utilities.cpp
   src/rclcpp/duration.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message_type.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message_type_builder.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_message_type_support.cpp
-  src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp
   src/rclcpp/event.cpp
   src/rclcpp/exceptions/exceptions.cpp
   src/rclcpp/executable_list.cpp
@@ -98,9 +92,8 @@ set(${PROJECT_NAME}_SRCS
   src/rclcpp/parameter_value.cpp
   src/rclcpp/publisher_base.cpp
   src/rclcpp/qos.cpp
-  src/rclcpp/event_handler.cpp
+  src/rclcpp/qos_event.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/any_service_callback.hpp

@@ -191,14 +191,10 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && arg) {
-        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
-          char * symbol = tracetools::get_symbol(arg);
-          DO_TRACEPOINT(
-            rclcpp_callback_register,
-            static_cast<const void *>(this),
-            symbol);
-          std::free(symbol);
-        }
+        TRACEPOINT(
+          rclcpp_callback_register,
+          static_cast<const void *>(this),
+          tracetools::get_symbol(arg));
       }, callback_);
 #endif  // TRACETOOLS_DISABLED
   }

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -965,14 +965,10 @@ public:
 #ifndef TRACETOOLS_DISABLED
     std::visit(
       [this](auto && callback) {
-        if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
-          char * symbol = tracetools::get_symbol(callback);
-          DO_TRACEPOINT(
-            rclcpp_callback_register,
-            static_cast<const void *>(this),
-            symbol);
-          std::free(symbol);
-        }
+        TRACEPOINT(
+          rclcpp_callback_register,
+          static_cast<const void *>(this),
+          tracetools::get_symbol(callback));
       }, callback_variant_);
 #endif  // TRACETOOLS_DISABLED
   }

rclcpp/include/rclcpp/client.hpp

@@ -16,15 +16,14 @@
 #define RCLCPP__CLIENT_HPP_
 
 #include <atomic>
-#include <functional>
 #include <future>
+#include <unordered_map>
 #include <memory>
 #include <mutex>
 #include <optional>  // NOLINT, cpplint doesn't think this is a cpp std header
 #include <sstream>
 #include <string>
 #include <tuple>
-#include <unordered_map>
 #include <utility>
 #include <variant>  // NOLINT
 #include <vector>
@@ -32,10 +31,8 @@
 #include "rcl/client.h"
 #include "rcl/error_handling.h"
 #include "rcl/event_callback.h"
-#include "rcl/service_introspection.h"
 #include "rcl/wait.h"
 
-#include "rclcpp/clock.hpp"
 #include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
@@ -315,7 +312,7 @@ public:
     // This two-step setting, prevents a gap where the old std::function has
     // been replaced but the middleware hasn't been told about the new one yet.
     set_on_new_response_callback(
-      rclcpp::detail::cpp_callback_trampoline<decltype(new_callback), const void *, size_t>,
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
       static_cast<const void *>(&new_callback));
 
     // Store the std::function to keep it in scope, also overwrites the existing one.
@@ -323,8 +320,7 @@ public:
 
     // Set it again, now using the permanent storage.
     set_on_new_response_callback(
-      rclcpp::detail::cpp_callback_trampoline<
-        decltype(on_new_response_callback_), const void *, size_t>,
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
       static_cast<const void *>(&on_new_response_callback_));
   }
 
@@ -470,13 +466,15 @@ public:
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
-  : ClientBase(node_base, node_graph),
-    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
+  : ClientBase(node_base, node_graph)
   {
+    using rosidl_typesupport_cpp::get_service_type_support_handle;
+    auto service_type_support_handle =
+      get_service_type_support_handle<ServiceT>();
     rcl_ret_t ret = rcl_client_init(
       this->get_client_handle().get(),
       this->get_rcl_node_handle(),
-      srv_type_support_handle_,
+      service_type_support_handle,
       service_name.c_str(),
       &client_options);
     if (ret != RCL_RET_OK) {
@@ -771,9 +769,7 @@ public:
     auto old_size = pending_requests_.size();
     for (auto it = pending_requests_.begin(), last = pending_requests_.end(); it != last; ) {
       if (it->second.first < time_point) {
-        if (pruned_requests) {
-          pruned_requests->push_back(it->first);
-        }
+        pruned_requests->push_back(it->first);
         it = pending_requests_.erase(it);
       } else {
         ++it;
@@ -782,33 +778,6 @@ public:
     return old_size - pending_requests_.size();
   }
 
-  /// Configure client introspection.
-  /**
-   * \param[in] clock clock to use to generate introspection timestamps
-   * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher
-   * \param[in] introspection_state the state to set introspection to
-   */
-  void
-  configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
-    rcl_service_introspection_state_t introspection_state)
-  {
-    rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
-    pub_opts.qos = qos_service_event_pub.get_rmw_qos_profile();
-
-    rcl_ret_t ret = rcl_client_configure_service_introspection(
-      client_handle_.get(),
-      node_handle_.get(),
-      clock->get_clock_handle(),
-      srv_type_support_handle_,
-      pub_opts,
-      introspection_state);
-
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to configure client introspection");
-    }
-  }
-
 protected:
   using CallbackTypeValueVariant = std::tuple<CallbackType, SharedFuture, Promise>;
   using CallbackWithRequestTypeValueVariant = std::tuple<
@@ -823,14 +792,16 @@ protected:
   async_send_request_impl(const Request & request, CallbackInfoVariant value)
   {
     int64_t sequence_number;
-    std::lock_guard<std::mutex> lock(pending_requests_mutex_);
     rcl_ret_t ret = rcl_send_request(get_client_handle().get(), &request, &sequence_number);
     if (RCL_RET_OK != ret) {
       rclcpp::exceptions::throw_from_rcl_error(ret, "failed to send request");
     }
-    pending_requests_.try_emplace(
-      sequence_number,
-      std::make_pair(std::chrono::system_clock::now(), std::move(value)));
+    {
+      std::lock_guard<std::mutex> lock(pending_requests_mutex_);
+      pending_requests_.try_emplace(
+        sequence_number,
+        std::make_pair(std::chrono::system_clock::now(), std::move(value)));
+    }
     return sequence_number;
   }
 
@@ -859,9 +830,6 @@ protected:
       CallbackInfoVariant>>
   pending_requests_;
   std::mutex pending_requests_mutex_;
-
-private:
-  const rosidl_service_type_support_t * srv_type_support_handle_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/clock.hpp

@@ -137,51 +137,6 @@ public:
     Duration rel_time,
     Context::SharedPtr context = contexts::get_global_default_context());
 
-  /**
-   * Check if the clock is started.
-   *
-   * A started clock is a clock that reflects non-zero time.
-   * Typically a clock will be unstarted if it is using RCL_ROS_TIME with ROS time and
-   * nothing has been published on the clock topic yet.
-   *
-   * \return true if clock is started
-   * \throws std::runtime_error if the clock is not rcl_clock_valid
-   */
-  RCLCPP_PUBLIC
-  bool
-  started();
-
-  /**
-   * Wait until clock to start.
-   *
-   * \rclcpp::Clock::started
-   * \param context the context to wait in
-   * \return true if clock was already started or became started
-   * \throws std::runtime_error if the context is invalid or clock is not rcl_clock_valid
-   */
-  RCLCPP_PUBLIC
-  bool
-  wait_until_started(Context::SharedPtr context = contexts::get_global_default_context());
-
-  /**
-   * Wait for clock to start, with timeout.
-   *
-   * The timeout is waited in steady time.
-   *
-   * \rclcpp::Clock::started
-   * \param timeout the maximum time to wait for.
-   * \param context the context to wait in.
-   * \param wait_tick_ns the time to wait between each iteration of the wait loop (in nanoseconds).
-   * \return true if clock was or became valid
-   * \throws std::runtime_error if the context is invalid or clock is not rcl_clock_valid
-   */
-  RCLCPP_PUBLIC
-  bool
-  wait_until_started(
-    const rclcpp::Duration & timeout,
-    Context::SharedPtr context = contexts::get_global_default_context(),
-    const rclcpp::Duration & wait_tick_ns = rclcpp::Duration(0, static_cast<uint32_t>(1e7)));
-
   /**
    * Returns the clock of the type `RCL_ROS_TIME` is active.
    *

rclcpp/include/rclcpp/context.hpp

@@ -65,11 +65,8 @@ using PreShutdownCallbackHandle = ShutdownCallbackHandle;
 /// Context which encapsulates shared state between nodes and other similar entities.
 /**
  * A context also represents the lifecycle between init and shutdown of rclcpp.
- * Nodes may be attached to a particular context by passing to the rclcpp::Node
- * constructor a rclcpp::NodeOptions instance in which the Context is set via
- * rclcpp::NodeOptions::context.
- * Nodes will be automatically removed from the context when destructed.
- * Contexts may be shutdown by calling rclcpp::shutdown.
+ * It is often used in conjunction with rclcpp::init, or rclcpp::init_local,
+ * and rclcpp::shutdown.
  */
 class Context : public std::enable_shared_from_this<Context>
 {
@@ -379,10 +376,10 @@ private:
   // attempt to acquire another sub context.
   std::recursive_mutex sub_contexts_mutex_;
 
-  std::vector<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
+  std::unordered_set<std::shared_ptr<OnShutdownCallback>> on_shutdown_callbacks_;
   mutable std::mutex on_shutdown_callbacks_mutex_;
 
-  std::vector<std::shared_ptr<PreShutdownCallback>> pre_shutdown_callbacks_;
+  std::unordered_set<std::shared_ptr<PreShutdownCallback>> pre_shutdown_callbacks_;
   mutable std::mutex pre_shutdown_callbacks_mutex_;
 
   /// Condition variable for timed sleep (see sleep_for).
@@ -401,22 +398,20 @@ private:
 
   using ShutdownCallback = ShutdownCallbackHandle::ShutdownCallbackType;
 
-  template<ShutdownType shutdown_type>
   RCLCPP_LOCAL
   ShutdownCallbackHandle
   add_shutdown_callback(
+    ShutdownType shutdown_type,
     ShutdownCallback callback);
 
-  template<ShutdownType shutdown_type>
   RCLCPP_LOCAL
   bool
   remove_shutdown_callback(
+    ShutdownType shutdown_type,
     const ShutdownCallbackHandle & callback_handle);
 
-  template<ShutdownType shutdown_type>
-  RCLCPP_LOCAL
   std::vector<rclcpp::Context::ShutdownCallback>
-  get_shutdown_callback() const;
+  get_shutdown_callback(ShutdownType shutdown_type) const;
 };
 
 /// Return a copy of the list of context shared pointers.

rclcpp/include/rclcpp/detail/cpp_callback_trampoline.hpp

@@ -41,7 +41,6 @@ namespace detail
  * so no exceptions should be thrown at this point, and doing so results in
  * undefined behavior.
  *
- * \tparam UserDataRealT Declared type of the passed function
  * \tparam UserDataT Deduced type based on what is passed for user data,
  *   usually this type is either `void *` or `const void *`.
  * \tparam Args the arguments being passed to the callback
@@ -51,7 +50,6 @@ namespace detail
  * \returns whatever the callback returns, if anything
  */
 template<
-  typename UserDataRealT,
   typename UserDataT,
   typename ... Args,
   typename ReturnT = void
@@ -59,7 +57,7 @@ template<
 ReturnT
 cpp_callback_trampoline(UserDataT user_data, Args ... args) noexcept
 {
-  auto & actual_callback = *static_cast<const UserDataRealT *>(user_data);
+  auto & actual_callback = *reinterpret_cast<const std::function<ReturnT(Args...)> *>(user_data);
   return actual_callback(args ...);
 }
 

rclcpp/include/rclcpp/detail/template_contains.hpp

@@ -1,47 +0,0 @@
-// 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__DETAIL__TEMPLATE_CONTAINS_HPP_
-#define RCLCPP__DETAIL__TEMPLATE_CONTAINS_HPP_
-
-#include <type_traits>
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Template meta-function that checks if a given T is contained in the list Us.
-template<typename T, typename ... Us>
-struct template_contains;
-
-template<typename ... Args>
-inline constexpr bool template_contains_v = template_contains<Args ...>::value;
-
-template<typename T, typename NextT, typename ... Us>
-struct template_contains<T, NextT, Us ...>
-{
-  enum { value = (std::is_same_v<T, NextT>|| template_contains_v<T, Us ...>)};
-};
-
-template<typename T>
-struct template_contains<T>
-{
-  enum { value = false };
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__TEMPLATE_CONTAINS_HPP_

rclcpp/include/rclcpp/detail/template_unique.hpp

@@ -1,49 +0,0 @@
-// 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__DETAIL__TEMPLATE_UNIQUE_HPP_
-#define RCLCPP__DETAIL__TEMPLATE_UNIQUE_HPP_
-
-#include <type_traits>
-
-#include "rclcpp/detail/template_contains.hpp"
-
-namespace rclcpp
-{
-namespace detail
-{
-
-/// Template meta-function that checks if a given list Ts contains unique types.
-template<typename ... Ts>
-struct template_unique;
-
-template<typename ... Args>
-inline constexpr bool template_unique_v = template_unique<Args ...>::value;
-
-template<typename NextT, typename ... Ts>
-struct template_unique<NextT, Ts ...>
-{
-  enum { value = !template_contains_v<NextT, Ts ...>&& template_unique_v<Ts ...>};
-};
-
-template<typename T>
-struct template_unique<T>
-{
-  enum { value = true };
-};
-
-}  // namespace detail
-}  // namespace rclcpp
-
-#endif  // RCLCPP__DETAIL__TEMPLATE_UNIQUE_HPP_

rclcpp/include/rclcpp/dynamic_subscription.hpp

@@ -1,176 +0,0 @@
-// 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

@@ -1,327 +0,0 @@
-// 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

@@ -1,189 +0,0 @@
-// 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

@@ -1,432 +0,0 @@
-// 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

@@ -1,197 +0,0 @@
-// 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

@@ -1,409 +0,0 @@
-// 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

@@ -1,166 +0,0 @@
-// 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

@@ -1,98 +0,0 @@
-// 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/event_handler.hpp

@@ -1,311 +0,0 @@
-// Copyright 2019 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__EVENT_HANDLER_HPP_
-#define RCLCPP__EVENT_HANDLER_HPP_
-
-#include <functional>
-#include <memory>
-#include <mutex>
-#include <stdexcept>
-#include <string>
-
-#include "rcl/error_handling.h"
-#include "rcl/event_callback.h"
-#include "rmw/impl/cpp/demangle.hpp"
-#include "rmw/incompatible_qos_events_statuses.h"
-#include "rmw/events_statuses/incompatible_type.h"
-
-#include "rcutils/logging_macros.h"
-
-#include "rclcpp/detail/cpp_callback_trampoline.hpp"
-#include "rclcpp/exceptions.hpp"
-#include "rclcpp/function_traits.hpp"
-#include "rclcpp/logging.hpp"
-#include "rclcpp/waitable.hpp"
-
-namespace rclcpp
-{
-
-using QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t;
-using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t;
-using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t;
-using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t;
-using QOSMessageLostInfo = rmw_message_lost_status_t;
-using QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t;
-using QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t;
-
-using IncompatibleTypeInfo = rmw_incompatible_type_status_t;
-using MatchedInfo = rmw_matched_status_t;
-
-using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequestedInfo &)>;
-using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
-using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
-using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
-using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
-using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
-using QOSRequestedIncompatibleQoSCallbackType =
-  std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
-
-using IncompatibleTypeCallbackType = std::function<void (IncompatibleTypeInfo &)>;
-using PublisherMatchedCallbackType = std::function<void (MatchedInfo &)>;
-using SubscriptionMatchedCallbackType = std::function<void (MatchedInfo &)>;
-
-/// Contains callbacks for various types of events a Publisher can receive from the middleware.
-struct PublisherEventCallbacks
-{
-  QOSDeadlineOfferedCallbackType deadline_callback;
-  QOSLivelinessLostCallbackType liveliness_callback;
-  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_callback;
-  IncompatibleTypeCallbackType incompatible_type_callback;
-  PublisherMatchedCallbackType matched_callback;
-};
-
-/// Contains callbacks for non-message events that a Subscription can receive from the middleware.
-struct SubscriptionEventCallbacks
-{
-  QOSDeadlineRequestedCallbackType deadline_callback;
-  QOSLivelinessChangedCallbackType liveliness_callback;
-  QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
-  QOSMessageLostCallbackType message_lost_callback;
-  IncompatibleTypeCallbackType incompatible_type_callback;
-  SubscriptionMatchedCallbackType matched_callback;
-};
-
-class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error
-{
-public:
-  RCLCPP_PUBLIC
-  UnsupportedEventTypeException(
-    rcl_ret_t ret,
-    const rcl_error_state_t * error_state,
-    const std::string & prefix);
-
-  RCLCPP_PUBLIC
-  UnsupportedEventTypeException(
-    const exceptions::RCLErrorBase & base_exc,
-    const std::string & prefix);
-};
-
-class EventHandlerBase : public Waitable
-{
-public:
-  enum class EntityType : std::size_t
-  {
-    Event,
-  };
-
-  RCLCPP_PUBLIC
-  virtual ~EventHandlerBase();
-
-  /// Get the number of ready events
-  RCLCPP_PUBLIC
-  size_t
-  get_number_of_ready_events() override;
-
-  /// Add the Waitable to a wait set.
-  RCLCPP_PUBLIC
-  void
-  add_to_wait_set(rcl_wait_set_t * wait_set) override;
-
-  /// Check if the Waitable is ready.
-  RCLCPP_PUBLIC
-  bool
-  is_ready(rcl_wait_set_t * wait_set) override;
-
-  /// Set a callback to be called when each new event instance occurs.
-  /**
-   * The callback receives a size_t which is the number of events that occurred
-   * since the last time this callback was called.
-   * Normally this is 1, but can be > 1 if events occurred before any
-   * callback was set.
-   *
-   * The callback also receives an int identifier argument.
-   * This is needed because a Waitable may be composed of several distinct entities,
-   * such as subscriptions, services, etc.
-   * The application should provide a generic callback function that will be then
-   * forwarded by the waitable to all of its entities.
-   * Before forwarding, a different value for the identifier argument will be
-   * bond to the function.
-   * This implies that the provided callback can use the identifier to behave
-   * differently depending on which entity triggered the waitable to become ready.
-   *
-   * Since this callback is called from the middleware, you should aim to make
-   * it fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread, otherwise you risk blocking the middleware.
-   *
-   * Calling it again will clear any previously set callback.
-   *
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback, like the qos event
-   * or other information, you may use a lambda with captures or std::bind.
-   *
-   * \sa rmw_event_set_callback
-   * \sa rcl_event_set_callback
-   *
-   * \param[in] callback functor to be called when a new event occurs
-   */
-  void
-  set_on_ready_callback(std::function<void(size_t, int)> callback) override
-  {
-    if (!callback) {
-      throw std::invalid_argument(
-              "The callback passed to set_on_ready_callback "
-              "is not callable.");
-    }
-
-    // Note: we bind the int identifier argument to this waitable's entity types
-    auto new_callback =
-      [callback, this](size_t number_of_events) {
-        try {
-          callback(number_of_events, static_cast<int>(EntityType::Event));
-        } catch (const std::exception & exception) {
-          RCLCPP_ERROR_STREAM(
-            // TODO(wjwwood): get this class access to the node logger it is associated with
-            rclcpp::get_logger("rclcpp"),
-            "rclcpp::EventHandlerBase@" << this <<
-              " caught " << rmw::impl::cpp::demangle(exception) <<
-              " exception in user-provided callback for the 'on ready' callback: " <<
-              exception.what());
-        } catch (...) {
-          RCLCPP_ERROR_STREAM(
-            rclcpp::get_logger("rclcpp"),
-            "rclcpp::EventHandlerBase@" << this <<
-              " caught unhandled exception in user-provided callback " <<
-              "for the 'on ready' callback");
-        }
-      };
-
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-    // Set it temporarily to the new callback, while we replace the old one.
-    // This two-step setting, prevents a gap where the old std::function has
-    // been replaced but the middleware hasn't been told about the new one yet.
-    set_on_new_event_callback(
-      rclcpp::detail::cpp_callback_trampoline<decltype(new_callback), const void *, size_t>,
-      static_cast<const void *>(&new_callback));
-
-    // Store the std::function to keep it in scope, also overwrites the existing one.
-    on_new_event_callback_ = new_callback;
-
-    // Set it again, now using the permanent storage.
-    set_on_new_event_callback(
-      rclcpp::detail::cpp_callback_trampoline<
-        decltype(on_new_event_callback_), const void *, size_t>,
-      static_cast<const void *>(&on_new_event_callback_));
-  }
-
-  /// Unset the callback registered for new events, if any.
-  void
-  clear_on_ready_callback() override
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    if (on_new_event_callback_) {
-      set_on_new_event_callback(nullptr, nullptr);
-      on_new_event_callback_ = nullptr;
-    }
-  }
-
-protected:
-  RCLCPP_PUBLIC
-  void
-  set_on_new_event_callback(rcl_event_callback_t callback, const void * user_data);
-
-  std::recursive_mutex callback_mutex_;
-  std::function<void(size_t)> on_new_event_callback_{nullptr};
-
-  rcl_event_t event_handle_;
-  size_t wait_set_event_index_;
-};
-
-using QOSEventHandlerBase [[deprecated("Use rclcpp::EventHandlerBase")]] = EventHandlerBase;
-
-template<typename EventCallbackT, typename ParentHandleT>
-class EventHandler : public EventHandlerBase
-{
-public:
-  template<typename InitFuncT, typename EventTypeEnum>
-  EventHandler(
-    const EventCallbackT & callback,
-    InitFuncT init_func,
-    ParentHandleT parent_handle,
-    EventTypeEnum event_type)
-  : parent_handle_(parent_handle), event_callback_(callback)
-  {
-    event_handle_ = rcl_get_zero_initialized_event();
-    rcl_ret_t ret = init_func(&event_handle_, parent_handle.get(), event_type);
-    if (ret != RCL_RET_OK) {
-      if (ret == RCL_RET_UNSUPPORTED) {
-        UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event");
-        rcl_reset_error();
-        throw exc;
-      } else {
-        rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to initialize event");
-      }
-    }
-  }
-
-  /// Take data so that the callback cannot be scheduled again
-  std::shared_ptr<void>
-  take_data() override
-  {
-    EventCallbackInfoT callback_info;
-    rcl_ret_t ret = rcl_take_event(&event_handle_, &callback_info);
-    if (ret != RCL_RET_OK) {
-      RCUTILS_LOG_ERROR_NAMED(
-        "rclcpp",
-        "Couldn't take event info: %s", rcl_get_error_string().str);
-      return nullptr;
-    }
-    return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
-  }
-
-  std::shared_ptr<void>
-  take_data_by_entity_id(size_t id) override
-  {
-    (void)id;
-    return take_data();
-  }
-
-  /// Execute any entities of the Waitable that are ready.
-  void
-  execute(std::shared_ptr<void> & data) override
-  {
-    if (!data) {
-      throw std::runtime_error("'data' is empty");
-    }
-    auto callback_ptr = std::static_pointer_cast<EventCallbackInfoT>(data);
-    event_callback_(*callback_ptr);
-    callback_ptr.reset();
-  }
-
-private:
-  using EventCallbackInfoT = typename std::remove_reference<typename
-      rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
-
-  ParentHandleT parent_handle_;
-  EventCallbackT event_callback_;
-};
-
-template<typename EventCallbackT, typename ParentHandleT>
-using QOSEventHandler [[deprecated("Use rclcpp::EventHandler")]] = EventHandler<EventCallbackT,
-    ParentHandleT>;
-
-}  // namespace rclcpp
-
-#endif  // RCLCPP__EVENT_HANDLER_HPP_

rclcpp/include/rclcpp/executor.hpp

@@ -315,16 +315,6 @@ public:
   virtual void
   spin_all(std::chrono::nanoseconds max_duration);
 
-
-  /// Collect work once and execute the next available work, optionally within a duration.
-  /**
-   * This function can be overridden.  The default implementation is suitable for
-   * a single-thread model of execution.
-   * Adding subscriptions, timers, services, etc. with blocking callbacks will cause this function
-   * to block (which may have unintended consequences).
-   * \param[in] timeout The maximum amount of time to spend waiting for work.
-   *   `-1` is potentially block forever waiting for work.
-   */
   RCLCPP_PUBLIC
   virtual void
   spin_once(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
@@ -423,29 +413,12 @@ public:
   is_spinning();
 
 protected:
-  /// Add a node to executor, execute the next available unit of work, and remove the node.
-  /**
-   * Implementation of spin_node_once using std::chrono::nanoseconds
-   * \param[in] node Shared pointer to the node to add.
-   * \param[in] timeout How long to wait for work to become available. Negative values cause
-   *   spin_node_once to block indefinitely (the default behavior). A timeout of 0 causes this
-   *   function to be non-blocking.
-   */
   RCLCPP_PUBLIC
   void
   spin_node_once_nanoseconds(
     rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node,
     std::chrono::nanoseconds timeout);
 
-  /// Collect work and execute available work, optionally within a duration.
-  /**
-   * Implementation of spin_some and spin_all.
-   * The exhaustive flag controls if the function will re-collect available work within the duration.
-   *
-   * \param[in] max_duration The maximum amount of time to spend executing work, or 0 for no limit.
-   * \param[in] exhaustive when set to true, continue to collect work and execute (spin_all)
-   *                       when set to false, return when all collected work is executed (spin_some)
-   */
   RCLCPP_PUBLIC
   void
   spin_some_impl(std::chrono::nanoseconds max_duration, bool exhaustive);
@@ -460,60 +433,30 @@ protected:
   void
   execute_any_executable(AnyExecutable & any_exec);
 
-  /// Run subscription executable.
-  /**
-   * Do necessary setup and tear-down as well as executing the subscription.
-   * \param[in] subscription Subscription to execute
-   */
   RCLCPP_PUBLIC
   static void
   execute_subscription(
     rclcpp::SubscriptionBase::SharedPtr subscription);
 
-  /// Run timer executable.
-  /**
-   * Do necessary setup and tear-down as well as executing the timer callback.
-   * \param[in] timer Timer to execute
-   */
   RCLCPP_PUBLIC
   static void
   execute_timer(rclcpp::TimerBase::SharedPtr timer);
 
-  /// Run service server executable.
-  /**
-   * Do necessary setup and tear-down as well as executing the service server callback.
-   * \param[in] service Service to execute
-   */
   RCLCPP_PUBLIC
   static void
   execute_service(rclcpp::ServiceBase::SharedPtr service);
 
-  /// Run service client executable.
-  /**
-   * Do necessary setup and tear-down as well as executing the service client callback.
-   * \param[in] service Service to execute
-   */
   RCLCPP_PUBLIC
   static void
   execute_client(rclcpp::ClientBase::SharedPtr client);
 
-  /// Block until more work becomes avilable or timeout is reached.
   /**
-   * Builds a set of waitable entities, which are passed to the middleware.
-   * After building wait set, waits on middleware to notify.
-   * \param[in] timeout duration to wait for new work to become available.
    * \throws std::runtime_error if the wait set can be cleared
    */
   RCLCPP_PUBLIC
   void
   wait_for_work(std::chrono::nanoseconds timeout = std::chrono::nanoseconds(-1));
 
-  /// Find node associated with a callback group
-  /**
-   * \param[in] weak_groups_to_nodes map of callback groups to nodes
-   * \param[in] group callback group to find assocatiated node
-   * \return Pointer to associated node if found, else nullptr
-   */
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
   get_node_by_group(
@@ -532,11 +475,6 @@ protected:
     const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_ptr,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) const;
 
-  /// Find the callback group associated with a timer
-  /**
-   * \param[in] timer Timer to find associated callback group
-   * \return Pointer to callback group node if found, else nullptr
-   */
   RCLCPP_PUBLIC
   rclcpp::CallbackGroup::SharedPtr
   get_group_by_timer(rclcpp::TimerBase::SharedPtr timer);
@@ -564,54 +502,16 @@ protected:
     WeakCallbackGroupsToNodesMap & weak_groups_to_nodes,
     bool notify = true) RCPPUTILS_TSA_REQUIRES(mutex_);
 
-  /// Check for executable in ready state and populate union structure.
-  /**
-   * \param[out] any_executable populated union structure of ready executable
-   * \return true if an executable was ready and any_executable was populated,
-   *   otherwise false
-   */
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable(AnyExecutable & any_executable);
 
-  /// Check for executable in ready state and populate union structure.
-  /**
-   * This is the implementation of get_next_ready_executable that takes into
-   * account the current state of callback groups' association with nodes and
-   * executors.
-   *
-   * This checks in a particular order for available work:
-   *   * Timers
-   *   * Subscriptions
-   *   * Services
-   *   * Clients
-   *   * Waitable
-   *
-   * If the next executable is not associated with this executor/node pair,
-   * then this method will return false.
-   *
-   * \param[out] any_executable populated union structure of ready executable
-   * \param[in] weak_groups_to_nodes mapping of callback groups to nodes
-   * \return true if an executable was ready and any_executable was populated,
-   *   otherwise false
-   */
   RCLCPP_PUBLIC
   bool
   get_next_ready_executable_from_map(
     AnyExecutable & any_executable,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes);
 
-  /// Wait for executable in ready state and populate union structure.
-  /**
-   * If an executable is ready, it will return immediately, otherwise
-   * block based on the timeout for work to become ready.
-   *
-   * \param[out] any_executable populated union structure of ready executable
-   * \param[in] timeout duration of time to wait for work, a negative value
-   *   (the defualt behavior), will make this function block indefinitely
-   * \return true if an executable was ready and any_executable was populated,
-   *   otherwise false
-   */
   RCLCPP_PUBLIC
   bool
   get_next_executable(
@@ -660,20 +560,11 @@ protected:
   virtual void
   spin_once_impl(std::chrono::nanoseconds timeout);
 
-  typedef std::map<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr,
-      const rclcpp::GuardCondition *,
-      std::owner_less<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>>
-    WeakNodesToGuardConditionsMap;
-
   typedef std::map<rclcpp::CallbackGroup::WeakPtr,
       const rclcpp::GuardCondition *,
       std::owner_less<rclcpp::CallbackGroup::WeakPtr>>
     WeakCallbackGroupsToGuardConditionsMap;
 
-  /// maps nodes to guard conditions
-  WeakNodesToGuardConditionsMap
-  weak_nodes_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);
-
   /// maps callback groups to guard conditions
   WeakCallbackGroupsToGuardConditionsMap
   weak_groups_to_guard_conditions_ RCPPUTILS_TSA_GUARDED_BY(mutex_);

rclcpp/include/rclcpp/experimental/buffers/ring_buffer_implementation.hpp

@@ -86,7 +86,8 @@ public:
     std::lock_guard<std::mutex> lock(mutex_);
 
     if (!has_data_()) {
-      return BufferT();
+      RCLCPP_ERROR(rclcpp::get_logger("rclcpp"), "Calling dequeue on empty intra-process buffer");
+      throw std::runtime_error("Calling dequeue on empty intra-process buffer");
     }
 
     auto request = std::move(ring_buffer_[read_index_]);

rclcpp/include/rclcpp/experimental/intra_process_manager.hpp

@@ -454,8 +454,6 @@ private:
         if (std::next(it) == subscription_ids.end()) {
           // If this is the last subscription, give up ownership
           subscription->provide_intra_process_data(std::move(message));
-          // Last message delivered, break from for loop
-          break;
         } else {
           // Copy the message since we have additional subscriptions to serve
           Deleter deleter = message.get_deleter();
@@ -495,8 +493,6 @@ private:
           if (std::next(it) == subscription_ids.end()) {
             // If this is the last subscription, give up ownership
             ros_message_subscription->provide_intra_process_message(std::move(message));
-            // Last message delivered, break from for loop
-            break;
           } else {
             // Copy the message since we have additional subscriptions to serve
             Deleter deleter = message.get_deleter();

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

@@ -109,14 +109,8 @@ public:
 
     if (any_callback_.use_take_shared_method()) {
       shared_msg = this->buffer_->consume_shared();
-      if (!shared_msg) {
-        return nullptr;
-      }
     } else {
       unique_msg = this->buffer_->consume_unique();
-      if (!unique_msg) {
-        return nullptr;
-      }
     }
     return std::static_pointer_cast<void>(
       std::make_shared<std::pair<ConstMessageSharedPtr, MessageUniquePtr>>(
@@ -144,7 +138,7 @@ protected:
   execute_impl(std::shared_ptr<void> & data)
   {
     if (!data) {
-      return;
+      throw std::runtime_error("'data' is empty");
     }
 
     rmw_message_info_t msg_info;

rclcpp/include/rclcpp/generic_publisher.hpp

@@ -78,12 +78,38 @@ public:
       node_base,
       topic_name,
       *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
-      options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos),
-      // NOTE(methylDragon): Passing these args separately is necessary for event binding
-      options.event_callbacks,
-      options.use_default_callbacks),
+      options.template to_rcl_publisher_options<rclcpp::SerializedMessage>(qos)),
     ts_lib_(ts_lib)
-  {}
+  {
+    // This is unfortunately duplicated with the code in publisher.hpp.
+    // TODO(nnmm): Deduplicate by moving this into PublisherBase.
+    if (options.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options.event_callbacks.deadline_callback,
+        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+    }
+    if (options.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options.event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
+    if (options.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options.event_callbacks.incompatible_qos_callback,
+        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+    } else if (options.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSOfferedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        // pass
+      }
+    }
+  }
 
   RCLCPP_PUBLIC
   virtual ~GenericPublisher() = default;

rclcpp/include/rclcpp/generic_subscription.hpp

@@ -81,13 +81,45 @@ public:
       node_base,
       *rclcpp::get_typesupport_handle(topic_type, "rosidl_typesupport_cpp", *ts_lib),
       topic_name,
-      options.to_rcl_subscription_options(qos),
-      options.event_callbacks,
-      options.use_default_callbacks,
-      SubscriptionType::SERIALIZED_MESSAGE),
+      options.template to_rcl_subscription_options<rclcpp::SerializedMessage>(qos),
+      true),
     callback_(callback),
     ts_lib_(ts_lib)
-  {}
+  {
+    // This is unfortunately duplicated with the code in subscription.hpp.
+    // TODO(nnmm): Deduplicate by moving this into SubscriptionBase.
+    if (options.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options.event_callbacks.deadline_callback,
+        RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
+    }
+    if (options.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options.event_callbacks.liveliness_callback,
+        RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
+    }
+    if (options.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options.event_callbacks.incompatible_qos_callback,
+        RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+    } else if (options.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSRequestedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        // pass
+      }
+    }
+    if (options.event_callbacks.message_lost_callback) {
+      this->add_event_handler(
+        options.event_callbacks.message_lost_callback,
+        RCL_SUBSCRIPTION_MESSAGE_LOST);
+    }
+  }
 
   RCLCPP_PUBLIC
   virtual ~GenericSubscription() = default;
@@ -123,32 +155,6 @@ 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

@@ -17,7 +17,6 @@
 
 #include <memory>
 #include <string>
-#include <utility>
 
 #include "rclcpp/visibility_control.hpp"
 
@@ -123,7 +122,6 @@ private:
   : name_(new std::string(name)) {}
 
   std::shared_ptr<const std::string> name_;
-  std::shared_ptr<std::pair<std::string, std::string>> logger_sublogger_pairname_ = nullptr;
 
 public:
   RCLCPP_PUBLIC
@@ -159,7 +157,13 @@ public:
    */
   RCLCPP_PUBLIC
   Logger
-  get_child(const std::string & suffix);
+  get_child(const std::string & suffix)
+  {
+    if (!name_) {
+      return Logger();
+    }
+    return Logger(*name_ + "." + suffix);
+  }
 
   /// Set level for current logger.
   /**
@@ -170,24 +174,6 @@ 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/node.hpp

@@ -777,7 +777,7 @@ public:
    */
   RCLCPP_PUBLIC
   bool
-  get_parameter(const std::string & name, rclcpp::Parameter & parameter) const;
+  get_parameter(const std::string & name, rclcpp::Parameter & parameter) const noexcept;
 
   /// Get the value of a parameter by the given name, and return true if it was set.
   /**

rclcpp/include/rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp

@@ -1,208 +0,0 @@
-// 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__NODE_INTERFACES__DETAIL__NODE_INTERFACES_HELPERS_HPP_
-#define RCLCPP__NODE_INTERFACES__DETAIL__NODE_INTERFACES_HELPERS_HPP_
-
-#include <memory>
-#include <tuple>
-#include <type_traits>
-#include <utility>
-
-#include "rclcpp/visibility_control.hpp"
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-namespace detail
-{
-
-// Support and Helper template classes for the NodeInterfaces class.
-
-template<typename NodeT, typename ... Ts>
-std::tuple<std::shared_ptr<Ts>...>
-init_tuple(NodeT & n);
-
-/// Stores the interfaces in a tuple, provides constructors, and getters.
-template<typename ... InterfaceTs>
-struct NodeInterfacesStorage
-{
-  template<typename NodeT>
-  NodeInterfacesStorage(NodeT & node)  // NOLINT(runtime/explicit)
-  : interfaces_(init_tuple<decltype(node), InterfaceTs ...>(node))
-  {}
-
-  NodeInterfacesStorage()
-  : interfaces_()
-  {}
-
-  explicit NodeInterfacesStorage(std::shared_ptr<InterfaceTs>... args)
-  : interfaces_(args ...)
-  {}
-
-  /// Individual Node Interface non-const getter.
-  template<typename NodeInterfaceT>
-  std::shared_ptr<NodeInterfaceT>
-  get()
-  {
-    static_assert(
-      (std::is_same_v<NodeInterfaceT, InterfaceTs>|| ...),
-      "NodeInterfaces class does not contain given NodeInterfaceT");
-    return std::get<std::shared_ptr<NodeInterfaceT>>(interfaces_);
-  }
-
-  /// Individual Node Interface const getter.
-  template<typename NodeInterfaceT>
-  std::shared_ptr<const NodeInterfaceT>
-  get() const
-  {
-    static_assert(
-      (std::is_same_v<NodeInterfaceT, InterfaceTs>|| ...),
-      "NodeInterfaces class does not contain given NodeInterfaceT");
-    return std::get<std::shared_ptr<NodeInterfaceT>>(interfaces_);
-  }
-
-protected:
-  std::tuple<std::shared_ptr<InterfaceTs>...> interfaces_;
-};
-
-/// Prototype of NodeInterfacesSupports.
-/**
- * Should read NodeInterfacesSupports<..., T, ...> as "NodeInterfaces supports T", and
- * if NodeInterfacesSupport is specialized for T, the is_supported should be
- * set to std::true_type, but by default it is std::false_type, which will
- * lead to a compiler error when trying to use T with NodeInterfaces.
- */
-template<typename StorageClassT, typename ... Ts>
-struct NodeInterfacesSupports;
-
-/// Prototype of NodeInterfacesSupportCheck template meta-function.
-/**
- * This meta-function checks that all the types given are supported,
- * throwing a more human-readable error if an unsupported type is used.
- */
-template<typename StorageClassT, typename ... InterfaceTs>
-struct NodeInterfacesSupportCheck;
-
-/// Iterating specialization that ensures classes are supported and inherited.
-template<typename StorageClassT, typename NextInterfaceT, typename ... RemainingInterfaceTs>
-struct NodeInterfacesSupportCheck<StorageClassT, NextInterfaceT, RemainingInterfaceTs ...>
-  : public NodeInterfacesSupportCheck<StorageClassT, RemainingInterfaceTs ...>
-{
-  static_assert(
-    NodeInterfacesSupports<StorageClassT, NextInterfaceT>::is_supported::value,
-    "given NodeInterfaceT is not supported by rclcpp::node_interfaces::NodeInterfaces");
-};
-
-/// Terminating case when there are no more "RemainingInterfaceTs".
-template<typename StorageClassT>
-struct NodeInterfacesSupportCheck<StorageClassT>
-{};
-
-/// Default specialization, needs to be specialized for each supported interface.
-template<typename StorageClassT, typename ... RemainingInterfaceTs>
-struct NodeInterfacesSupports
-{
-  // Specializations need to set this to std::true_type in addition to other interfaces.
-  using is_supported = std::false_type;
-};
-
-/// Terminating specialization of NodeInterfacesSupports.
-template<typename StorageClassT>
-struct NodeInterfacesSupports<StorageClassT>
-  : public StorageClassT
-{
-  /// Perfect forwarding constructor to get arguments down to StorageClassT.
-  template<typename ... ArgsT>
-  explicit NodeInterfacesSupports(ArgsT && ... args)
-  : StorageClassT(std::forward<ArgsT>(args) ...)
-  {}
-};
-
-// Helper functions to initialize the tuple in NodeInterfaces.
-
-template<typename StorageClassT, typename ElementT, typename TupleT, typename NodeT>
-void
-init_element(TupleT & t, NodeT & n)
-{
-  std::get<std::shared_ptr<ElementT>>(t) =
-    NodeInterfacesSupports<StorageClassT, ElementT>::get_from_node_like(n);
-}
-
-template<typename NodeT, typename ... Ts>
-std::tuple<std::shared_ptr<Ts>...>
-init_tuple(NodeT & n)
-{
-  using StorageClassT = NodeInterfacesStorage<Ts ...>;
-  std::tuple<std::shared_ptr<Ts>...> t;
-  (init_element<StorageClassT, Ts>(t, n), ...);
-  return t;
-}
-
-/// Macro for creating specializations with less boilerplate.
-/**
- * You can use this macro to add support for your interface class if:
- *
- * - The standard getter is get_node_{NodeInterfaceName}_interface(), and
- * - the getter returns a non-const shared_ptr<{NodeInterfaceType}>
- *
- * Examples of using this can be seen in the standard node interface headers
- * in rclcpp, e.g. rclcpp/node_interfaces/node_base_interface.hpp has:
- *
- *   RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeBaseInterface, base)
- *
- * If your interface has a non-standard getter, or you want to instrument it or
- * something like that, then you'll need to create your own specialization of
- * the NodeInterfacesSupports struct without this macro.
- */
-#define RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(NodeInterfaceType, NodeInterfaceName) \
-  namespace rclcpp::node_interfaces::detail { \
-  template<typename StorageClassT, typename ... RemainingInterfaceTs> \
-  struct NodeInterfacesSupports< \
-    StorageClassT, \
-    NodeInterfaceType, \
-    RemainingInterfaceTs ...> \
-    : public NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...> \
-  { \
-    using is_supported = std::true_type; \
- \
-    template<typename NodeT> \
-    static \
-    std::shared_ptr<NodeInterfaceType> \
-    get_from_node_like(NodeT & node_like) \
-    { \
-      return node_like.get_node_ ## NodeInterfaceName ## _interface(); \
-    } \
- \
-    /* Perfect forwarding constructor to get arguments down to StorageClassT (eventually). */ \
-    template<typename ... ArgsT> \
-    explicit NodeInterfacesSupports(ArgsT && ... args) \
-      : NodeInterfacesSupports<StorageClassT, RemainingInterfaceTs ...>( \
-        std::forward<ArgsT>(args) ...) \
-    {} \
- \
-    std::shared_ptr<NodeInterfaceType> \
-    get_node_ ## NodeInterfaceName ## _interface() \
-    { \
-      return StorageClassT::template get<NodeInterfaceType>(); \
-    } \
-  }; \
-  }  // namespace rclcpp::node_interfaces::detail
-
-}  // namespace detail
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__DETAIL__NODE_INTERFACES_HELPERS_HPP_

rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp

@@ -26,7 +26,6 @@
 #include "rclcpp/context.hpp"
 #include "rclcpp/guard_condition.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -178,6 +177,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeBaseInterface, base)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_BASE_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_clock.hpp

@@ -15,7 +15,6 @@
 #ifndef RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
 #define RCLCPP__NODE_INTERFACES__NODE_CLOCK_HPP_
 
-#include "rcl/time.h"
 #include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
@@ -43,8 +42,7 @@ public:
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
     rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
-    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
-    rcl_clock_type_t clock_type);
+    rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging);
 
   RCLCPP_PUBLIC
   virtual
@@ -69,7 +67,7 @@ private:
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services_;
   rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging_;
 
-  rclcpp::Clock::SharedPtr clock_;
+  rclcpp::Clock::SharedPtr ros_clock_;
 };
 
 }  // namespace node_interfaces

rclcpp/include/rclcpp/node_interfaces/node_clock_interface.hpp

@@ -17,7 +17,6 @@
 
 #include "rclcpp/clock.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -51,6 +50,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeClockInterface, clock)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_CLOCK_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

@@ -29,7 +29,6 @@
 
 #include "rclcpp/event.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -383,6 +382,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeGraphInterface, graph)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_GRAPH_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp

@@ -1,164 +0,0 @@
-// 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__NODE_INTERFACES__NODE_INTERFACES_HPP_
-#define RCLCPP__NODE_INTERFACES__NODE_INTERFACES_HPP_
-
-#include <memory>
-
-#include "rclcpp/detail/template_unique.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
-
-#define ALL_RCLCPP_NODE_INTERFACES \
-  rclcpp::node_interfaces::NodeBaseInterface, \
-  rclcpp::node_interfaces::NodeClockInterface, \
-  rclcpp::node_interfaces::NodeGraphInterface, \
-  rclcpp::node_interfaces::NodeLoggingInterface, \
-  rclcpp::node_interfaces::NodeParametersInterface, \
-  rclcpp::node_interfaces::NodeServicesInterface, \
-  rclcpp::node_interfaces::NodeTimeSourceInterface, \
-  rclcpp::node_interfaces::NodeTimersInterface, \
-  rclcpp::node_interfaces::NodeTopicsInterface, \
-  rclcpp::node_interfaces::NodeWaitablesInterface
-
-
-namespace rclcpp
-{
-namespace node_interfaces
-{
-
-
-/// A helper class for aggregating node interfaces.
-template<typename ... InterfaceTs>
-class NodeInterfaces
-  : public detail::NodeInterfacesSupportCheck<
-    detail::NodeInterfacesStorage<InterfaceTs ...>,
-    InterfaceTs ...
-  >,
-  public detail::NodeInterfacesSupports<
-    detail::NodeInterfacesStorage<InterfaceTs ...>,
-    InterfaceTs ...
-  >
-{
-  static_assert(
-    0 != sizeof ...(InterfaceTs),
-    "must provide at least one interface as a template argument");
-  static_assert(
-    rclcpp::detail::template_unique_v<InterfaceTs ...>,
-    "must provide unique template parameters");
-
-  using NodeInterfacesSupportsT = detail::NodeInterfacesSupports<
-    detail::NodeInterfacesStorage<InterfaceTs ...>,
-    InterfaceTs ...
-  >;
-
-public:
-  /// Create a new NodeInterfaces object using the given node-like object's interfaces.
-  /**
-   * Specify which interfaces you need by passing them as template parameters.
-   *
-   * This allows you to aggregate interfaces from different sources together to pass as a single
-   * aggregate object to any functions that take node interfaces or node-likes, without needing to
-   * templatize that function.
-   *
-   * You may also use this constructor to create a NodeInterfaces that contains a subset of
-   * another NodeInterfaces' interfaces.
-   *
-   * Finally, this class supports implicit conversion from node-like objects, allowing you to
-   * directly pass a node-like to a function that takes a NodeInterfaces object.
-   *
-   * Usage examples:
-   *   ```cpp
-   *   // Suppose we have some function:
-   *   void fn(NodeInterfaces<NodeBaseInterface, NodeClockInterface> interfaces);
-   *
-   *   // Then we can, explicitly:
-   *   rclcpp::Node node("some_node");
-   *   auto ni = NodeInterfaces<NodeBaseInterface, NodeClockInterface>(node);
-   *   fn(ni);
-   *
-   *   // But also:
-   *   fn(node);
-   *
-   *   // Subsetting a NodeInterfaces object also works!
-   *   auto ni_base = NodeInterfaces<NodeBaseInterface>(ni);
-   *
-   *   // Or aggregate them (you could aggregate interfaces from disparate node-likes)
-   *   auto ni_aggregated = NodeInterfaces<NodeBaseInterface, NodeClockInterface>(
-   *     node->get_node_base_interface(),
-   *     node->get_node_clock_interface()
-   *   )
-   *
-   *   // And then to access the interfaces:
-   *   // Get with get<>
-   *   auto base = ni.get<NodeBaseInterface>();
-   *
-   *   // Or the appropriate getter
-   *   auto clock = ni.get_clock_interface();
-   *   ```
-   *
-   * You may use any of the standard node interfaces that come with rclcpp:
-   *   - rclcpp::node_interfaces::NodeBaseInterface
-   *   - rclcpp::node_interfaces::NodeClockInterface
-   *   - rclcpp::node_interfaces::NodeGraphInterface
-   *   - rclcpp::node_interfaces::NodeLoggingInterface
-   *   - rclcpp::node_interfaces::NodeParametersInterface
-   *   - rclcpp::node_interfaces::NodeServicesInterface
-   *   - rclcpp::node_interfaces::NodeTimeSourceInterface
-   *   - rclcpp::node_interfaces::NodeTimersInterface
-   *   - rclcpp::node_interfaces::NodeTopicsInterface
-   *   - rclcpp::node_interfaces::NodeWaitablesInterface
-   *
-   * Or you use custom interfaces as long as you make a template specialization
-   * of the rclcpp::node_interfaces::detail::NodeInterfacesSupport struct using
-   * the RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT macro.
-   *
-   * Usage example:
-   *   ```RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeBaseInterface, base)```
-   *
-   * If you choose not to use the helper macro, then you can specialize the
-   * template yourself, but you must:
-   *
-   *   - Provide a template specialization of the get_from_node_like method that gets the interface
-   *     from any node-like that stores the interface, using the node-like's getter
-   *   - Designate the is_supported type as std::true_type using a using directive
-   *   - Provide any number of getter methods to be used to obtain the interface with the
-   *     NodeInterface object, noting that the getters of the storage class will apply to all
-   *     supported interfaces.
-   *     - The getter method names should not clash in name with any other interface getter
-   *       specializations if those other interfaces are meant to be aggregated in the same
-   *       NodeInterfaces object.
-   *
-   * \param[in] node Node-like object from which to get the node interfaces
-   */
-  template<typename NodeT>
-  NodeInterfaces(NodeT & node)  // NOLINT(runtime/explicit)
-  : NodeInterfacesSupportsT(node)
-  {}
-
-  // Create a NodeInterfaces object with no bound interfaces
-  NodeInterfaces()
-  : NodeInterfacesSupportsT()
-  {}
-
-  explicit NodeInterfaces(std::shared_ptr<InterfaceTs>... args)
-  : NodeInterfacesSupportsT(args ...)
-  {}
-};
-
-
-}  // namespace node_interfaces
-}  // namespace rclcpp
-
-#endif  // RCLCPP__NODE_INTERFACES__NODE_INTERFACES_HPP_

rclcpp/include/rclcpp/node_interfaces/node_logging_interface.hpp

@@ -19,7 +19,6 @@
 
 #include "rclcpp/logger.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -59,6 +58,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeLoggingInterface, logging)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_LOGGING_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -162,7 +162,7 @@ public:
   bool
   get_parameter(
     const std::string & name,
-    rclcpp::Parameter & parameter) const override;
+    rclcpp::Parameter & parameter) const noexcept override;
 
   RCLCPP_PUBLIC
   bool

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -25,7 +25,6 @@
 #include "rcl_interfaces/msg/set_parameters_result.hpp"
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -177,7 +176,7 @@ public:
   bool
   get_parameter(
     const std::string & name,
-    rclcpp::Parameter & parameter) const = 0;
+    rclcpp::Parameter & parameter) const noexcept = 0;
 
   /// Get all parameters that have the specified prefix into the parameters map.
   /*
@@ -277,6 +276,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeParametersInterface, parameters)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_PARAMETERS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_services_interface.hpp

@@ -20,7 +20,6 @@
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/client.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/service.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -63,6 +62,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeServicesInterface, services)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_SERVICES_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_time_source_interface.hpp

@@ -16,7 +16,6 @@
 #define RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_INTERFACE_HPP_
 
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 
 namespace rclcpp
@@ -38,6 +37,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeTimeSourceInterface, time_source)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_TIME_SOURCE_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_timers_interface.hpp

@@ -17,7 +17,6 @@
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/timer.hpp"
 #include "rclcpp/visibility_control.hpp"
 
@@ -48,6 +47,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeTimersInterface, timers)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_TIMERS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_topics_interface.hpp

@@ -22,7 +22,6 @@
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/publisher.hpp"
@@ -96,6 +95,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeTopicsInterface, topics)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_TOPICS_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/node_waitables_interface.hpp

@@ -17,7 +17,6 @@
 
 #include "rclcpp/callback_group.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/node_interfaces/detail/node_interfaces_helpers.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rclcpp/waitable.hpp"
 
@@ -55,6 +54,4 @@ public:
 }  // namespace node_interfaces
 }  // namespace rclcpp
 
-RCLCPP_NODE_INTERFACE_HELPERS_SUPPORT(rclcpp::node_interfaces::NodeWaitablesInterface, waitables)
-
 #endif  // RCLCPP__NODE_INTERFACES__NODE_WAITABLES_INTERFACE_HPP_

rclcpp/include/rclcpp/node_options.hpp

@@ -19,7 +19,6 @@
 #include <string>
 #include <vector>
 
-#include "rcl/time.h"
 #include "rcl/node_options.h"
 #include "rclcpp/context.hpp"
 #include "rclcpp/contexts/default_context.hpp"
@@ -47,7 +46,6 @@ public:
    *   - enable_topic_statistics = false
    *   - start_parameter_services = true
    *   - start_parameter_event_publisher = true
-   *   - clock_type = RCL_ROS_TIME
    *   - clock_qos = rclcpp::ClockQoS()
    *   - use_clock_thread = true
    *   - rosout_qos = rclcpp::RosoutQoS()
@@ -248,19 +246,6 @@ public:
   NodeOptions &
   start_parameter_event_publisher(bool start_parameter_event_publisher);
 
-  /// Return a reference to the clock type.
-  RCLCPP_PUBLIC
-  const rcl_clock_type_t &
-  clock_type() const;
-
-  /// Set the clock type.
-  /**
-   * The clock type to be used by the node.
-   */
-  RCLCPP_PUBLIC
-  NodeOptions &
-  clock_type(const rcl_clock_type_t & clock_type);
-
   /// Return a reference to the clock QoS.
   RCLCPP_PUBLIC
   const rclcpp::QoS &
@@ -415,8 +400,6 @@ private:
 
   bool start_parameter_event_publisher_ {true};
 
-  rcl_clock_type_t clock_type_ {RCL_ROS_TIME};
-
   rclcpp::QoS clock_qos_ = rclcpp::ClockQoS();
 
   bool use_clock_thread_ {true};

rclcpp/include/rclcpp/publisher.hpp

@@ -131,16 +131,40 @@ public:
       node_base,
       topic,
       rclcpp::get_message_type_support_handle<MessageT>(),
-      options.template to_rcl_publisher_options<MessageT>(qos),
-      // NOTE(methylDragon): Passing these args separately is necessary for event binding
-      options.event_callbacks,
-      options.use_default_callbacks),
+      options.template to_rcl_publisher_options<MessageT>(qos)),
     options_(options),
     published_type_allocator_(*options.get_allocator()),
     ros_message_type_allocator_(*options.get_allocator())
   {
     allocator::set_allocator_for_deleter(&published_type_deleter_, &published_type_allocator_);
     allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
+
+    if (options_.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.deadline_callback,
+        RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
+    }
+    if (options_.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.liveliness_callback,
+        RCL_PUBLISHER_LIVELINESS_LOST);
+    }
+    if (options_.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.incompatible_qos_callback,
+        RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+    } else if (options_.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSOfferedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        // pass
+      }
+    }
     // Setup continues in the post construction method, post_init_setup().
   }
 
@@ -381,6 +405,10 @@ public:
     if (!loaned_msg.is_valid()) {
       throw std::runtime_error("loaned message is not valid");
     }
+    if (intra_process_is_enabled_) {
+      // TODO(Karsten1987): support loaned message passed by intraprocess
+      throw std::runtime_error("storing loaned messages in intra process is not supported yet");
+    }
 
     // verify that publisher supports loaned messages
     // TODO(Karsten1987): This case separation has to be done in rclcpp
@@ -394,7 +422,7 @@ public:
     } else {
       // we don't release the ownership, let the middleware copy the ros message
       // and thus the destructor of rclcpp::LoanedMessage cleans up the memory.
-      this->publish(loaned_msg.get());
+      this->do_inter_process_publish(loaned_msg.get());
     }
   }
 

rclcpp/include/rclcpp/publisher_base.hpp

@@ -33,7 +33,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/event_handler.hpp"
+#include "rclcpp/qos_event.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/visibility_control.hpp"
 #include "rcpputils/time.hpp"
@@ -78,18 +78,11 @@ public:
     rclcpp::node_interfaces::NodeBaseInterface * node_base,
     const std::string & topic,
     const rosidl_message_type_support_t & type_support,
-    const rcl_publisher_options_t & publisher_options,
-    const PublisherEventCallbacks & event_callbacks,
-    bool use_default_callbacks);
+    const rcl_publisher_options_t & publisher_options);
 
   RCLCPP_PUBLIC
   virtual ~PublisherBase();
 
-  /// Add event handlers for passed in event_callbacks.
-  RCLCPP_PUBLIC
-  void
-  bind_event_callbacks(const PublisherEventCallbacks & event_callbacks, bool use_default_callbacks);
-
   /// Get the topic that this publisher publishes on.
   /** \return The topic name. */
   RCLCPP_PUBLIC
@@ -124,7 +117,7 @@ public:
   /** \return The map of QoS event handlers. */
   RCLCPP_PUBLIC
   const
-  std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
+  std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() const;
 
   /// Get subscription count
@@ -276,7 +269,7 @@ public:
    * If you want more information available in the callback, like the qos event
    * or other information, you may use a lambda with captures or std::bind.
    *
-   * \sa rclcpp::EventHandlerBase::set_on_ready_callback
+   * \sa rclcpp::QOSEventHandlerBase::set_on_ready_callback
    *
    * \param[in] callback functor to be called when a new event occurs
    * \param[in] event_type identifier for the qos event we want to attach the callback to
@@ -327,7 +320,7 @@ protected:
     const EventCallbackT & callback,
     const rcl_publisher_event_type_t event_type)
   {
-    auto handler = std::make_shared<EventHandler<EventCallbackT,
+    auto handler = std::make_shared<QOSEventHandler<EventCallbackT,
         std::shared_ptr<rcl_publisher_t>>>(
       callback,
       rcl_publisher_event_init,
@@ -339,15 +332,12 @@ protected:
   RCLCPP_PUBLIC
   void default_incompatible_qos_callback(QOSOfferedIncompatibleQoSInfo & info) const;
 
-  RCLCPP_PUBLIC
-  void default_incompatible_type_callback(IncompatibleTypeInfo & info) const;
-
   std::shared_ptr<rcl_node_t> rcl_node_handle_;
 
   std::shared_ptr<rcl_publisher_t> publisher_handle_;
 
   std::unordered_map<rcl_publisher_event_type_t,
-    std::shared_ptr<rclcpp::EventHandlerBase>> event_handlers_;
+    std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
 
   using IntraProcessManagerWeakPtr =
     std::weak_ptr<rclcpp::experimental::IntraProcessManager>;
@@ -358,8 +348,6 @@ protected:
   rmw_gid_t rmw_gid_;
 
   const rosidl_message_type_support_t type_support_;
-
-  const PublisherEventCallbacks event_callbacks_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/publisher_options.hpp

@@ -26,7 +26,7 @@
 #include "rclcpp/detail/rmw_implementation_specific_publisher_payload.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/event_handler.hpp"
+#include "rclcpp/qos_event.hpp"
 #include "rclcpp/qos_overriding_options.hpp"
 
 namespace rclcpp

rclcpp/include/rclcpp/qos.hpp

@@ -80,9 +80,7 @@ struct RCLCPP_PUBLIC QoSInitialization
   size_t depth;
 
   /// Constructor which takes both a history policy and a depth (even if it would be unused).
-  QoSInitialization(
-    rmw_qos_history_policy_t history_policy_arg, size_t depth_arg,
-    bool print_depth_warning = true);
+  QoSInitialization(rmw_qos_history_policy_t history_policy_arg, size_t depth_arg);
 
   /// Create a QoSInitialization from an existing rmw_qos_profile_t, using its history and depth.
   static
@@ -99,7 +97,7 @@ struct RCLCPP_PUBLIC KeepAll : public rclcpp::QoSInitialization
 /// Use to initialize the QoS with the keep_last history setting and the given depth.
 struct RCLCPP_PUBLIC KeepLast : public rclcpp::QoSInitialization
 {
-  explicit KeepLast(size_t depth, bool print_depth_warning = true);
+  explicit KeepLast(size_t depth);
 };
 
 /// Encapsulation of Quality of Service settings.

rclcpp/include/rclcpp/qos_event.hpp

@@ -15,8 +15,277 @@
 #ifndef RCLCPP__QOS_EVENT_HPP_
 #define RCLCPP__QOS_EVENT_HPP_
 
-#warning This header is obsolete, please include rclcpp/event_handler.hpp instead
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <stdexcept>
+#include <string>
 
-#include "rclcpp/event_handler.hpp"
+#include "rcl/error_handling.h"
+#include "rcl/event_callback.h"
+#include "rmw/impl/cpp/demangle.hpp"
+#include "rmw/incompatible_qos_events_statuses.h"
+
+#include "rcutils/logging_macros.h"
+
+#include "rclcpp/detail/cpp_callback_trampoline.hpp"
+#include "rclcpp/exceptions.hpp"
+#include "rclcpp/function_traits.hpp"
+#include "rclcpp/logging.hpp"
+#include "rclcpp/waitable.hpp"
+
+namespace rclcpp
+{
+
+using QOSDeadlineRequestedInfo = rmw_requested_deadline_missed_status_t;
+using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t;
+using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t;
+using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t;
+using QOSMessageLostInfo = rmw_message_lost_status_t;
+using QOSOfferedIncompatibleQoSInfo = rmw_offered_qos_incompatible_event_status_t;
+using QOSRequestedIncompatibleQoSInfo = rmw_requested_qos_incompatible_event_status_t;
+
+using QOSDeadlineRequestedCallbackType = std::function<void (QOSDeadlineRequestedInfo &)>;
+using QOSDeadlineOfferedCallbackType = std::function<void (QOSDeadlineOfferedInfo &)>;
+using QOSLivelinessChangedCallbackType = std::function<void (QOSLivelinessChangedInfo &)>;
+using QOSLivelinessLostCallbackType = std::function<void (QOSLivelinessLostInfo &)>;
+using QOSMessageLostCallbackType = std::function<void (QOSMessageLostInfo &)>;
+using QOSOfferedIncompatibleQoSCallbackType = std::function<void (QOSOfferedIncompatibleQoSInfo &)>;
+using QOSRequestedIncompatibleQoSCallbackType =
+  std::function<void (QOSRequestedIncompatibleQoSInfo &)>;
+
+/// Contains callbacks for various types of events a Publisher can receive from the middleware.
+struct PublisherEventCallbacks
+{
+  QOSDeadlineOfferedCallbackType deadline_callback;
+  QOSLivelinessLostCallbackType liveliness_callback;
+  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_callback;
+};
+
+/// Contains callbacks for non-message events that a Subscription can receive from the middleware.
+struct SubscriptionEventCallbacks
+{
+  QOSDeadlineRequestedCallbackType deadline_callback;
+  QOSLivelinessChangedCallbackType liveliness_callback;
+  QOSRequestedIncompatibleQoSCallbackType incompatible_qos_callback;
+  QOSMessageLostCallbackType message_lost_callback;
+};
+
+class UnsupportedEventTypeException : public exceptions::RCLErrorBase, public std::runtime_error
+{
+public:
+  RCLCPP_PUBLIC
+  UnsupportedEventTypeException(
+    rcl_ret_t ret,
+    const rcl_error_state_t * error_state,
+    const std::string & prefix);
+
+  RCLCPP_PUBLIC
+  UnsupportedEventTypeException(
+    const exceptions::RCLErrorBase & base_exc,
+    const std::string & prefix);
+};
+
+class QOSEventHandlerBase : public Waitable
+{
+public:
+  enum class EntityType : std::size_t
+  {
+    Event,
+  };
+
+  RCLCPP_PUBLIC
+  virtual ~QOSEventHandlerBase();
+
+  /// Get the number of ready events
+  RCLCPP_PUBLIC
+  size_t
+  get_number_of_ready_events() override;
+
+  /// Add the Waitable to a wait set.
+  RCLCPP_PUBLIC
+  void
+  add_to_wait_set(rcl_wait_set_t * wait_set) override;
+
+  /// Check if the Waitable is ready.
+  RCLCPP_PUBLIC
+  bool
+  is_ready(rcl_wait_set_t * wait_set) override;
+
+  /// Set a callback to be called when each new event instance occurs.
+  /**
+   * The callback receives a size_t which is the number of events that occurred
+   * since the last time this callback was called.
+   * Normally this is 1, but can be > 1 if events occurred before any
+   * callback was set.
+   *
+   * The callback also receives an int identifier argument.
+   * This is needed because a Waitable may be composed of several distinct entities,
+   * such as subscriptions, services, etc.
+   * The application should provide a generic callback function that will be then
+   * forwarded by the waitable to all of its entities.
+   * Before forwarding, a different value for the identifier argument will be
+   * bond to the function.
+   * This implies that the provided callback can use the identifier to behave
+   * differently depending on which entity triggered the waitable to become ready.
+   *
+   * Since this callback is called from the middleware, you should aim to make
+   * it fast and not blocking.
+   * If you need to do a lot of work or wait for some other event, you should
+   * spin it off to another thread, otherwise you risk blocking the middleware.
+   *
+   * Calling it again will clear any previously set callback.
+   *
+   * An exception will be thrown if the callback is not callable.
+   *
+   * This function is thread-safe.
+   *
+   * If you want more information available in the callback, like the qos event
+   * or other information, you may use a lambda with captures or std::bind.
+   *
+   * \sa rmw_event_set_callback
+   * \sa rcl_event_set_callback
+   *
+   * \param[in] callback functor to be called when a new event occurs
+   */
+  void
+  set_on_ready_callback(std::function<void(size_t, int)> callback) override
+  {
+    if (!callback) {
+      throw std::invalid_argument(
+              "The callback passed to set_on_ready_callback "
+              "is not callable.");
+    }
+
+    // Note: we bind the int identifier argument to this waitable's entity types
+    auto new_callback =
+      [callback, this](size_t number_of_events) {
+        try {
+          callback(number_of_events, static_cast<int>(EntityType::Event));
+        } catch (const std::exception & exception) {
+          RCLCPP_ERROR_STREAM(
+            // TODO(wjwwood): get this class access to the node logger it is associated with
+            rclcpp::get_logger("rclcpp"),
+            "rclcpp::QOSEventHandlerBase@" << this <<
+              " caught " << rmw::impl::cpp::demangle(exception) <<
+              " exception in user-provided callback for the 'on ready' callback: " <<
+              exception.what());
+        } catch (...) {
+          RCLCPP_ERROR_STREAM(
+            rclcpp::get_logger("rclcpp"),
+            "rclcpp::QOSEventHandlerBase@" << this <<
+              " caught unhandled exception in user-provided callback " <<
+              "for the 'on ready' callback");
+        }
+      };
+
+    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+
+    // Set it temporarily to the new callback, while we replace the old one.
+    // This two-step setting, prevents a gap where the old std::function has
+    // been replaced but the middleware hasn't been told about the new one yet.
+    set_on_new_event_callback(
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
+      static_cast<const void *>(&new_callback));
+
+    // Store the std::function to keep it in scope, also overwrites the existing one.
+    on_new_event_callback_ = new_callback;
+
+    // Set it again, now using the permanent storage.
+    set_on_new_event_callback(
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
+      static_cast<const void *>(&on_new_event_callback_));
+  }
+
+  /// Unset the callback registered for new events, if any.
+  void
+  clear_on_ready_callback() override
+  {
+    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
+    if (on_new_event_callback_) {
+      set_on_new_event_callback(nullptr, nullptr);
+      on_new_event_callback_ = nullptr;
+    }
+  }
+
+protected:
+  RCLCPP_PUBLIC
+  void
+  set_on_new_event_callback(rcl_event_callback_t callback, const void * user_data);
+
+  rcl_event_t event_handle_;
+  size_t wait_set_event_index_;
+  std::recursive_mutex callback_mutex_;
+  std::function<void(size_t)> on_new_event_callback_{nullptr};
+};
+
+template<typename EventCallbackT, typename ParentHandleT>
+class QOSEventHandler : public QOSEventHandlerBase
+{
+public:
+  template<typename InitFuncT, typename EventTypeEnum>
+  QOSEventHandler(
+    const EventCallbackT & callback,
+    InitFuncT init_func,
+    ParentHandleT parent_handle,
+    EventTypeEnum event_type)
+  : parent_handle_(parent_handle), event_callback_(callback)
+  {
+    event_handle_ = rcl_get_zero_initialized_event();
+    rcl_ret_t ret = init_func(&event_handle_, parent_handle.get(), event_type);
+    if (ret != RCL_RET_OK) {
+      if (ret == RCL_RET_UNSUPPORTED) {
+        UnsupportedEventTypeException exc(ret, rcl_get_error_state(), "Failed to initialize event");
+        rcl_reset_error();
+        throw exc;
+      } else {
+        rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to initialize event");
+      }
+    }
+  }
+
+  /// Take data so that the callback cannot be scheduled again
+  std::shared_ptr<void>
+  take_data() override
+  {
+    EventCallbackInfoT callback_info;
+    rcl_ret_t ret = rcl_take_event(&event_handle_, &callback_info);
+    if (ret != RCL_RET_OK) {
+      RCUTILS_LOG_ERROR_NAMED(
+        "rclcpp",
+        "Couldn't take event info: %s", rcl_get_error_string().str);
+      return nullptr;
+    }
+    return std::static_pointer_cast<void>(std::make_shared<EventCallbackInfoT>(callback_info));
+  }
+
+  std::shared_ptr<void>
+  take_data_by_entity_id(size_t id) override
+  {
+    (void)id;
+    return take_data();
+  }
+
+  /// Execute any entities of the Waitable that are ready.
+  void
+  execute(std::shared_ptr<void> & data) override
+  {
+    if (!data) {
+      throw std::runtime_error("'data' is empty");
+    }
+    auto callback_ptr = std::static_pointer_cast<EventCallbackInfoT>(data);
+    event_callback_(*callback_ptr);
+    callback_ptr.reset();
+  }
+
+private:
+  using EventCallbackInfoT = typename std::remove_reference<typename
+      rclcpp::function_traits::function_traits<EventCallbackT>::template argument_type<0>>::type;
+
+  ParentHandleT parent_handle_;
+  EventCallbackT event_callback_;
+};
+
+}  // namespace rclcpp
 
 #endif  // RCLCPP__QOS_EVENT_HPP_

rclcpp/include/rclcpp/rclcpp.hpp

@@ -117,21 +117,6 @@
  * - 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
@@ -182,6 +167,4 @@
 #include "rclcpp/waitable.hpp"
 #include "rclcpp/wait_set.hpp"
 
-#include "rclcpp/dynamic_subscription.hpp"
-
 #endif  // RCLCPP__RCLCPP_HPP_

rclcpp/include/rclcpp/scope_exit.hpp

@@ -0,0 +1,56 @@
+// 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/service.hpp

@@ -26,7 +26,6 @@
 #include "rcl/error_handling.h"
 #include "rcl/event_callback.h"
 #include "rcl/service.h"
-#include "rcl/service_introspection.h"
 
 #include "rmw/error_handling.h"
 #include "rmw/impl/cpp/demangle.hpp"
@@ -35,7 +34,6 @@
 #include "tracetools/tracetools.h"
 
 #include "rclcpp/any_service_callback.hpp"
-#include "rclcpp/clock.hpp"
 #include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/expand_topic_or_service_name.hpp"
@@ -224,7 +222,7 @@ public:
     // This two-step setting, prevents a gap where the old std::function has
     // been replaced but the middleware hasn't been told about the new one yet.
     set_on_new_request_callback(
-      rclcpp::detail::cpp_callback_trampoline<decltype(new_callback), const void *, size_t>,
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
       static_cast<const void *>(&new_callback));
 
     // Store the std::function to keep it in scope, also overwrites the existing one.
@@ -232,8 +230,7 @@ public:
 
     // Set it again, now using the permanent storage.
     set_on_new_request_callback(
-      rclcpp::detail::cpp_callback_trampoline<
-        decltype(on_new_request_callback_), const void *, size_t>,
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
       static_cast<const void *>(&on_new_request_callback_));
   }
 
@@ -310,9 +307,11 @@ public:
     const std::string & service_name,
     AnyServiceCallback<ServiceT> any_callback,
     rcl_service_options_t & service_options)
-  : ServiceBase(node_handle), any_callback_(any_callback),
-    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
+  : ServiceBase(node_handle), any_callback_(any_callback)
   {
+    using rosidl_typesupport_cpp::get_service_type_support_handle;
+    auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
+
     // rcl does the static memory allocation here
     service_handle_ = std::shared_ptr<rcl_service_t>(
       new rcl_service_t, [handle = node_handle_, service_name](rcl_service_t * service)
@@ -331,7 +330,7 @@ public:
     rcl_ret_t ret = rcl_service_init(
       service_handle_.get(),
       node_handle.get(),
-      srv_type_support_handle_,
+      service_type_support_handle,
       service_name.c_str(),
       &service_options);
     if (ret != RCL_RET_OK) {
@@ -371,8 +370,8 @@ public:
     std::shared_ptr<rcl_node_t> node_handle,
     std::shared_ptr<rcl_service_t> service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle), any_callback_(any_callback),
-    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
+  : ServiceBase(node_handle),
+    any_callback_(any_callback)
   {
     // check if service handle was initialized
     if (!rcl_service_is_valid(service_handle.get())) {
@@ -406,8 +405,8 @@ public:
     std::shared_ptr<rcl_node_t> node_handle,
     rcl_service_t * service_handle,
     AnyServiceCallback<ServiceT> any_callback)
-  : ServiceBase(node_handle), any_callback_(any_callback),
-    srv_type_support_handle_(rosidl_typesupport_cpp::get_service_type_support_handle<ServiceT>())
+  : ServiceBase(node_handle),
+    any_callback_(any_callback)
   {
     // check if service handle was initialized
     if (!rcl_service_is_valid(service_handle)) {
@@ -487,39 +486,10 @@ public:
     }
   }
 
-  /// Configure client introspection.
-  /**
-   * \param[in] clock clock to use to generate introspection timestamps
-   * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher
-   * \param[in] introspection_state the state to set introspection to
-   */
-  void
-  configure_introspection(
-    Clock::SharedPtr clock, const QoS & qos_service_event_pub,
-    rcl_service_introspection_state_t introspection_state)
-  {
-    rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
-    pub_opts.qos = qos_service_event_pub.get_rmw_qos_profile();
-
-    rcl_ret_t ret = rcl_service_configure_service_introspection(
-      service_handle_.get(),
-      node_handle_.get(),
-      clock->get_clock_handle(),
-      srv_type_support_handle_,
-      pub_opts,
-      introspection_state);
-
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "failed to configure service introspection");
-    }
-  }
-
 private:
   RCLCPP_DISABLE_COPY(Service)
 
   AnyServiceCallback<ServiceT> any_callback_;
-
-  const rosidl_service_type_support_t * srv_type_support_handle_;
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/strategies/allocator_memory_strategy.hpp

@@ -17,7 +17,6 @@
 
 #include <memory>
 #include <vector>
-#include <utility>
 
 #include "rcl/allocator.h"
 
@@ -121,8 +120,8 @@ public:
       }
     }
     for (size_t i = 0; i < waitable_handles_.size(); ++i) {
-      if (waitable_handles_[i]->is_ready(wait_set)) {
-        waitable_triggered_handles_.emplace_back(std::move(waitable_handles_[i]));
+      if (!waitable_handles_[i]->is_ready(wait_set)) {
+        waitable_handles_[i].reset();
       }
     }
 
@@ -146,7 +145,10 @@ public:
       timer_handles_.end()
     );
 
-    waitable_handles_.clear();
+    waitable_handles_.erase(
+      std::remove(waitable_handles_.begin(), waitable_handles_.end(), nullptr),
+      waitable_handles_.end()
+    );
   }
 
   bool collect_entities(const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
@@ -390,9 +392,8 @@ public:
     rclcpp::AnyExecutable & any_exec,
     const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) override
   {
-    auto & waitable_handles = waitable_triggered_handles_;
-    auto it = waitable_handles.begin();
-    while (it != waitable_handles.end()) {
+    auto it = waitable_handles_.begin();
+    while (it != waitable_handles_.end()) {
       std::shared_ptr<Waitable> & waitable = *it;
       if (waitable) {
         // Find the group for this handle and see if it can be serviced
@@ -400,7 +401,7 @@ public:
         if (!group) {
           // Group was not found, meaning the waitable is not valid...
           // Remove it from the ready list and continue looking
-          it = waitable_handles.erase(it);
+          it = waitable_handles_.erase(it);
           continue;
         }
         if (!group->can_be_taken_from().load()) {
@@ -413,11 +414,11 @@ public:
         any_exec.waitable = waitable;
         any_exec.callback_group = group;
         any_exec.node_base = get_node_by_group(group, weak_groups_to_nodes);
-        waitable_handles.erase(it);
+        waitable_handles_.erase(it);
         return;
       }
       // Else, the waitable is no longer valid, remove it and continue
-      it = waitable_handles.erase(it);
+      it = waitable_handles_.erase(it);
     }
   }
 
@@ -498,8 +499,6 @@ private:
   VectorRebind<std::shared_ptr<const rcl_timer_t>> timer_handles_;
   VectorRebind<std::shared_ptr<Waitable>> waitable_handles_;
 
-  VectorRebind<std::shared_ptr<Waitable>> waitable_triggered_handles_;
-
   std::shared_ptr<VoidAlloc> allocator_;
 };
 

rclcpp/include/rclcpp/subscription.hpp

@@ -140,15 +140,44 @@ public:
       node_base,
       type_support_handle,
       topic_name,
-      options.to_rcl_subscription_options(qos),
-      // NOTE(methylDragon): Passing these args separately is necessary for event binding
-      options.event_callbacks,
-      options.use_default_callbacks,
-      callback.is_serialized_message_callback() ? SubscriptionType::SERIALIZED_MESSAGE : SubscriptionType::ROS_MESSAGE),  // NOLINT
+      options.template to_rcl_subscription_options<ROSMessageType>(qos),
+      callback.is_serialized_message_callback()),
     any_callback_(callback),
     options_(options),
     message_memory_strategy_(message_memory_strategy)
   {
+    if (options_.event_callbacks.deadline_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.deadline_callback,
+        RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
+    }
+    if (options_.event_callbacks.liveliness_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.liveliness_callback,
+        RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
+    }
+    if (options_.event_callbacks.incompatible_qos_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.incompatible_qos_callback,
+        RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+    } else if (options_.use_default_callbacks) {
+      // Register default callback when not specified
+      try {
+        this->add_event_handler(
+          [this](QOSRequestedIncompatibleQoSInfo & info) {
+            this->default_incompatible_qos_callback(info);
+          },
+          RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
+      } catch (UnsupportedEventTypeException & /*exc*/) {
+        // pass
+      }
+    }
+    if (options_.event_callbacks.message_lost_callback) {
+      this->add_event_handler(
+        options_.event_callbacks.message_lost_callback,
+        RCL_SUBSCRIPTION_MESSAGE_LOST);
+    }
+
     // Setup intra process publishing if requested.
     if (rclcpp::detail::resolve_use_intra_process(options_, *node_base)) {
       using rclcpp::detail::resolve_intra_process_buffer_type;
@@ -388,57 +417,6 @@ 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

@@ -31,16 +31,13 @@
 
 #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"
 #include "rclcpp/message_info.hpp"
 #include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/event_handler.hpp"
+#include "rclcpp/qos_event.hpp"
 #include "rclcpp/serialized_message.hpp"
 #include "rclcpp/subscription_content_filter_options.hpp"
 #include "rclcpp/type_support_decl.hpp"
@@ -63,14 +60,6 @@ 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>
@@ -87,7 +76,7 @@ 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] subscription_type Enum flag to change how the message will be received and delivered
+   * \param[in] is_serialized is true if the message will be delivered still serialized
    */
   RCLCPP_PUBLIC
   SubscriptionBase(
@@ -95,20 +84,12 @@ public:
     const rosidl_message_type_support_t & type_support_handle,
     const std::string & topic_name,
     const rcl_subscription_options_t & subscription_options,
-    const SubscriptionEventCallbacks & event_callbacks,
-    bool use_default_callbacks,
-    SubscriptionType subscription_type = SubscriptionType::ROS_MESSAGE);
+    bool is_serialized = false);
 
   /// Destructor.
   RCLCPP_PUBLIC
   virtual ~SubscriptionBase();
 
-  /// Add event handlers for passed in event_callbacks.
-  RCLCPP_PUBLIC
-  void
-  bind_event_callbacks(
-    const SubscriptionEventCallbacks & event_callbacks, bool use_default_callbacks);
-
   /// Get the topic that this subscription is subscribed on.
   RCLCPP_PUBLIC
   const char *
@@ -126,7 +107,7 @@ public:
   /** \return The map of QoS event handlers. */
   RCLCPP_PUBLIC
   const
-  std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
+  std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
   get_event_handlers() const;
 
   /// Get the actual QoS settings, after the defaults have been determined.
@@ -238,13 +219,13 @@ public:
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
-  /// Return the type of the subscription.
+  /// Return if the subscription is serialized
   /**
-   * \return `SubscriptionType`, which adjusts how messages are received and delivered.
+   * \return `true` if the subscription is serialized, `false` otherwise
    */
   RCLCPP_PUBLIC
-  SubscriptionType
-  get_subscription_type() const;
+  bool
+  is_serialized() const;
 
   /// Get matching publisher count.
   /** \return The number of publishers on this topic. */
@@ -367,7 +348,7 @@ public:
     // This two-step setting, prevents a gap where the old std::function has
     // been replaced but the middleware hasn't been told about the new one yet.
     set_on_new_message_callback(
-      rclcpp::detail::cpp_callback_trampoline<decltype(new_callback), const void *, size_t>,
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
       static_cast<const void *>(&new_callback));
 
     // Store the std::function to keep it in scope, also overwrites the existing one.
@@ -375,8 +356,7 @@ public:
 
     // Set it again, now using the permanent storage.
     set_on_new_message_callback(
-      rclcpp::detail::cpp_callback_trampoline<
-        decltype(on_new_message_callback_), const void *, size_t>,
+      rclcpp::detail::cpp_callback_trampoline<const void *, size_t>,
       static_cast<const void *>(&on_new_message_callback_));
   }
 
@@ -468,7 +448,7 @@ public:
    * If you want more information available in the callback, like the qos event
    * or other information, you may use a lambda with captures or std::bind.
    *
-   * \sa rclcpp::EventHandlerBase::set_on_ready_callback
+   * \sa rclcpp::QOSEventHandlerBase::set_on_ready_callback
    *
    * \param[in] callback functor to be called when a new event occurs
    * \param[in] event_type identifier for the qos event we want to attach the callback to
@@ -546,49 +526,6 @@ 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
@@ -596,7 +533,7 @@ protected:
     const EventCallbackT & callback,
     const rcl_subscription_event_type_t event_type)
   {
-    auto handler = std::make_shared<EventHandler<EventCallbackT,
+    auto handler = std::make_shared<QOSEventHandler<EventCallbackT,
         std::shared_ptr<rcl_subscription_t>>>(
       callback,
       rcl_subscription_event_init,
@@ -609,9 +546,6 @@ protected:
   RCLCPP_PUBLIC
   void default_incompatible_qos_callback(QOSRequestedIncompatibleQoSInfo & info) const;
 
-  RCLCPP_PUBLIC
-  void default_incompatible_type_callback(IncompatibleTypeInfo & info) const;
-
   RCLCPP_PUBLIC
   bool
   matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const;
@@ -622,34 +556,28 @@ 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_;
   rclcpp::Logger node_logger_;
 
   std::unordered_map<rcl_subscription_event_type_t,
-    std::shared_ptr<rclcpp::EventHandlerBase>> event_handlers_;
+    std::shared_ptr<rclcpp::QOSEventHandlerBase>> event_handlers_;
 
   bool use_intra_process_;
   IntraProcessManagerWeakPtr weak_ipm_;
   uint64_t intra_process_subscription_id_;
   std::shared_ptr<rclcpp::experimental::SubscriptionIntraProcessBase> subscription_intra_process_;
 
-  const SubscriptionEventCallbacks event_callbacks_;
-
 private:
   RCLCPP_DISABLE_COPY(SubscriptionBase)
 
   rosidl_message_type_support_t type_support_;
-  SubscriptionType subscription_type_;
+  bool is_serialized_;
 
   std::atomic<bool> subscription_in_use_by_wait_set_{false};
   std::atomic<bool> intra_process_subscription_waitable_in_use_by_wait_set_{false};
-  std::unordered_map<rclcpp::EventHandlerBase *,
+  std::unordered_map<rclcpp::QOSEventHandlerBase *,
     std::atomic<bool>> qos_events_in_use_by_wait_set_;
 
   std::recursive_mutex callback_mutex_;

rclcpp/include/rclcpp/subscription_options.hpp

@@ -26,7 +26,7 @@
 #include "rclcpp/intra_process_buffer_type.hpp"
 #include "rclcpp/intra_process_setting.hpp"
 #include "rclcpp/qos.hpp"
-#include "rclcpp/event_handler.hpp"
+#include "rclcpp/qos_event.hpp"
 #include "rclcpp/qos_overriding_options.hpp"
 #include "rclcpp/subscription_content_filter_options.hpp"
 #include "rclcpp/topic_statistics_state.hpp"
@@ -110,6 +110,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
    * \param qos QoS profile for subcription.
    * \return rcl_subscription_options_t structure based on the rclcpp::QoS
    */
+  template<typename MessageT>
   rcl_subscription_options_t
   to_rcl_subscription_options(const rclcpp::QoS & qos) const
   {

rclcpp/include/rclcpp/timer.hpp

@@ -149,48 +149,11 @@ public:
   bool
   exchange_in_use_by_wait_set_state(bool in_use_state);
 
-  /// Set a callback to be called when the timer is reset
-  /**
-   * You should aim to make this callback fast and not blocking.
-   * If you need to do a lot of work or wait for some other event, you should
-   * spin it off to another thread.
-   *
-   * Calling it again will override any previously set callback.
-   * An exception will be thrown if the callback is not callable.
-   *
-   * This function is thread-safe.
-   *
-   * If you want more information available in the callback,
-   * you may use a lambda with captures or std::bind.
-   *
-   * \param[in] callback functor to be called whenever timer is reset
-   */
-  RCLCPP_PUBLIC
-  void
-  set_on_reset_callback(std::function<void(size_t)> callback);
-
-  /// Unset the callback registered for reset timer
-  RCLCPP_PUBLIC
-  void
-  clear_on_reset_callback();
-
 protected:
-  std::recursive_mutex callback_mutex_;
-  // Declare callback before timer_handle_, so on destruction
-  // the callback is destroyed last. Otherwise, the rcl timer
-  // callback would point briefly to a destroyed function.
-  // Clearing the callback on timer destructor also makes sure
-  // the rcl callback is cleared before on_reset_callback_.
-  std::function<void(size_t)> on_reset_callback_{nullptr};
-
   Clock::SharedPtr clock_;
   std::shared_ptr<rcl_timer_t> timer_handle_;
 
   std::atomic<bool> in_use_by_wait_set_{false};
-
-  RCLCPP_PUBLIC
-  void
-  set_on_reset_callback(rcl_event_callback_t callback, const void * user_data);
 };
 
 
@@ -227,16 +190,10 @@ public:
       rclcpp_timer_callback_added,
       static_cast<const void *>(get_timer_handle().get()),
       reinterpret_cast<const void *>(&callback_));
-#ifndef TRACETOOLS_DISABLED
-    if (TRACEPOINT_ENABLED(rclcpp_callback_register)) {
-      char * symbol = tracetools::get_symbol(callback_);
-      DO_TRACEPOINT(
-        rclcpp_callback_register,
-        reinterpret_cast<const void *>(&callback_),
-        symbol);
-      std::free(symbol);
-    }
-#endif
+    TRACEPOINT(
+      rclcpp_callback_register,
+      reinterpret_cast<const void *>(&callback_),
+      tracetools::get_symbol(callback_));
   }
 
   /// Default destructor.

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -516,7 +516,7 @@ public:
    * the waitable to be removed, but it will cause the associated entity pointer
    * to be nullptr when introspecting this waitable after waiting.
    *
-   * Note that rclcpp::EventHandlerBase is just a special case of
+   * Note that rclcpp::QOSEventHandlerBase are just a special case of
    * rclcpp::Waitable and can be added with this function.
    *
    * \param[in] waitable Waitable to be added.

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>19.3.0</version>
+  <version>17.1.0</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
@@ -39,7 +39,6 @@
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>
-  <depend>rosidl_dynamic_typesupport</depend>
   <depend>statistics_msgs</depend>
   <depend>tracetools</depend>
 

rclcpp/resource/logging.hpp.em

@@ -124,7 +124,7 @@ def get_rclcpp_suffix_from_features(features):
 ) \
   do { \
     static_assert( \
-      ::std::is_same<typename std::remove_cv_t<typename std::remove_reference_t<decltype(logger)>>, \
+      ::std::is_same<typename std::remove_cv<typename std::remove_reference<decltype(logger)>::type>::type, \
       typename ::rclcpp::Logger>::value, \
       "First argument to logging macros must be an rclcpp::Logger"); \
 @[ if 'throttle' in feature_combination]@ \

rclcpp/src/rclcpp/client.cpp

@@ -23,11 +23,9 @@
 #include "rcl/graph.h"
 #include "rcl/node.h"
 #include "rcl/wait.h"
-
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/node_interfaces/node_graph_interface.hpp"
-#include "rclcpp/qos.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/logging.hpp"
 
@@ -243,6 +241,7 @@ ClientBase::set_on_new_response_callback(rcl_event_callback_t callback, const vo
     user_data);
 
   if (RCL_RET_OK != ret) {
+    using rclcpp::exceptions::throw_from_rcl_error;
     throw_from_rcl_error(ret, "failed to set the on new response callback for client");
   }
 }

rclcpp/src/rclcpp/clock.cpp

@@ -182,71 +182,6 @@ Clock::sleep_for(Duration rel_time, Context::SharedPtr context)
   return sleep_until(now() + rel_time, context);
 }
 
-bool
-Clock::started()
-{
-  if (!rcl_clock_valid(get_clock_handle())) {
-    throw std::runtime_error("clock is not rcl_clock_valid");
-  }
-  return rcl_clock_time_started(get_clock_handle());
-}
-
-bool
-Clock::wait_until_started(Context::SharedPtr context)
-{
-  if (!context || !context->is_valid()) {
-    throw std::runtime_error("context cannot be slept with because it's invalid");
-  }
-  if (!rcl_clock_valid(get_clock_handle())) {
-    throw std::runtime_error("clock cannot be waited on as it is not rcl_clock_valid");
-  }
-
-  if (started()) {
-    return true;
-  } else {
-    // Wait until the first non-zero time
-    return sleep_until(rclcpp::Time(0, 1, get_clock_type()), context);
-  }
-}
-
-bool
-Clock::wait_until_started(
-  const Duration & timeout,
-  Context::SharedPtr context,
-  const Duration & wait_tick_ns)
-{
-  if (!context || !context->is_valid()) {
-    throw std::runtime_error("context cannot be slept with because it's invalid");
-  }
-  if (!rcl_clock_valid(get_clock_handle())) {
-    throw std::runtime_error("clock cannot be waited on as it is not rcl_clock_valid");
-  }
-
-  Clock timeout_clock = Clock(RCL_STEADY_TIME);
-  Time start = timeout_clock.now();
-
-  // Check if the clock has started every wait_tick_ns nanoseconds
-  // Context check checks for rclcpp::shutdown()
-  while (!started() && context->is_valid()) {
-    if (timeout < wait_tick_ns) {
-      timeout_clock.sleep_for(timeout);
-    } else {
-      Duration time_left = start + timeout - timeout_clock.now();
-      if (time_left > wait_tick_ns) {
-        timeout_clock.sleep_for(Duration(wait_tick_ns));
-      } else {
-        timeout_clock.sleep_for(time_left);
-      }
-    }
-
-    if (timeout_clock.now() - start > timeout) {
-      return started();
-    }
-  }
-  return started();
-}
-
-
 bool
 Clock::ros_time_is_active()
 {

rclcpp/src/rclcpp/context.cpp

@@ -219,7 +219,7 @@ Context::init(
     if (0u == count) {
       ret = rcl_logging_configure_with_output_handler(
         &rcl_context_->global_arguments,
-        rcl_init_options_get_allocator(init_options.get_rcl_init_options()),
+        rcl_init_options_get_allocator(init_options_.get_rcl_init_options()),
         rclcpp_logging_output_handler);
       if (RCL_RET_OK != ret) {
         rcl_context_.reset();
@@ -365,45 +365,49 @@ Context::on_shutdown(OnShutdownCallback callback)
 rclcpp::OnShutdownCallbackHandle
 Context::add_on_shutdown_callback(OnShutdownCallback callback)
 {
-  return add_shutdown_callback<ShutdownType::on_shutdown>(callback);
+  return add_shutdown_callback(ShutdownType::on_shutdown, callback);
 }
 
 bool
 Context::remove_on_shutdown_callback(const OnShutdownCallbackHandle & callback_handle)
 {
-  return remove_shutdown_callback<ShutdownType::on_shutdown>(callback_handle);
+  return remove_shutdown_callback(ShutdownType::on_shutdown, callback_handle);
 }
 
 rclcpp::PreShutdownCallbackHandle
 Context::add_pre_shutdown_callback(PreShutdownCallback callback)
 {
-  return add_shutdown_callback<ShutdownType::pre_shutdown>(callback);
+  return add_shutdown_callback(ShutdownType::pre_shutdown, callback);
 }
 
 bool
 Context::remove_pre_shutdown_callback(
   const PreShutdownCallbackHandle & callback_handle)
 {
-  return remove_shutdown_callback<ShutdownType::pre_shutdown>(callback_handle);
+  return remove_shutdown_callback(ShutdownType::pre_shutdown, callback_handle);
 }
 
-template<Context::ShutdownType shutdown_type>
 rclcpp::ShutdownCallbackHandle
 Context::add_shutdown_callback(
+  ShutdownType shutdown_type,
   ShutdownCallback callback)
 {
   auto callback_shared_ptr =
     std::make_shared<ShutdownCallbackHandle::ShutdownCallbackType>(callback);
 
-  static_assert(
-    shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
-
-  if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    std::lock_guard<std::mutex> lock(pre_shutdown_callbacks_mutex_);
-    pre_shutdown_callbacks_.emplace_back(callback_shared_ptr);
-  } else {
-    std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
-    on_shutdown_callbacks_.emplace_back(callback_shared_ptr);
+  switch (shutdown_type) {
+    case ShutdownType::pre_shutdown:
+      {
+        std::lock_guard<std::mutex> lock(pre_shutdown_callbacks_mutex_);
+        pre_shutdown_callbacks_.emplace(callback_shared_ptr);
+      }
+      break;
+    case ShutdownType::on_shutdown:
+      {
+        std::lock_guard<std::mutex> lock(on_shutdown_callbacks_mutex_);
+        on_shutdown_callbacks_.emplace(callback_shared_ptr);
+      }
+      break;
   }
 
   ShutdownCallbackHandle callback_handle;
@@ -411,74 +415,73 @@ Context::add_shutdown_callback(
   return callback_handle;
 }
 
-template<Context::ShutdownType shutdown_type>
 bool
 Context::remove_shutdown_callback(
+  ShutdownType shutdown_type,
   const ShutdownCallbackHandle & callback_handle)
 {
-  const auto callback_shared_ptr = callback_handle.callback.lock();
+  std::mutex * mutex_ptr = nullptr;
+  std::unordered_set<
+    std::shared_ptr<ShutdownCallbackHandle::ShutdownCallbackType>> * callback_list_ptr;
+
+  switch (shutdown_type) {
+    case ShutdownType::pre_shutdown:
+      mutex_ptr = &pre_shutdown_callbacks_mutex_;
+      callback_list_ptr = &pre_shutdown_callbacks_;
+      break;
+    case ShutdownType::on_shutdown:
+      mutex_ptr = &on_shutdown_callbacks_mutex_;
+      callback_list_ptr = &on_shutdown_callbacks_;
+      break;
+  }
+
+  std::lock_guard<std::mutex> lock(*mutex_ptr);
+  auto callback_shared_ptr = callback_handle.callback.lock();
   if (callback_shared_ptr == nullptr) {
     return false;
   }
-
-  const auto remove_callback = [&callback_shared_ptr](auto & mutex, auto & callback_vector) {
-      const std::lock_guard<std::mutex> lock(mutex);
-      auto iter = callback_vector.begin();
-      for (; iter != callback_vector.end(); iter++) {
-        if ((*iter).get() == callback_shared_ptr.get()) {
-          break;
-        }
-      }
-      if (iter == callback_vector.end()) {
-        return false;
-      }
-      callback_vector.erase(iter);
-      return true;
-    };
-
-  static_assert(
-    shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
-
-  if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return remove_callback(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
-  } else {
-    return remove_callback(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
-  }
+  return callback_list_ptr->erase(callback_shared_ptr) == 1;
 }
 
 std::vector<rclcpp::Context::OnShutdownCallback>
 Context::get_on_shutdown_callbacks() const
 {
-  return get_shutdown_callback<ShutdownType::on_shutdown>();
+  return get_shutdown_callback(ShutdownType::on_shutdown);
 }
 
 std::vector<rclcpp::Context::PreShutdownCallback>
 Context::get_pre_shutdown_callbacks() const
 {
-  return get_shutdown_callback<ShutdownType::pre_shutdown>();
+  return get_shutdown_callback(ShutdownType::pre_shutdown);
 }
 
-template<Context::ShutdownType shutdown_type>
 std::vector<rclcpp::Context::ShutdownCallback>
-Context::get_shutdown_callback() const
+Context::get_shutdown_callback(ShutdownType shutdown_type) const
 {
-  const auto get_callback_vector = [this](auto & mutex, auto & callback_set) {
-      const std::lock_guard<std::mutex> lock(mutex);
-      std::vector<rclcpp::Context::ShutdownCallback> callbacks;
-      for (auto & callback : callback_set) {
-        callbacks.push_back(*callback);
-      }
-      return callbacks;
-    };
+  std::mutex * mutex_ptr = nullptr;
+  const std::unordered_set<
+    std::shared_ptr<ShutdownCallbackHandle::ShutdownCallbackType>> * callback_list_ptr;
 
-  static_assert(
-    shutdown_type == ShutdownType::pre_shutdown || shutdown_type == ShutdownType::on_shutdown);
-
-  if constexpr (shutdown_type == ShutdownType::pre_shutdown) {
-    return get_callback_vector(pre_shutdown_callbacks_mutex_, pre_shutdown_callbacks_);
-  } else {
-    return get_callback_vector(on_shutdown_callbacks_mutex_, on_shutdown_callbacks_);
+  switch (shutdown_type) {
+    case ShutdownType::pre_shutdown:
+      mutex_ptr = &pre_shutdown_callbacks_mutex_;
+      callback_list_ptr = &pre_shutdown_callbacks_;
+      break;
+    case ShutdownType::on_shutdown:
+      mutex_ptr = &on_shutdown_callbacks_mutex_;
+      callback_list_ptr = &on_shutdown_callbacks_;
+      break;
   }
+
+  std::vector<rclcpp::Context::ShutdownCallback> callbacks;
+  {
+    std::lock_guard<std::mutex> lock(*mutex_ptr);
+    for (auto & iter : *callback_list_ptr) {
+      callbacks.emplace_back(*iter);
+    }
+  }
+
+  return callbacks;
 }
 
 std::shared_ptr<rcl_context_t>

rclcpp/src/rclcpp/dynamic_subscription.cpp

@@ -1,113 +0,0 @@
-// 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

@@ -1,769 +0,0 @@
-// 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

@@ -1,281 +0,0 @@
-// 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

@@ -1,614 +0,0 @@
-// 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

@@ -1,317 +0,0 @@
-// 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

@@ -1,98 +0,0 @@
-// 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

@@ -24,7 +24,6 @@
 #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"
@@ -113,12 +112,6 @@ Executor::~Executor()
   }
   weak_groups_to_guard_conditions_.clear();
 
-  for (const auto & pair : weak_nodes_to_guard_conditions_) {
-    auto guard_condition = pair.second;
-    memory_strategy_->remove_guard_condition(guard_condition);
-  }
-  weak_nodes_to_guard_conditions_.clear();
-
   // Finalize the wait set.
   if (rcl_wait_set_fini(&wait_set_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
@@ -281,10 +274,6 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
       }
     });
 
-  const auto & gc = node_ptr->get_notify_guard_condition();
-  weak_nodes_to_guard_conditions_[node_ptr] = &gc;
-  // Add the node's notify condition to the guard condition handles
-  memory_strategy_->add_guard_condition(gc);
   weak_nodes_.push_back(node_ptr);
 }
 
@@ -389,9 +378,6 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
     }
   }
 
-  memory_strategy_->remove_guard_condition(&node_ptr->get_notify_guard_condition());
-  weak_nodes_to_guard_conditions_.erase(node_ptr);
-
   std::atomic_bool & has_executor = node_ptr->get_associated_with_executor_atomic();
   has_executor.store(false);
 }
@@ -559,14 +545,13 @@ 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,
-  Taker take_action,
-  Handler handle_action)
+  std::function<bool()> take_action,
+  std::function<void()> handle_action)
 {
   bool taken = false;
   try {
@@ -599,136 +584,70 @@ 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;
 
-  switch (subscription->get_subscription_type()) {
-    // Take ROS message
-    case rclcpp::SubscriptionType::ROS_MESSAGE:
+  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);},
+      [&]()
       {
-        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);
+        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);
         }
-        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;
+        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;
 }
 
 void
@@ -787,12 +706,6 @@ Executor::wait_for_work(std::chrono::nanoseconds timeout)
         auto weak_node_ptr = pair.second;
         if (weak_group_ptr.expired() || weak_node_ptr.expired()) {
           invalid_group_ptrs.push_back(weak_group_ptr);
-          auto node_guard_pair = weak_nodes_to_guard_conditions_.find(weak_node_ptr);
-          if (node_guard_pair != weak_nodes_to_guard_conditions_.end()) {
-            auto guard_condition = node_guard_pair->second;
-            weak_nodes_to_guard_conditions_.erase(weak_node_ptr);
-            memory_strategy_->remove_guard_condition(guard_condition);
-          }
         }
       }
       std::for_each(

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -43,7 +43,8 @@ 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 &)
 {
@@ -71,55 +72,4 @@ 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

@@ -12,19 +12,14 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <memory>
 #include <string>
-#include <utility>
 
 #include "rcl_logging_interface/rcl_logging_interface.h"
-#include "rcl/logging_rosout.h"
 
 #include "rclcpp/exceptions.hpp"
 #include "rclcpp/logger.hpp"
 #include "rclcpp/logging.hpp"
 
-#include "./logging_mutex.hpp"
-
 namespace rclcpp
 {
 
@@ -67,46 +62,6 @@ get_logging_directory()
   return path;
 }
 
-Logger
-Logger::get_child(const std::string & suffix)
-{
-  if (!name_) {
-    return Logger();
-  }
-
-  rcl_ret_t rcl_ret = RCL_RET_OK;
-  std::shared_ptr<std::recursive_mutex> logging_mutex;
-  logging_mutex = get_global_logging_mutex();
-  {
-    std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
-    rcl_ret = rcl_logging_rosout_add_sublogger((*name_).c_str(), suffix.c_str());
-    if (RCL_RET_OK != rcl_ret) {
-      exceptions::throw_from_rcl_error(
-        rcl_ret, "failed to call rcl_logging_rosout_add_sublogger",
-        rcutils_get_error_state(), rcutils_reset_error);
-    }
-  }
-
-  Logger logger(*name_ + RCUTILS_LOGGING_SEPARATOR_STRING + suffix);
-  if (RCL_RET_OK == rcl_ret) {
-    logger.logger_sublogger_pairname_.reset(
-      new std::pair<std::string, std::string>({*name_, suffix}),
-      [logging_mutex](std::pair<std::string, std::string> * logger_sublogger_pairname_ptr) {
-        std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
-        rcl_ret_t rcl_ret = rcl_logging_rosout_remove_sublogger(
-          logger_sublogger_pairname_ptr->first.c_str(),
-          logger_sublogger_pairname_ptr->second.c_str());
-        delete logger_sublogger_pairname_ptr;
-        if (RCL_RET_OK != rcl_ret) {
-          exceptions::throw_from_rcl_error(
-            rcl_ret, "failed to call rcl_logging_rosout_remove_sublogger",
-            rcutils_get_error_state(), rcutils_reset_error);
-        }
-      });
-  }
-  return logger;
-}
-
 void
 Logger::set_level(Level level)
 {
@@ -125,18 +80,4 @@ 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.cpp

@@ -176,8 +176,7 @@ Node::Node(
       node_topics_,
       node_graph_,
       node_services_,
-      node_logging_,
-      options.clock_type()
+      node_logging_
     )),
   node_parameters_(new rclcpp::node_interfaces::NodeParameters(
       node_base_,
@@ -376,7 +375,7 @@ Node::get_parameter(const std::string & name) const
 }
 
 bool
-Node::get_parameter(const std::string & name, rclcpp::Parameter & parameter) const
+Node::get_parameter(const std::string & name, rclcpp::Parameter & parameter) const noexcept
 {
   return node_parameters_->get_parameter(name, parameter);
 }

rclcpp/src/rclcpp/node_interfaces/node_clock.cpp

@@ -24,14 +24,13 @@ NodeClock::NodeClock(
   rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
   rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
   rclcpp::node_interfaces::NodeServicesInterface::SharedPtr node_services,
-  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging,
-  rcl_clock_type_t clock_type)
+  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr node_logging)
 : node_base_(node_base),
   node_topics_(node_topics),
   node_graph_(node_graph),
   node_services_(node_services),
   node_logging_(node_logging),
-  clock_(std::make_shared<rclcpp::Clock>(clock_type))
+  ros_clock_(std::make_shared<rclcpp::Clock>(RCL_ROS_TIME))
 {}
 
 NodeClock::~NodeClock()
@@ -40,11 +39,11 @@ NodeClock::~NodeClock()
 rclcpp::Clock::SharedPtr
 NodeClock::get_clock()
 {
-  return clock_;
+  return ros_clock_;
 }
 
 rclcpp::Clock::ConstSharedPtr
 NodeClock::get_clock() const
 {
-  return clock_;
+  return ros_clock_;
 }

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 a statically typed parameter"};
+            name, "cannot undeclare an 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 a statically typed parameter";
+          result.reason = "cannot undeclare an statically typed parameter";
           result.successful = false;
           return result;
         }
@@ -938,7 +938,7 @@ NodeParameters::get_parameter(const std::string & name) const
 bool
 NodeParameters::get_parameter(
   const std::string & name,
-  rclcpp::Parameter & parameter) const
+  rclcpp::Parameter & parameter) const noexcept
 {
   std::lock_guard<std::recursive_mutex> lock(mutex_);
 

rclcpp/src/rclcpp/node_options.cpp

@@ -77,7 +77,6 @@ NodeOptions::operator=(const NodeOptions & other)
     this->enable_topic_statistics_ = other.enable_topic_statistics_;
     this->start_parameter_services_ = other.start_parameter_services_;
     this->start_parameter_event_publisher_ = other.start_parameter_event_publisher_;
-    this->clock_type_ = other.clock_type_;
     this->clock_qos_ = other.clock_qos_;
     this->use_clock_thread_ = other.use_clock_thread_;
     this->parameter_event_qos_ = other.parameter_event_qos_;
@@ -261,19 +260,6 @@ NodeOptions::start_parameter_event_publisher(bool start_parameter_event_publishe
   return *this;
 }
 
-const rcl_clock_type_t &
-NodeOptions::clock_type() const
-{
-  return this->clock_type_;
-}
-
-NodeOptions &
-NodeOptions::clock_type(const rcl_clock_type_t & clock_type)
-{
-  this->clock_type_ = clock_type;
-  return *this;
-}
-
 const rclcpp::QoS &
 NodeOptions::clock_qos() const
 {

rclcpp/src/rclcpp/publisher_base.cpp

@@ -37,7 +37,7 @@
 #include "rclcpp/macros.hpp"
 #include "rclcpp/network_flow_endpoint.hpp"
 #include "rclcpp/node.hpp"
-#include "rclcpp/event_handler.hpp"
+#include "rclcpp/qos_event.hpp"
 
 using rclcpp::PublisherBase;
 
@@ -45,14 +45,11 @@ PublisherBase::PublisherBase(
   rclcpp::node_interfaces::NodeBaseInterface * node_base,
   const std::string & topic,
   const rosidl_message_type_support_t & type_support,
-  const rcl_publisher_options_t & publisher_options,
-  const PublisherEventCallbacks & event_callbacks,
-  bool use_default_callbacks)
+  const rcl_publisher_options_t & publisher_options)
 : rcl_node_handle_(node_base->get_shared_rcl_node_handle()),
   intra_process_is_enabled_(false),
   intra_process_publisher_id_(0),
-  type_support_(type_support),
-  event_callbacks_(event_callbacks)
+  type_support_(type_support)
 {
   auto custom_deleter = [node_handle = this->rcl_node_handle_](rcl_publisher_t * rcl_pub)
     {
@@ -101,8 +98,6 @@ PublisherBase::PublisherBase(
     rmw_reset_error();
     throw std::runtime_error(msg);
   }
-
-  bind_event_callbacks(event_callbacks_, use_default_callbacks);
 }
 
 PublisherBase::~PublisherBase()
@@ -131,65 +126,6 @@ PublisherBase::get_topic_name() const
   return rcl_publisher_get_topic_name(publisher_handle_.get());
 }
 
-void
-PublisherBase::bind_event_callbacks(
-  const PublisherEventCallbacks & event_callbacks, bool use_default_callbacks)
-{
-  if (event_callbacks.deadline_callback) {
-    this->add_event_handler(
-      event_callbacks.deadline_callback,
-      RCL_PUBLISHER_OFFERED_DEADLINE_MISSED);
-  }
-  if (event_callbacks.liveliness_callback) {
-    this->add_event_handler(
-      event_callbacks.liveliness_callback,
-      RCL_PUBLISHER_LIVELINESS_LOST);
-  }
-
-  QOSOfferedIncompatibleQoSCallbackType incompatible_qos_cb;
-  if (event_callbacks.incompatible_qos_callback) {
-    incompatible_qos_cb = event_callbacks.incompatible_qos_callback;
-  } else if (use_default_callbacks) {
-    // Register default callback when not specified
-    incompatible_qos_cb = [this](QOSOfferedIncompatibleQoSInfo & info) {
-        this->default_incompatible_qos_callback(info);
-      };
-  }
-  try {
-    if (incompatible_qos_cb) {
-      this->add_event_handler(incompatible_qos_cb, RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS);
-    }
-  } catch (const UnsupportedEventTypeException & /*exc*/) {
-    RCLCPP_DEBUG(
-      rclcpp::get_logger("rclcpp"),
-      "Failed to add event handler for incompatible qos; wrong callback type");
-  }
-
-  IncompatibleTypeCallbackType incompatible_type_cb;
-  if (event_callbacks.incompatible_type_callback) {
-    incompatible_type_cb = event_callbacks.incompatible_type_callback;
-  } else if (use_default_callbacks) {
-    // Register default callback when not specified
-    incompatible_type_cb = [this](IncompatibleTypeInfo & info) {
-        this->default_incompatible_type_callback(info);
-      };
-  }
-  try {
-    if (incompatible_type_cb) {
-      this->add_event_handler(incompatible_type_cb, RCL_PUBLISHER_INCOMPATIBLE_TYPE);
-    }
-  } catch (UnsupportedEventTypeException & /*exc*/) {
-    RCLCPP_DEBUG(
-      rclcpp::get_logger("rclcpp"),
-      "Failed to add event handler for incompatible type; wrong callback type");
-  }
-  if (event_callbacks.matched_callback) {
-    this->add_event_handler(
-      event_callbacks.matched_callback,
-      RCL_PUBLISHER_MATCHED);
-  }
-}
-
 size_t
 PublisherBase::get_queue_size() const
 {
@@ -222,7 +158,7 @@ PublisherBase::get_publisher_handle() const
 }
 
 const
-std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
+std::unordered_map<rcl_publisher_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
 PublisherBase::get_event_handlers() const
 {
   return event_handlers_;
@@ -292,7 +228,7 @@ PublisherBase::assert_liveliness() const
 bool
 PublisherBase::can_loan_messages() const
 {
-  return !intra_process_is_enabled_ && rcl_publisher_can_loan_messages(publisher_handle_.get());
+  return rcl_publisher_can_loan_messages(publisher_handle_.get());
 }
 
 bool
@@ -338,17 +274,6 @@ PublisherBase::default_incompatible_qos_callback(
     policy_name.c_str());
 }
 
-void
-PublisherBase::default_incompatible_type_callback(
-  rclcpp::IncompatibleTypeInfo & event) const
-{
-  (void)event;
-
-  RCLCPP_WARN(
-    rclcpp::get_logger(rcl_node_get_logger_name(rcl_node_handle_.get())),
-    "Incompatible type on topic '%s', no messages will be sent to it.", get_topic_name());
-}
-
 std::vector<rclcpp::NetworkFlowEndpoint> PublisherBase::get_network_flow_endpoints() const
 {
   rcutils_allocator_t allocator = rcutils_get_default_allocator();

rclcpp/src/rclcpp/qos.cpp

@@ -16,8 +16,6 @@
 
 #include <string>
 
-#include "rclcpp/logging.hpp"
-
 #include "rmw/error_handling.h"
 #include "rmw/types.h"
 #include "rmw/qos_profiles.h"
@@ -45,19 +43,9 @@ std::string qos_policy_name_from_kind(rmw_qos_policy_kind_t policy_kind)
   }
 }
 
-QoSInitialization::QoSInitialization(
-  rmw_qos_history_policy_t history_policy_arg, size_t depth_arg,
-  bool print_depth_warning)
+QoSInitialization::QoSInitialization(rmw_qos_history_policy_t history_policy_arg, size_t depth_arg)
 : history_policy(history_policy_arg), depth(depth_arg)
-{
-  if (history_policy == RMW_QOS_POLICY_HISTORY_KEEP_LAST && depth == 0 && print_depth_warning) {
-    RCLCPP_WARN_ONCE(
-      rclcpp::get_logger(
-        "rclcpp"),
-      "A zero depth with KEEP_LAST doesn't make sense; no data could be stored. "
-      "This will be interpreted as SYSTEM_DEFAULT");
-  }
-}
+{}
 
 QoSInitialization
 QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
@@ -65,9 +53,8 @@ QoSInitialization::from_rmw(const rmw_qos_profile_t & rmw_qos)
   switch (rmw_qos.history) {
     case RMW_QOS_POLICY_HISTORY_KEEP_ALL:
       return KeepAll();
-    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
-      return KeepLast(rmw_qos.depth, false);
     case RMW_QOS_POLICY_HISTORY_KEEP_LAST:
+    case RMW_QOS_POLICY_HISTORY_SYSTEM_DEFAULT:
     case RMW_QOS_POLICY_HISTORY_UNKNOWN:
     default:
       return KeepLast(rmw_qos.depth);
@@ -78,10 +65,9 @@ KeepAll::KeepAll()
 : QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_ALL, 0)
 {}
 
-KeepLast::KeepLast(size_t depth, bool print_depth_warning)
-: QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_LAST, depth, print_depth_warning)
-{
-}
+KeepLast::KeepLast(size_t depth)
+: QoSInitialization(RMW_QOS_POLICY_HISTORY_KEEP_LAST, depth)
+{}
 
 QoS::QoS(
   const QoSInitialization & qos_initialization,
@@ -125,14 +111,6 @@ QoS::history(HistoryPolicy history)
 QoS &
 QoS::keep_last(size_t depth)
 {
-  if (depth == 0) {
-    RCLCPP_WARN_ONCE(
-      rclcpp::get_logger(
-        "rclcpp"),
-      "A zero depth with KEEP_LAST doesn't make sense; no data could be stored."
-      "This will be interpreted as SYSTEM_DEFAULT");
-  }
-
   rmw_qos_profile_.history = RMW_QOS_POLICY_HISTORY_KEEP_LAST;
   rmw_qos_profile_.depth = depth;
   return *this;

rclcpp/src/rclcpp/qos_event.cpp

@@ -12,13 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <stdexcept>
 #include <string>
 
-#include "rcl/event.h"
-
-#include "rclcpp/event_handler.hpp"
-#include "rclcpp/exceptions/exceptions.hpp"
+#include "rclcpp/qos_event.hpp"
 
 namespace rclcpp
 {
@@ -37,14 +33,16 @@ UnsupportedEventTypeException::UnsupportedEventTypeException(
   std::runtime_error(prefix + (prefix.empty() ? "" : ": ") + base_exc.formatted_message)
 {}
 
-EventHandlerBase::~EventHandlerBase()
+QOSEventHandlerBase::~QOSEventHandlerBase()
 {
   // Since the rmw event listener holds a reference to
   // this callback, we need to clear it on destruction of this class.
   // This clearing is not needed for other rclcpp entities like pub/subs, since
   // they do own the underlying rmw entities, which are destroyed
   // on their rclcpp destructors, thus no risk of dangling pointers.
-  clear_on_ready_callback();
+  if (on_new_event_callback_) {
+    clear_on_ready_callback();
+  }
 
   if (rcl_event_fini(&event_handle_) != RCL_RET_OK) {
     RCUTILS_LOG_ERROR_NAMED(
@@ -56,14 +54,14 @@ EventHandlerBase::~EventHandlerBase()
 
 /// Get the number of ready events.
 size_t
-EventHandlerBase::get_number_of_ready_events()
+QOSEventHandlerBase::get_number_of_ready_events()
 {
   return 1;
 }
 
 /// Add the Waitable to a wait set.
 void
-EventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
+QOSEventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 {
   rcl_ret_t ret = rcl_wait_set_add_event(wait_set, &event_handle_, &wait_set_event_index_);
   if (RCL_RET_OK != ret) {
@@ -73,13 +71,13 @@ EventHandlerBase::add_to_wait_set(rcl_wait_set_t * wait_set)
 
 /// Check if the Waitable is ready.
 bool
-EventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
+QOSEventHandlerBase::is_ready(rcl_wait_set_t * wait_set)
 {
   return wait_set->events[wait_set_event_index_] == &event_handle_;
 }
 
 void
-EventHandlerBase::set_on_new_event_callback(
+QOSEventHandlerBase::set_on_new_event_callback(
   rcl_event_callback_t callback,
   const void * user_data)
 {
@@ -90,7 +88,7 @@ EventHandlerBase::set_on_new_event_callback(
 
   if (RCL_RET_OK != ret) {
     using rclcpp::exceptions::throw_from_rcl_error;
-    throw_from_rcl_error(ret, "failed to set the on new message callback for Event");
+    throw_from_rcl_error(ret, "failed to set the on new message callback for QOS Event");
   }
 }
 

rclcpp/src/rclcpp/service.cpp

@@ -22,7 +22,6 @@
 
 #include "rclcpp/any_service_callback.hpp"
 #include "rclcpp/macros.hpp"
-#include "rclcpp/qos.hpp"
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
@@ -132,7 +131,7 @@ ServiceBase::set_on_new_request_callback(rcl_event_callback_t callback, const vo
     user_data);
 
   if (RCL_RET_OK != ret) {
-    rclcpp::exceptions::throw_from_rcl_error(
-      ret, "failed to set the on new request callback for service");
+    using rclcpp::exceptions::throw_from_rcl_error;
+    throw_from_rcl_error(ret, "failed to set the on new request callback for service");
   }
 }

rclcpp/src/rclcpp/subscription_base.cpp

@@ -22,19 +22,16 @@
 
 #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"
 #include "rclcpp/logging.hpp"
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/event_handler.hpp"
+#include "rclcpp/qos_event.hpp"
 
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "rosidl_dynamic_typesupport/types.h"
-
 using rclcpp::SubscriptionBase;
 
 SubscriptionBase::SubscriptionBase(
@@ -42,26 +39,15 @@ SubscriptionBase::SubscriptionBase(
   const rosidl_message_type_support_t & type_support_handle,
   const std::string & topic_name,
   const rcl_subscription_options_t & subscription_options,
-  const SubscriptionEventCallbacks & event_callbacks,
-  bool use_default_callbacks,
-  SubscriptionType subscription_type)
+  bool is_serialized)
 : node_base_(node_base),
   node_handle_(node_base_->get_shared_rcl_node_handle()),
   node_logger_(rclcpp::get_node_logger(node_handle_.get())),
   use_intra_process_(false),
   intra_process_subscription_id_(0),
-  event_callbacks_(event_callbacks),
   type_support_(type_support_handle),
-  subscription_type_(subscription_type)
+  is_serialized_(is_serialized)
 {
-  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) {
@@ -94,10 +80,9 @@ SubscriptionBase::SubscriptionBase(
         rcl_node_get_name(rcl_node_handle),
         rcl_node_get_namespace(rcl_node_handle));
     }
+
     rclcpp::exceptions::throw_from_rcl_error(ret, "could not create subscription");
   }
-
-  bind_event_callbacks(event_callbacks_, use_default_callbacks);
 }
 
 SubscriptionBase::~SubscriptionBase()
@@ -116,69 +101,6 @@ SubscriptionBase::~SubscriptionBase()
   ipm->remove_subscription(intra_process_subscription_id_);
 }
 
-void
-SubscriptionBase::bind_event_callbacks(
-  const SubscriptionEventCallbacks & event_callbacks, bool use_default_callbacks)
-{
-  if (event_callbacks.deadline_callback) {
-    this->add_event_handler(
-      event_callbacks.deadline_callback,
-      RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED);
-  }
-
-  if (event_callbacks.liveliness_callback) {
-    this->add_event_handler(
-      event_callbacks.liveliness_callback,
-      RCL_SUBSCRIPTION_LIVELINESS_CHANGED);
-  }
-
-  QOSRequestedIncompatibleQoSCallbackType incompatible_qos_cb;
-  if (event_callbacks.incompatible_qos_callback) {
-    incompatible_qos_cb = event_callbacks.incompatible_qos_callback;
-  } else if (use_default_callbacks) {
-    // Register default callback when not specified
-    incompatible_qos_cb = [this](QOSRequestedIncompatibleQoSInfo & info) {
-        this->default_incompatible_qos_callback(info);
-      };
-  }
-  // Register default callback when not specified
-  try {
-    if (incompatible_qos_cb) {
-      this->add_event_handler(incompatible_qos_cb, RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS);
-    }
-  } catch (const UnsupportedEventTypeException & /*exc*/) {
-    // pass
-  }
-
-  IncompatibleTypeCallbackType incompatible_type_cb;
-  if (event_callbacks.incompatible_type_callback) {
-    incompatible_type_cb = event_callbacks.incompatible_type_callback;
-  } else if (use_default_callbacks) {
-    // Register default callback when not specified
-    incompatible_type_cb = [this](IncompatibleTypeInfo & info) {
-        this->default_incompatible_type_callback(info);
-      };
-  }
-  try {
-    if (incompatible_type_cb) {
-      this->add_event_handler(incompatible_type_cb, RCL_SUBSCRIPTION_INCOMPATIBLE_TYPE);
-    }
-  } catch (UnsupportedEventTypeException & /*exc*/) {
-    // pass
-  }
-
-  if (event_callbacks.message_lost_callback) {
-    this->add_event_handler(
-      event_callbacks.message_lost_callback,
-      RCL_SUBSCRIPTION_MESSAGE_LOST);
-  }
-  if (event_callbacks.matched_callback) {
-    this->add_event_handler(
-      event_callbacks.matched_callback,
-      RCL_SUBSCRIPTION_MATCHED);
-  }
-}
-
 const char *
 SubscriptionBase::get_topic_name() const
 {
@@ -198,7 +120,7 @@ SubscriptionBase::get_subscription_handle() const
 }
 
 const
-std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::EventHandlerBase>> &
+std::unordered_map<rcl_subscription_event_type_t, std::shared_ptr<rclcpp::QOSEventHandlerBase>> &
 SubscriptionBase::get_event_handlers() const
 {
   return event_handlers_;
@@ -266,10 +188,10 @@ SubscriptionBase::get_message_type_support_handle() const
   return type_support_;
 }
 
-rclcpp::SubscriptionType
-SubscriptionBase::get_subscription_type() const
+bool
+SubscriptionBase::is_serialized() const
 {
-  return subscription_type_;
+  return is_serialized_;
 }
 
 size_t
@@ -336,17 +258,6 @@ SubscriptionBase::default_incompatible_qos_callback(
     policy_name.c_str());
 }
 
-void
-SubscriptionBase::default_incompatible_type_callback(
-  rclcpp::IncompatibleTypeInfo & event) const
-{
-  (void)event;
-
-  RCLCPP_WARN(
-    rclcpp::get_logger(rcl_node_get_logger_name(node_handle_.get())),
-    "Incompatible type on topic '%s', no messages will be sent to it.", get_topic_name());
-}
-
 bool
 SubscriptionBase::matches_any_intra_process_publishers(const rmw_gid_t * sender_gid) const
 {
@@ -453,7 +364,8 @@ 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),
@@ -525,24 +437,3 @@ 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/src/rclcpp/time_source.cpp

@@ -37,8 +37,7 @@ class ClocksState final
 {
 public:
   ClocksState()
-  : logger_(rclcpp::get_logger("rclcpp")),
-    last_time_msg_(std::make_shared<builtin_interfaces::msg::Time>())
+  : logger_(rclcpp::get_logger("rclcpp"))
   {
   }
 
@@ -54,8 +53,13 @@ public:
     ros_time_active_ = true;
 
     // Update all attached clocks to zero or last recorded time
+    std::lock_guard<std::mutex> guard(clock_list_lock_);
+    auto time_msg = std::make_shared<builtin_interfaces::msg::Time>();
+    if (last_msg_set_) {
+      time_msg = std::make_shared<builtin_interfaces::msg::Time>(last_msg_set_->clock);
+    }
     for (auto it = associated_clocks_.begin(); it != associated_clocks_.end(); ++it) {
-      set_clock(last_time_msg_, true, *it);
+      set_clock(time_msg, true, *it);
     }
   }
 
@@ -87,17 +91,18 @@ public:
   // Attach a clock
   void attachClock(rclcpp::Clock::SharedPtr clock)
   {
-    {
-      std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
-      if (clock->get_clock_type() != RCL_ROS_TIME && ros_time_active_) {
-        throw std::invalid_argument(
-                "ros_time_active_ can't be true while clock is not of RCL_ROS_TIME type");
-      }
+    if (clock->get_clock_type() != RCL_ROS_TIME) {
+      throw std::invalid_argument("Cannot attach clock to a time source that's not a ROS clock");
     }
+
     std::lock_guard<std::mutex> guard(clock_list_lock_);
     associated_clocks_.push_back(clock);
     // Set the clock to zero unless there's a recently received message
-    set_clock(last_time_msg_, ros_time_active_, clock);
+    auto time_msg = std::make_shared<builtin_interfaces::msg::Time>();
+    if (last_msg_set_) {
+      time_msg = std::make_shared<builtin_interfaces::msg::Time>(last_msg_set_->clock);
+    }
+    set_clock(time_msg, ros_time_active_, clock);
   }
 
   // Detach a clock
@@ -120,32 +125,27 @@ public:
   {
     std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
 
-    if (clock->get_clock_type() == RCL_ROS_TIME) {
-      // Do change
-      if (!set_ros_time_enabled && clock->ros_time_is_active()) {
-        auto ret = rcl_disable_ros_time_override(clock->get_clock_handle());
-        if (ret != RCL_RET_OK) {
-          rclcpp::exceptions::throw_from_rcl_error(
-            ret, "Failed to disable ros_time_override_status");
-        }
-      } else if (set_ros_time_enabled && !clock->ros_time_is_active()) {
-        auto ret = rcl_enable_ros_time_override(clock->get_clock_handle());
-        if (ret != RCL_RET_OK) {
-          rclcpp::exceptions::throw_from_rcl_error(
-            ret, "Failed to enable ros_time_override_status");
-        }
-      }
-
-      auto ret = rcl_set_ros_time_override(
-        clock->get_clock_handle(),
-        rclcpp::Time(*msg).nanoseconds());
+    // Do change
+    if (!set_ros_time_enabled && clock->ros_time_is_active()) {
+      auto ret = rcl_disable_ros_time_override(clock->get_clock_handle());
       if (ret != RCL_RET_OK) {
         rclcpp::exceptions::throw_from_rcl_error(
-          ret, "Failed to set ros_time_override_status");
+          ret, "Failed to disable ros_time_override_status");
       }
-    } else if (set_ros_time_enabled) {
-      throw std::invalid_argument(
-              "set_ros_time_enabled can't be true while clock is not of RCL_ROS_TIME type");
+    } else if (set_ros_time_enabled && !clock->ros_time_is_active()) {
+      auto ret = rcl_enable_ros_time_override(clock->get_clock_handle());
+      if (ret != RCL_RET_OK) {
+        rclcpp::exceptions::throw_from_rcl_error(
+          ret, "Failed to enable ros_time_override_status");
+      }
+    }
+
+    auto ret = rcl_set_ros_time_override(
+      clock->get_clock_handle(),
+      rclcpp::Time(*msg).nanoseconds());
+    if (ret != RCL_RET_OK) {
+      rclcpp::exceptions::throw_from_rcl_error(
+        ret, "Failed to set ros_time_override_status");
     }
   }
 
@@ -163,19 +163,7 @@ public:
   // Cache the last clock message received
   void cache_last_msg(std::shared_ptr<const rosgraph_msgs::msg::Clock> msg)
   {
-    last_time_msg_ = std::make_shared<builtin_interfaces::msg::Time>(msg->clock);
-  }
-
-  bool are_all_clocks_rcl_ros_time()
-  {
-    std::lock_guard<std::mutex> guard(clock_list_lock_);
-    for (auto & clock : associated_clocks_) {
-      std::lock_guard<std::mutex> clock_guard(clock->get_clock_mutex());
-      if (clock->get_clock_type() != RCL_ROS_TIME) {
-        return false;
-      }
-    }
-    return true;
+    last_msg_set_ = msg;
   }
 
 private:
@@ -191,7 +179,7 @@ private:
   // This is needed when new clocks are added.
   bool ros_time_active_{false};
   // Last set message to be passed to newly registered clocks
-  std::shared_ptr<builtin_interfaces::msg::Time> last_time_msg_{nullptr};
+  std::shared_ptr<const rosgraph_msgs::msg::Clock> last_msg_set_;
 };
 
 class TimeSource::NodeState final
@@ -278,10 +266,6 @@ public:
       throw std::invalid_argument("Invalid type for parameter 'use_sim_time', should be 'bool'");
     }
 
-    on_set_parameters_callback_ = node_parameters_->add_on_set_parameters_callback(
-      std::bind(&TimeSource::NodeState::on_set_parameters, this, std::placeholders::_1));
-
-
     // TODO(tfoote) use parameters interface not subscribe to events via topic ticketed #609
     parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event(
       node_topics_,
@@ -301,10 +285,6 @@ public:
     // can't possibly call any of the callbacks as we are cleaning up.
     destroy_clock_sub();
     clocks_state_.disable_ros_time();
-    if (on_set_parameters_callback_) {
-      node_parameters_->remove_on_set_parameters_callback(on_set_parameters_callback_.get());
-    }
-    on_set_parameters_callback_.reset();
     parameter_subscription_.reset();
     node_base_.reset();
     node_topics_.reset();
@@ -439,34 +419,10 @@ private:
     clock_subscription_.reset();
   }
 
-  // On set Parameters callback handle
-  node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_parameters_callback_{nullptr};
-
   // Parameter Event subscription
   using ParamSubscriptionT = rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>;
   std::shared_ptr<ParamSubscriptionT> parameter_subscription_;
 
-  // Callback for parameter settings
-  rcl_interfaces::msg::SetParametersResult on_set_parameters(
-    const std::vector<rclcpp::Parameter> & parameters)
-  {
-    rcl_interfaces::msg::SetParametersResult result;
-    result.successful = true;
-    for (const auto & param : parameters) {
-      if (param.get_name() == "use_sim_time" && param.get_type() == rclcpp::PARAMETER_BOOL) {
-        if (param.as_bool() && !(clocks_state_.are_all_clocks_rcl_ros_time())) {
-          result.successful = false;
-          result.reason =
-            "use_sim_time parameter can't be true while clocks are not all of RCL_ROS_TIME type";
-          RCLCPP_ERROR(
-            logger_,
-            "use_sim_time parameter can't be true while clocks are not all of RCL_ROS_TIME type");
-        }
-      }
-    }
-    return result;
-  }
-
   // Callback for parameter updates
   void on_parameter_event(std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event)
   {

rclcpp/src/rclcpp/timer.cpp

@@ -19,12 +19,9 @@
 #include <memory>
 #include <thread>
 
-#include "rmw/impl/cpp/demangle.hpp"
-
 #include "rclcpp/contexts/default_context.hpp"
-#include "rclcpp/detail/cpp_callback_trampoline.hpp"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/logging.hpp"
+
 #include "rcutils/logging_macros.h"
 
 using rclcpp::TimerBase;
@@ -74,9 +71,7 @@ TimerBase::TimerBase(
 }
 
 TimerBase::~TimerBase()
-{
-  clear_on_reset_callback();
-}
+{}
 
 void
 TimerBase::cancel()
@@ -101,11 +96,7 @@ TimerBase::is_canceled()
 void
 TimerBase::reset()
 {
-  rcl_ret_t ret = RCL_RET_OK;
-  {
-    std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-    ret = rcl_timer_reset(timer_handle_.get());
-  }
+  rcl_ret_t ret = rcl_timer_reset(timer_handle_.get());
   if (ret != RCL_RET_OK) {
     rclcpp::exceptions::throw_from_rcl_error(ret, "Couldn't reset timer");
   }
@@ -147,73 +138,3 @@ TimerBase::exchange_in_use_by_wait_set_state(bool in_use_state)
 {
   return in_use_by_wait_set_.exchange(in_use_state);
 }
-
-void
-TimerBase::set_on_reset_callback(std::function<void(size_t)> callback)
-{
-  if (!callback) {
-    throw std::invalid_argument(
-            "The callback passed to set_on_reset_callback "
-            "is not callable.");
-  }
-
-  auto new_callback =
-    [callback, this](size_t reset_calls) {
-      try {
-        callback(reset_calls);
-      } catch (const std::exception & exception) {
-        RCLCPP_ERROR_STREAM(
-          rclcpp::get_logger("rclcpp"),
-          "rclcpp::TimerBase@" << this <<
-            " caught " << rmw::impl::cpp::demangle(exception) <<
-            " exception in user-provided callback for the 'on reset' callback: " <<
-            exception.what());
-      } catch (...) {
-        RCLCPP_ERROR_STREAM(
-          rclcpp::get_logger("rclcpp"),
-          "rclcpp::TimerBase@" << this <<
-            " caught unhandled exception in user-provided callback " <<
-            "for the 'on reset' callback");
-      }
-    };
-
-  std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-  // Set it temporarily to the new callback, while we replace the old one.
-  // This two-step setting, prevents a gap where the old std::function has
-  // been replaced but rcl hasn't been told about the new one yet.
-  set_on_reset_callback(
-    rclcpp::detail::cpp_callback_trampoline<
-      decltype(new_callback), const void *, size_t>,
-    static_cast<const void *>(&new_callback));
-
-  // Store the std::function to keep it in scope, also overwrites the existing one.
-  on_reset_callback_ = new_callback;
-
-  // Set it again, now using the permanent storage.
-  set_on_reset_callback(
-    rclcpp::detail::cpp_callback_trampoline<
-      decltype(on_reset_callback_), const void *, size_t>,
-    static_cast<const void *>(&on_reset_callback_));
-}
-
-void
-TimerBase::clear_on_reset_callback()
-{
-  std::lock_guard<std::recursive_mutex> lock(callback_mutex_);
-
-  if (on_reset_callback_) {
-    set_on_reset_callback(nullptr, nullptr);
-    on_reset_callback_ = nullptr;
-  }
-}
-
-void
-TimerBase::set_on_reset_callback(rcl_event_callback_t callback, const void * user_data)
-{
-  rcl_ret_t ret = rcl_timer_set_on_reset_callback(timer_handle_.get(), callback, user_data);
-
-  if (ret != RCL_RET_OK) {
-    rclcpp::exceptions::throw_from_rcl_error(ret, "Failed to set timer on reset callback");
-  }
-}

rclcpp/test/rclcpp/CMakeLists.txt

@@ -234,11 +234,6 @@ if(TARGET test_node_interfaces__node_graph)
     "test_msgs")
   target_link_libraries(test_node_interfaces__node_graph ${PROJECT_NAME} mimick)
 endif()
-ament_add_gtest(test_node_interfaces__node_interfaces
-  node_interfaces/test_node_interfaces.cpp)
-if(TARGET test_node_interfaces__node_interfaces)
-  target_link_libraries(test_node_interfaces__node_interfaces ${PROJECT_NAME} mimick)
-endif()
 ament_add_gtest(test_node_interfaces__node_parameters
   node_interfaces/test_node_parameters.cpp)
 if(TARGET test_node_interfaces__node_parameters)
@@ -267,11 +262,6 @@ ament_add_gtest(test_node_interfaces__node_waitables
 if(TARGET test_node_interfaces__node_waitables)
   target_link_libraries(test_node_interfaces__node_waitables ${PROJECT_NAME} mimick)
 endif()
-ament_add_gtest(test_node_interfaces__test_template_utils  # Compile time test
-  node_interfaces/detail/test_template_utils.cpp)
-if(TARGET test_node_interfaces__test_template_utils)
-  target_link_libraries(test_node_interfaces__test_template_utils ${PROJECT_NAME})
-endif()
 
 # TODO(wjwwood): reenable these build failure tests when I can get Jenkins to ignore their output
 # rclcpp_add_build_failure_test(build_failure__get_node_topics_interface_const_ref_rclcpp_node
@@ -444,23 +434,17 @@ function(test_generic_pubsub_for_rmw_implementation)
   endif()
 endfunction()
 call_for_each_rmw_implementation(test_generic_pubsub_for_rmw_implementation)
-
-function(test_qos_event_for_rmw_implementation)
-  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
-  ament_add_gmock(test_qos_event${target_suffix} test_qos_event.cpp
-    ENV ${rmw_implementation_env_var}
+ament_add_gtest(test_qos_event test_qos_event.cpp)
+if(TARGET test_qos_event)
+  ament_target_dependencies(test_qos_event
+    "rmw"
+    "test_msgs"
   )
-  if(TARGET test_qos_event${target_suffix})
-    target_link_libraries(test_qos_event${target_suffix} ${PROJECT_NAME} mimick)
-    ament_target_dependencies(test_qos_event${target_suffix}
-      "rmw"
-      "rosidl_typesupport_cpp"
-      "test_msgs"
-    )
-  endif()
-endfunction()
-call_for_each_rmw_implementation(test_qos_event_for_rmw_implementation)
-
+  target_link_libraries(test_qos_event
+    ${PROJECT_NAME}
+    mimick
+  )
+endif()
 ament_add_gmock(test_qos_overriding_options test_qos_overriding_options.cpp)
 if(TARGET test_qos_overriding_options)
   target_link_libraries(test_qos_overriding_options
@@ -514,17 +498,6 @@ if(TARGET test_service)
   )
   target_link_libraries(test_service ${PROJECT_NAME} mimick)
 endif()
-ament_add_gmock(test_service_introspection test_service_introspection.cpp)
-if(TARGET test_service)
-  ament_target_dependencies(test_service_introspection
-    "rcl_interfaces"
-    "rmw"
-    "rosidl_runtime_cpp"
-    "rosidl_typesupport_cpp"
-    "test_msgs"
-  )
-  target_link_libraries(test_service_introspection ${PROJECT_NAME} mimick)
-endif()
 # Creating and destroying nodes is slow with Connext, so this needs larger timeout.
 ament_add_gtest(test_subscription test_subscription.cpp TIMEOUT 120)
 if(TARGET test_subscription)
@@ -599,9 +572,6 @@ target_link_libraries(test_logger ${PROJECT_NAME})
 ament_add_gmock(test_logging test_logging.cpp)
 target_link_libraries(test_logging ${PROJECT_NAME})
 
-ament_add_gmock(test_context test_context.cpp)
-target_link_libraries(test_context ${PROJECT_NAME})
-
 ament_add_gtest(test_time test_time.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_time)
@@ -756,12 +726,6 @@ if(TARGET test_rosout_qos)
   target_link_libraries(test_rosout_qos ${PROJECT_NAME})
 endif()
 
-ament_add_gtest(test_rosout_subscription test_rosout_subscription.cpp)
-if(TARGET test_rosout_subscription)
-  ament_target_dependencies(test_rosout_subscription "rcl")
-  target_link_libraries(test_rosout_subscription ${PROJECT_NAME})
-endif()
-
 ament_add_gtest(test_executor test_executor.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}"
   TIMEOUT 120)

rclcpp/test/rclcpp/node_interfaces/detail/test_template_utils.cpp

@@ -1,56 +0,0 @@
-// 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 <gtest/gtest.h>
-
-#include "rclcpp/detail/template_contains.hpp"
-#include "rclcpp/detail/template_unique.hpp"
-
-
-TEST(NoOpTests, test_node_interfaces_template_utils) {
-}                                                        // This is just to let gtest work
-
-namespace rclcpp
-{
-namespace detail
-{
-
-// This tests template logic at compile time
-namespace
-{
-
-struct test_template_unique
-{
-  static_assert(template_unique_v<int>, "failed");
-  static_assert(template_unique_v<int, double>, "failed");
-  static_assert(!template_unique_v<int, int>, "failed");
-  static_assert(!template_unique_v<int, double, int>, "failed");
-  static_assert(!template_unique_v<int, int, double>, "failed");
-};
-
-
-struct test_template_contains
-{
-  static_assert(template_contains_v<int, int, double>, "failed");
-  static_assert(template_contains_v<double, int, double>, "failed");
-  static_assert(template_contains_v<int, int>, "failed");
-  static_assert(!template_contains_v<int>, "failed");
-  static_assert(!template_contains_v<int, float>, "failed");
-  static_assert(!template_contains_v<int, float, double>, "failed");
-};
-
-}   // namespace
-
-}  // namespace detail
-}  // namespace rclcpp

rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp

@@ -1,254 +0,0 @@
-// 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 <gtest/gtest.h>
-
-#include "rclcpp/node.hpp"
-#include "rclcpp/node_interfaces/node_interfaces.hpp"
-#include "rclcpp/node_interfaces/node_base_interface.hpp"
-#include "rclcpp/node_interfaces/node_graph_interface.hpp"
-
-class TestNodeInterfaces : public ::testing::Test
-{
-protected:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-};
-
-TEST_F(TestNodeInterfaces, default_constructor) {
-  auto node = std::make_shared<rclcpp::Node>("my_node");
-  using rclcpp::node_interfaces::NodeInterfaces;
-  using rclcpp::node_interfaces::NodeBaseInterface;
-  using rclcpp::node_interfaces::NodeGraphInterface;
-  NodeInterfaces<NodeBaseInterface, NodeGraphInterface> interfaces;
-  interfaces = NodeInterfaces<NodeBaseInterface, NodeGraphInterface>(*node);
-}
-
-/*
-   Testing NodeInterfaces construction from nodes.
- */
-TEST_F(TestNodeInterfaces, node_interfaces_nominal) {
-  auto node = std::make_shared<rclcpp::Node>("my_node");
-
-  // Create a NodeInterfaces for base and graph using a rclcpp::Node.
-  {
-    using rclcpp::node_interfaces::NodeInterfaces;
-    using rclcpp::node_interfaces::NodeBaseInterface;
-    using rclcpp::node_interfaces::NodeGraphInterface;
-    auto node_interfaces = NodeInterfaces<NodeBaseInterface, NodeGraphInterface>(*node);
-  }
-
-  // Implicit conversion of rclcpp::Node into function that uses NodeInterfaces of base.
-  {
-    using rclcpp::node_interfaces::NodeInterfaces;
-    using rclcpp::node_interfaces::NodeBaseInterface;
-    auto some_func = [](NodeInterfaces<NodeBaseInterface> ni) {
-        auto base_interface = ni.get<NodeBaseInterface>();
-      };
-
-    some_func(*node);
-  }
-
-  // Implicit narrowing of NodeInterfaces into a new interface NodeInterfaces with fewer interfaces.
-  {
-    using rclcpp::node_interfaces::NodeInterfaces;
-    using rclcpp::node_interfaces::NodeBaseInterface;
-    using rclcpp::node_interfaces::NodeGraphInterface;
-    auto some_func = [](NodeInterfaces<NodeBaseInterface> ni_with_one) {
-        auto base_interface = ni_with_one.get<NodeBaseInterface>();
-      };
-
-    NodeInterfaces<NodeBaseInterface, NodeGraphInterface> ni_with_two(*node);
-
-    some_func(ni_with_two);
-  }
-
-  // Create a NodeInterfaces via aggregation of interfaces in constructor.
-  {
-    using rclcpp::node_interfaces::NodeInterfaces;
-    using rclcpp::node_interfaces::NodeBaseInterface;
-    using rclcpp::node_interfaces::NodeGraphInterface;
-    auto loose_node_base = node->get_node_base_interface();
-    auto loose_node_graph = node->get_node_graph_interface();
-    auto ni = NodeInterfaces<NodeBaseInterface, NodeGraphInterface>(
-      loose_node_base,
-      loose_node_graph);
-  }
-}
-
-/*
-   Test construction with all standard rclcpp::node_interfaces::Node*Interfaces.
- */
-TEST_F(TestNodeInterfaces, node_interfaces_standard_interfaces) {
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-
-  auto ni = rclcpp::node_interfaces::NodeInterfaces<
-    rclcpp::node_interfaces::NodeBaseInterface,
-    rclcpp::node_interfaces::NodeClockInterface,
-    rclcpp::node_interfaces::NodeGraphInterface,
-    rclcpp::node_interfaces::NodeLoggingInterface,
-    rclcpp::node_interfaces::NodeTimersInterface,
-    rclcpp::node_interfaces::NodeTopicsInterface,
-    rclcpp::node_interfaces::NodeServicesInterface,
-    rclcpp::node_interfaces::NodeWaitablesInterface,
-    rclcpp::node_interfaces::NodeParametersInterface,
-    rclcpp::node_interfaces::NodeTimeSourceInterface
-    >(*node);
-}
-
-/*
-   Testing getters.
- */
-TEST_F(TestNodeInterfaces, ni_init) {
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-
-  using rclcpp::node_interfaces::NodeInterfaces;
-  using rclcpp::node_interfaces::NodeBaseInterface;
-  using rclcpp::node_interfaces::NodeClockInterface;
-  using rclcpp::node_interfaces::NodeGraphInterface;
-  using rclcpp::node_interfaces::NodeLoggingInterface;
-  using rclcpp::node_interfaces::NodeTimersInterface;
-  using rclcpp::node_interfaces::NodeTopicsInterface;
-  using rclcpp::node_interfaces::NodeServicesInterface;
-  using rclcpp::node_interfaces::NodeWaitablesInterface;
-  using rclcpp::node_interfaces::NodeParametersInterface;
-  using rclcpp::node_interfaces::NodeTimeSourceInterface;
-
-  auto ni = NodeInterfaces<
-    NodeBaseInterface,
-    NodeClockInterface,
-    NodeGraphInterface,
-    NodeLoggingInterface,
-    NodeTimersInterface,
-    NodeTopicsInterface,
-    NodeServicesInterface,
-    NodeWaitablesInterface,
-    NodeParametersInterface,
-    NodeTimeSourceInterface
-    >(*node);
-
-  {
-    auto base = ni.get<NodeBaseInterface>();
-    base = ni.get_node_base_interface();
-    EXPECT_STREQ(base->get_name(), "my_node");  // Test for functionality
-  }
-  {
-    auto clock = ni.get<NodeClockInterface>();
-    clock = ni.get_node_clock_interface();
-    clock->get_clock();
-  }
-  {
-    auto graph = ni.get<NodeGraphInterface>();
-    graph = ni.get_node_graph_interface();
-  }
-  {
-    auto logging = ni.get<NodeLoggingInterface>();
-    logging = ni.get_node_logging_interface();
-  }
-  {
-    auto timers = ni.get<NodeTimersInterface>();
-    timers = ni.get_node_timers_interface();
-  }
-  {
-    auto topics = ni.get<NodeTopicsInterface>();
-    topics = ni.get_node_topics_interface();
-  }
-  {
-    auto services = ni.get<NodeServicesInterface>();
-    services = ni.get_node_services_interface();
-  }
-  {
-    auto waitables = ni.get<NodeWaitablesInterface>();
-    waitables = ni.get_node_waitables_interface();
-  }
-  {
-    auto parameters = ni.get<NodeParametersInterface>();
-    parameters = ni.get_node_parameters_interface();
-  }
-  {
-    auto time_source = ni.get<NodeTimeSourceInterface>();
-    time_source = ni.get_node_time_source_interface();
-  }
-}
-
-/*
-   Testing macro'ed getters.
- */
-TEST_F(TestNodeInterfaces, ni_all_init) {
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-
-  using rclcpp::node_interfaces::NodeInterfaces;
-  using rclcpp::node_interfaces::NodeBaseInterface;
-  using rclcpp::node_interfaces::NodeClockInterface;
-  using rclcpp::node_interfaces::NodeGraphInterface;
-  using rclcpp::node_interfaces::NodeLoggingInterface;
-  using rclcpp::node_interfaces::NodeTimersInterface;
-  using rclcpp::node_interfaces::NodeTopicsInterface;
-  using rclcpp::node_interfaces::NodeServicesInterface;
-  using rclcpp::node_interfaces::NodeWaitablesInterface;
-  using rclcpp::node_interfaces::NodeParametersInterface;
-  using rclcpp::node_interfaces::NodeTimeSourceInterface;
-
-  auto ni = rclcpp::node_interfaces::NodeInterfaces<ALL_RCLCPP_NODE_INTERFACES>(*node);
-
-  {
-    auto base = ni.get<NodeBaseInterface>();
-    base = ni.get_node_base_interface();
-    EXPECT_STREQ(base->get_name(), "my_node");  // Test for functionality
-  }
-  {
-    auto clock = ni.get<NodeClockInterface>();
-    clock = ni.get_node_clock_interface();
-    clock->get_clock();
-  }
-  {
-    auto graph = ni.get<NodeGraphInterface>();
-    graph = ni.get_node_graph_interface();
-  }
-  {
-    auto logging = ni.get<NodeLoggingInterface>();
-    logging = ni.get_node_logging_interface();
-  }
-  {
-    auto timers = ni.get<NodeTimersInterface>();
-    timers = ni.get_node_timers_interface();
-  }
-  {
-    auto topics = ni.get<NodeTopicsInterface>();
-    topics = ni.get_node_topics_interface();
-  }
-  {
-    auto services = ni.get<NodeServicesInterface>();
-    services = ni.get_node_services_interface();
-  }
-  {
-    auto waitables = ni.get<NodeWaitablesInterface>();
-    waitables = ni.get_node_waitables_interface();
-  }
-  {
-    auto parameters = ni.get<NodeParametersInterface>();
-    parameters = ni.get_node_parameters_interface();
-  }
-  {
-    auto time_source = ni.get<NodeTimeSourceInterface>();
-    time_source = ni.get_node_time_source_interface();
-  }
-}

rclcpp/test/rclcpp/node_interfaces/test_node_topics.cpp

@@ -28,11 +28,6 @@
 #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
 {
 
@@ -41,14 +36,16 @@ const rosidl_message_type_support_t EmptyTypeSupport()
   return *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Empty>();
 }
 
-const rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> PublisherOptions()
+const rcl_publisher_options_t PublisherOptions()
 {
-  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>();
+  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
 }
 
-const rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>> SubscriptionOptions()
+const rcl_subscription_options_t SubscriptionOptions()
 {
-  return rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>>();
+  return rclcpp::SubscriptionOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_subscription_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
 }
 
 }  // namespace
@@ -58,9 +55,7 @@ class TestPublisher : public rclcpp::PublisherBase
 public:
   explicit TestPublisher(rclcpp::Node * node)
   : rclcpp::PublisherBase(
-      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(),
-      PublisherOptions().to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10)),
-      PublisherOptions().event_callbacks, PublisherOptions().use_default_callbacks) {}
+      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(), PublisherOptions()) {}
 };
 
 class TestSubscription : public rclcpp::SubscriptionBase
@@ -68,9 +63,7 @@ class TestSubscription : public rclcpp::SubscriptionBase
 public:
   explicit TestSubscription(rclcpp::Node * node)
   : rclcpp::SubscriptionBase(
-      node->get_node_base_interface().get(), EmptyTypeSupport(), "topic",
-      SubscriptionOptions().to_rcl_subscription_options(rclcpp::QoS(10)),
-      SubscriptionOptions().event_callbacks, SubscriptionOptions().use_default_callbacks) {}
+      node->get_node_base_interface().get(), EmptyTypeSupport(), "topic", SubscriptionOptions()) {}
   std::shared_ptr<void> create_message() override {return nullptr;}
 
   std::shared_ptr<rclcpp::SerializedMessage>
@@ -82,18 +75,6 @@ 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/strategies/test_allocator_memory_strategy.cpp

@@ -63,57 +63,6 @@ public:
   }
 };
 
-static bool test_waitable_result2 = false;
-
-class TestWaitable2 : public rclcpp::Waitable
-{
-public:
-  explicit TestWaitable2(rcl_publisher_t * pub_ptr)
-  : pub_ptr_(pub_ptr),
-    pub_event_(rcl_get_zero_initialized_event())
-  {
-    EXPECT_EQ(
-      rcl_publisher_event_init(&pub_event_, pub_ptr_, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
-      RCL_RET_OK);
-  }
-
-  ~TestWaitable2()
-  {
-    EXPECT_EQ(rcl_event_fini(&pub_event_), RCL_RET_OK);
-  }
-
-  void add_to_wait_set(rcl_wait_set_t * wait_set) override
-  {
-    EXPECT_EQ(rcl_wait_set_add_event(wait_set, &pub_event_, &wait_set_event_index_), RCL_RET_OK);
-  }
-
-  bool is_ready(rcl_wait_set_t *) override
-  {
-    return test_waitable_result2;
-  }
-
-  std::shared_ptr<void>
-  take_data() override
-  {
-    return nullptr;
-  }
-
-  void execute(std::shared_ptr<void> & data) override
-  {
-    (void) data;
-  }
-
-  size_t get_number_of_ready_events() override
-  {
-    return 1;
-  }
-
-private:
-  rcl_publisher_t * pub_ptr_;
-  rcl_event_t pub_event_;
-  size_t wait_set_event_index_;
-};
-
 struct RclWaitSetSizes
 {
   size_t size_of_subscriptions = 0;
@@ -548,8 +497,8 @@ TEST_F(TestAllocatorMemoryStrategy, add_remove_waitables) {
 TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
   RclWaitSetSizes expected_sizes = {};
   expected_sizes.size_of_subscriptions = 1;
-  expected_sizes.size_of_events = 2;
-  expected_sizes.size_of_waitables = 2;
+  expected_sizes.size_of_events = 1;
+  expected_sizes.size_of_waitables = 1;
   auto node_with_subscription = create_node_with_subscription("subscription_node");
   EXPECT_TRUE(TestNumberOfEntitiesAfterCollection(node_with_subscription, expected_sizes));
 }
@@ -708,129 +657,20 @@ TEST_F(TestAllocatorMemoryStrategy, get_next_timer) {
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_waitable) {
+  auto node1 = std::make_shared<rclcpp::Node>("waitable_node", "ns");
+  auto node2 = std::make_shared<rclcpp::Node>("waitable_node2", "ns");
+  rclcpp::Waitable::SharedPtr waitable1 = std::make_shared<TestWaitable>();
+  rclcpp::Waitable::SharedPtr waitable2 = std::make_shared<TestWaitable>();
+  node1->get_node_waitables_interface()->add_waitable(waitable1, nullptr);
+  node2->get_node_waitables_interface()->add_waitable(waitable2, nullptr);
+
   auto get_next_entity = [this](const WeakCallbackGroupsToNodesMap & weak_groups_to_nodes) {
       rclcpp::AnyExecutable result;
       allocator_memory_strategy()->get_next_waitable(result, weak_groups_to_nodes);
       return result;
     };
 
-  {
-    auto node1 = std::make_shared<rclcpp::Node>(
-      "waitable_node", "ns",
-      rclcpp::NodeOptions()
-      .start_parameter_event_publisher(false)
-      .start_parameter_services(false));
-
-    rclcpp::PublisherOptions pub_options;
-    pub_options.use_default_callbacks = false;
-
-    auto pub1 = node1->create_publisher<test_msgs::msg::Empty>(
-      "test_topic_1", rclcpp::QoS(10), pub_options);
-
-    auto waitable1 =
-      std::make_shared<TestWaitable2>(pub1->get_publisher_handle().get());
-    node1->get_node_waitables_interface()->add_waitable(waitable1, nullptr);
-
-    auto basic_node = create_node_with_disabled_callback_groups("basic_node");
-    WeakCallbackGroupsToNodesMap weak_groups_to_nodes;
-    basic_node->for_each_callback_group(
-      [basic_node, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
-      {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            group_ptr,
-            basic_node->get_node_base_interface()));
-      });
-    node1->for_each_callback_group(
-      [node1, &weak_groups_to_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
-      {
-        weak_groups_to_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            group_ptr,
-            node1->get_node_base_interface()));
-      });
-    allocator_memory_strategy()->collect_entities(weak_groups_to_nodes);
-
-    rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
-    ASSERT_EQ(
-      rcl_wait_set_init(
-        &wait_set,
-        allocator_memory_strategy()->number_of_ready_subscriptions(),
-        allocator_memory_strategy()->number_of_guard_conditions(),
-        allocator_memory_strategy()->number_of_ready_timers(),
-        allocator_memory_strategy()->number_of_ready_clients(),
-        allocator_memory_strategy()->number_of_ready_services(),
-        allocator_memory_strategy()->number_of_ready_events(),
-        rclcpp::contexts::get_global_default_context()->get_rcl_context().get(),
-        allocator_memory_strategy()->get_allocator()),
-      RCL_RET_OK);
-
-    ASSERT_TRUE(allocator_memory_strategy()->add_handles_to_wait_set(&wait_set));
-
-    ASSERT_EQ(
-      rcl_wait(
-        &wait_set,
-        std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::milliseconds(100))
-        .count()),
-      RCL_RET_OK);
-    test_waitable_result2 = true;
-    allocator_memory_strategy()->remove_null_handles(&wait_set);
-
-    rclcpp::AnyExecutable result = get_next_entity(weak_groups_to_nodes);
-    EXPECT_EQ(result.node_base, node1->get_node_base_interface());
-    test_waitable_result2 = false;
-
-    EXPECT_EQ(rcl_wait_set_fini(&wait_set), RCL_RET_OK);
-  }
-
-  {
-    auto node2 = std::make_shared<rclcpp::Node>(
-      "waitable_node2", "ns",
-      rclcpp::NodeOptions()
-      .start_parameter_services(false)
-      .start_parameter_event_publisher(false));
-
-    rclcpp::PublisherOptions pub_options;
-    pub_options.use_default_callbacks = false;
-
-    auto pub2 = node2->create_publisher<test_msgs::msg::Empty>(
-      "test_topic_2", rclcpp::QoS(10), pub_options);
-
-    auto waitable2 =
-      std::make_shared<TestWaitable2>(pub2->get_publisher_handle().get());
-    node2->get_node_waitables_interface()->add_waitable(waitable2, nullptr);
-
-    auto basic_node2 = std::make_shared<rclcpp::Node>(
-      "basic_node2", "ns",
-      rclcpp::NodeOptions()
-      .start_parameter_services(false)
-      .start_parameter_event_publisher(false));
-    WeakCallbackGroupsToNodesMap weak_groups_to_uncollected_nodes;
-    basic_node2->for_each_callback_group(
-      [basic_node2, &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
-      {
-        weak_groups_to_uncollected_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            group_ptr,
-            basic_node2->get_node_base_interface()));
-      });
-    node2->for_each_callback_group(
-      [node2,
-      &weak_groups_to_uncollected_nodes](rclcpp::CallbackGroup::SharedPtr group_ptr)
-      {
-        weak_groups_to_uncollected_nodes.insert(
-          std::pair<rclcpp::CallbackGroup::WeakPtr,
-          rclcpp::node_interfaces::NodeBaseInterface::WeakPtr>(
-            group_ptr,
-            node2->get_node_base_interface()));
-      });
-
-    rclcpp::AnyExecutable failed_result = get_next_entity(weak_groups_to_uncollected_nodes);
-    EXPECT_EQ(failed_result.node_base, nullptr);
-  }
+  EXPECT_TRUE(TestGetNextEntity(node1, node2, get_next_entity));
 }
 
 TEST_F(TestAllocatorMemoryStrategy, get_next_subscription_mutually_exclusive) {

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -340,53 +340,6 @@ TYPED_TEST(TestAddCallbackGroupsToExecutor, subscriber_triggered_to_receive_mess
   EXPECT_TRUE(received_message_future.get());
 }
 
-/*
- * Test callback group created after spin.
- * A subscriber with a new callback group that created after executor spin not received a message
- * because the executor can't be triggered while a subscriber created, see
- * https://github.com/ros2/rclcpp/issues/2067
-*/
-TYPED_TEST(TestAddCallbackGroupsToExecutor, callback_group_create_after_spin)
-{
-  auto node = std::make_shared<rclcpp::Node>("my_node", "/ns");
-
-  // create a publisher to send data
-  rclcpp::QoS qos = rclcpp::QoS(1).reliable().transient_local();
-  rclcpp::Publisher<test_msgs::msg::Empty>::SharedPtr publisher =
-    node->create_publisher<test_msgs::msg::Empty>("topic_name", qos);
-  publisher->publish(test_msgs::msg::Empty());
-
-  // create a thread running an executor
-  rclcpp::executors::SingleThreadedExecutor executor;
-  executor.add_node(node);
-  std::promise<bool> received_message_promise;
-  auto received_message_future = received_message_promise.get_future();
-  rclcpp::FutureReturnCode return_code = rclcpp::FutureReturnCode::TIMEOUT;
-  std::thread executor_thread = std::thread(
-    [&executor, &received_message_future, &return_code]() {
-      return_code = executor.spin_until_future_complete(received_message_future, 5s);
-    });
-
-  // to create a callback group after spin
-  std::this_thread::sleep_for(std::chrono::milliseconds(100));
-  rclcpp::CallbackGroup::SharedPtr cb_grp = node->create_callback_group(
-    rclcpp::CallbackGroupType::MutuallyExclusive);
-
-  // expect the subscriber to receive a message
-  auto sub_callback = [&received_message_promise](test_msgs::msg::Empty::ConstSharedPtr) {
-      received_message_promise.set_value(true);
-    };
-  // create a subscription using the `cb_grp` callback group
-  auto options = rclcpp::SubscriptionOptions();
-  options.callback_group = cb_grp;
-  rclcpp::Subscription<test_msgs::msg::Empty>::SharedPtr subscription =
-    node->create_subscription<test_msgs::msg::Empty>("topic_name", qos, sub_callback, options);
-
-  executor_thread.join();
-  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-  EXPECT_TRUE(received_message_future.get());
-}
-
 /*
  * Test removing callback group from executor that its not associated with.
  */

rclcpp/test/rclcpp/test_client.cpp

@@ -327,27 +327,6 @@ TEST_F(TestClientWithServer, test_client_remove_pending_request) {
   EXPECT_TRUE(client->remove_pending_request(future));
 }
 
-TEST_F(TestClientWithServer, prune_requests_older_than_no_pruned) {
-  auto client = node->create_client<test_msgs::srv::Empty>(service_name);
-  auto request = std::make_shared<test_msgs::srv::Empty::Request>();
-  auto future = client->async_send_request(request);
-  auto time = std::chrono::system_clock::now() + 1s;
-
-  EXPECT_EQ(1u, client->prune_requests_older_than(time));
-}
-
-TEST_F(TestClientWithServer, prune_requests_older_than_with_pruned) {
-  auto client = node->create_client<test_msgs::srv::Empty>(service_name);
-  auto request = std::make_shared<test_msgs::srv::Empty::Request>();
-  auto future = client->async_send_request(request);
-  auto time = std::chrono::system_clock::now() + 1s;
-
-  std::vector<int64_t> pruned_requests;
-  EXPECT_EQ(1u, client->prune_requests_older_than(time, &pruned_requests));
-  ASSERT_EQ(1u, pruned_requests.size());
-  EXPECT_EQ(future.request_id, pruned_requests[0]);
-}
-
 TEST_F(TestClientWithServer, async_send_request_rcl_send_request_error) {
   // Checking rcl_send_request in rclcpp::Client::async_send_request()
   auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_send_request, RCL_RET_ERROR);

rclcpp/test/rclcpp/test_context.cpp

@@ -1,216 +0,0 @@
-// Copyright 2023 Sony Group 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 "rclcpp/context.hpp"
-#include "rclcpp/rclcpp.hpp"
-
-TEST(TestContext, check_pre_shutdown_callback_order) {
-  auto context = std::make_shared<rclcpp::Context>();
-  context->init(0, nullptr);
-
-  int result[4] = {0, 0, 0, 0};
-  int index = 0;
-
-  auto callback1 = [&result, &index]() {
-      result[index] = 1;
-      index++;
-    };
-  auto callback2 = [&result, &index]() {
-      result[index] = 2;
-      index++;
-    };
-  auto callback3 = [&result, &index]() {
-      result[index] = 3;
-      index++;
-    };
-  auto callback4 = [&result, &index]() {
-      result[index] = 4;
-      index++;
-    };
-
-  context->add_pre_shutdown_callback(callback1);
-  context->add_pre_shutdown_callback(callback2);
-  context->add_pre_shutdown_callback(callback3);
-  context->add_pre_shutdown_callback(callback4);
-
-  context->shutdown("for test");
-
-  EXPECT_TRUE(result[0] == 1 && result[1] == 2 && result[2] == 3 && result[3] == 4);
-}
-
-TEST(TestContext, check_on_shutdown_callback_order) {
-  auto context = std::make_shared<rclcpp::Context>();
-  context->init(0, nullptr);
-
-  int result[4] = {0, 0, 0, 0};
-  int index = 0;
-
-  auto callback1 = [&result, &index]() {
-      result[index] = 1;
-      index++;
-    };
-  auto callback2 = [&result, &index]() {
-      result[index] = 2;
-      index++;
-    };
-  auto callback3 = [&result, &index]() {
-      result[index] = 3;
-      index++;
-    };
-  auto callback4 = [&result, &index]() {
-      result[index] = 4;
-      index++;
-    };
-
-  context->add_on_shutdown_callback(callback1);
-  context->add_on_shutdown_callback(callback2);
-  context->add_on_shutdown_callback(callback3);
-  context->add_on_shutdown_callback(callback4);
-
-  context->shutdown("for test");
-
-  EXPECT_TRUE(result[0] == 1 && result[1] == 2 && result[2] == 3 && result[3] == 4);
-}
-
-TEST(TestContext, check_mixed_register_shutdown_callback_order) {
-  auto context = std::make_shared<rclcpp::Context>();
-  context->init(0, nullptr);
-
-  int result[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-  int index = 0;
-
-  auto callback1 = [&result, &index]() {
-      result[index] = 1;
-      index++;
-    };
-  auto callback2 = [&result, &index]() {
-      result[index] = 2;
-      index++;
-    };
-  auto callback3 = [&result, &index]() {
-      result[index] = 3;
-      index++;
-    };
-  auto callback4 = [&result, &index]() {
-      result[index] = 4;
-      index++;
-    };
-  auto callback5 = [&result, &index]() {
-      result[index] = 5;
-      index++;
-    };
-  auto callback6 = [&result, &index]() {
-      result[index] = 6;
-      index++;
-    };
-  auto callback7 = [&result, &index]() {
-      result[index] = 7;
-      index++;
-    };
-  auto callback8 = [&result, &index]() {
-      result[index] = 8;
-      index++;
-    };
-
-  // Mixed register
-  context->add_pre_shutdown_callback(callback1);
-  context->add_on_shutdown_callback(callback5);
-  context->add_pre_shutdown_callback(callback2);
-  context->add_on_shutdown_callback(callback6);
-  context->add_pre_shutdown_callback(callback3);
-  context->add_on_shutdown_callback(callback7);
-  context->add_pre_shutdown_callback(callback4);
-  context->add_on_shutdown_callback(callback8);
-
-  context->shutdown("for test");
-
-  EXPECT_TRUE(
-    result[0] == 1 && result[1] == 2 && result[2] == 3 && result[3] == 4 &&
-    result[4] == 5 && result[5] == 6 && result[6] == 7 && result[7] == 8);
-}
-
-TEST(TestContext, check_pre_shutdown_callback_order_after_del) {
-  auto context = std::make_shared<rclcpp::Context>();
-  context->init(0, nullptr);
-
-  int result[4] = {0, 0, 0, 0};
-  int index = 0;
-
-  auto callback1 = [&result, &index]() {
-      result[index] = 1;
-      index++;
-    };
-  auto callback2 = [&result, &index]() {
-      result[index] = 2;
-      index++;
-    };
-  auto callback3 = [&result, &index]() {
-      result[index] = 3;
-      index++;
-    };
-  auto callback4 = [&result, &index]() {
-      result[index] = 4;
-      index++;
-    };
-
-  context->add_pre_shutdown_callback(callback1);
-  auto callback_handle = context->add_pre_shutdown_callback(callback2);
-  context->add_pre_shutdown_callback(callback3);
-  context->add_pre_shutdown_callback(callback4);
-
-  EXPECT_TRUE(context->remove_pre_shutdown_callback(callback_handle));
-  EXPECT_FALSE(context->remove_pre_shutdown_callback(callback_handle));
-
-  context->shutdown("for test");
-
-  EXPECT_TRUE(result[0] == 1 && result[1] == 3 && result[2] == 4 && result[3] == 0);
-}
-
-TEST(TestContext, check_on_shutdown_callback_order_after_del) {
-  auto context = std::make_shared<rclcpp::Context>();
-  context->init(0, nullptr);
-
-  int result[4] = {0, 0, 0, 0};
-  int index = 0;
-
-  auto callback1 = [&result, &index]() {
-      result[index] = 1;
-      index++;
-    };
-  auto callback2 = [&result, &index]() {
-      result[index] = 2;
-      index++;
-    };
-  auto callback3 = [&result, &index]() {
-      result[index] = 3;
-      index++;
-    };
-  auto callback4 = [&result, &index]() {
-      result[index] = 4;
-      index++;
-    };
-
-  context->add_on_shutdown_callback(callback1);
-  auto callback_handle = context->add_on_shutdown_callback(callback2);
-  context->add_on_shutdown_callback(callback3);
-  context->add_on_shutdown_callback(callback4);
-
-  EXPECT_TRUE(context->remove_on_shutdown_callback(callback_handle));
-  EXPECT_FALSE(context->remove_on_shutdown_callback(callback_handle));
-
-  context->shutdown("for test");
-
-  EXPECT_TRUE(result[0] == 1 && result[1] == 3 && result[2] == 4 && result[3] == 0);
-}

rclcpp/test/rclcpp/test_function_traits.cpp

@@ -393,7 +393,6 @@ TEST(TestFunctionTraits, argument_types) {
 
   auto bind_one_bool = std::bind(
     &ObjectMember::callback_one_bool, &object_member, std::placeholders::_1);
-  (void)bind_one_bool;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -403,7 +402,6 @@ TEST(TestFunctionTraits, argument_types) {
 
   auto bind_one_bool_const = std::bind(
     &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
-  (void)bind_one_bool_const;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -415,7 +413,6 @@ TEST(TestFunctionTraits, argument_types) {
   auto bind_two_bools = std::bind(
     &ObjectMember::callback_two_bools, &object_member, std::placeholders::_1,
     std::placeholders::_2);
-  (void)bind_two_bools;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -432,7 +429,6 @@ TEST(TestFunctionTraits, argument_types) {
   auto bind_one_bool_one_float = std::bind(
     &ObjectMember::callback_one_bool_one_float, &object_member, std::placeholders::_1,
     std::placeholders::_2);
-  (void)bind_one_bool_one_float;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -451,7 +447,6 @@ TEST(TestFunctionTraits, argument_types) {
     >::value, "Functor accepts a float as second argument");
 
   auto bind_one_int = std::bind(func_one_int, std::placeholders::_1);
-  (void)bind_one_int;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -460,7 +455,6 @@ TEST(TestFunctionTraits, argument_types) {
     >::value, "Functor accepts an int as first argument");
 
   auto bind_two_ints = std::bind(func_two_ints, std::placeholders::_1, std::placeholders::_2);
-  (void)bind_two_ints;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -476,7 +470,6 @@ TEST(TestFunctionTraits, argument_types) {
 
   auto bind_one_int_one_char = std::bind(
     func_one_int_one_char, std::placeholders::_1, std::placeholders::_2);
-  (void)bind_one_int_one_char;  // to quiet clang
 
   static_assert(
     std::is_same<
@@ -537,21 +530,18 @@ TEST(TestFunctionTraits, check_arguments) {
       (void)one;
       return 1;
     };
-  (void)lambda_one_int;  // to quiet clang
 
   auto lambda_two_ints = [](int one, int two) {
       (void)one;
       (void)two;
       return 2;
     };
-  (void)lambda_two_ints;  // to quiet clang
 
   auto lambda_one_int_one_char = [](int one, char two) {
       (void)one;
       (void)two;
       return 3;
     };
-  (void)lambda_one_int_one_char;  // to quiet clang
 
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(lambda_one_int), int>::value,
@@ -582,7 +572,6 @@ TEST(TestFunctionTraits, check_arguments) {
 
   auto bind_one_bool = std::bind(
     &ObjectMember::callback_one_bool, &object_member, std::placeholders::_1);
-  (void)bind_one_bool;  // to quiet clang
 
   // Test std::bind functions
   static_assert(
@@ -591,7 +580,6 @@ TEST(TestFunctionTraits, check_arguments) {
 
   auto bind_one_bool_const = std::bind(
     &ObjectMember::callback_one_bool_const, &object_member, std::placeholders::_1);
-  (void)bind_one_bool_const;  // to quiet clang
 
   // Test std::bind functions
   static_assert(
@@ -757,7 +745,6 @@ TEST_F(TestMember, bind_member_functor) {
   auto bind_member_functor = std::bind(
     &TestMember::MemberFunctor, this, std::placeholders::_1,
     std::placeholders::_2, std::placeholders::_3);
-  (void)bind_member_functor;  // to quiet clang
 
   static_assert(
     rclcpp::function_traits::check_arguments<decltype(bind_member_functor), int, float,

rclcpp/test/rclcpp/test_generic_pubsub.cpp

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

rclcpp/test/rclcpp/test_loaned_message.cpp

@@ -186,6 +186,7 @@ TEST_F(TestLoanedMessage, move_loaned_message) {
   auto loaned_msg_moved_to = LoanedMessageT(std::move(loaned_msg_to_move));
 
   ASSERT_TRUE(loaned_msg_moved_to.is_valid());
+  ASSERT_FALSE(loaned_msg_to_move.is_valid());
 
   loaned_msg_moved_to.get().float32_value = 42.0f;
   ASSERT_EQ(42.0f, loaned_msg_moved_to.get().float32_value);

rclcpp/test/rclcpp/test_logger.cpp

@@ -160,50 +160,6 @@ 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_node.cpp

@@ -95,74 +95,6 @@ TEST_F(TestNode, construction_and_destruction) {
       (void)node;
     }, rclcpp::exceptions::InvalidNamespaceError);
   }
-
-  {
-    rclcpp::NodeOptions options;
-    ASSERT_NO_THROW(
-    {
-      const auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
-      EXPECT_EQ(RCL_ROS_TIME, node->get_clock()->get_clock_type());
-    });
-  }
-
-  {
-    rclcpp::NodeOptions options;
-    options.parameter_overrides(
-    {
-      {"use_sim_time", true},
-    });
-    ASSERT_NO_THROW(
-    {
-      const auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
-      EXPECT_EQ(RCL_ROS_TIME, node->get_clock()->get_clock_type());
-    });
-  }
-
-  {
-    rclcpp::NodeOptions options;
-    options.clock_type(RCL_SYSTEM_TIME);
-    ASSERT_NO_THROW(
-    {
-      const auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
-      EXPECT_EQ(RCL_SYSTEM_TIME, node->get_clock()->get_clock_type());
-    });
-  }
-
-  {
-    rclcpp::NodeOptions options;
-    options.parameter_overrides(
-    {
-      {"use_sim_time", true},
-    });
-    options.clock_type(RCL_SYSTEM_TIME);
-    ASSERT_THROW(
-      const auto node = std::make_shared<rclcpp::Node>(
-        "my_node", "/ns",
-        options), std::invalid_argument);
-  }
-
-  {
-    rclcpp::NodeOptions options;
-    options.clock_type(RCL_STEADY_TIME);
-    ASSERT_NO_THROW(
-    {
-      const auto node = std::make_shared<rclcpp::Node>("my_node", "/ns", options);
-      EXPECT_EQ(RCL_STEADY_TIME, node->get_clock()->get_clock_type());
-    });
-  }
-
-  {
-    rclcpp::NodeOptions options;
-    options.parameter_overrides(
-    {
-      {"use_sim_time", true},
-    });
-    options.clock_type(RCL_STEADY_TIME);
-    ASSERT_THROW(
-      const auto node = std::make_shared<rclcpp::Node>(
-        "my_node", "/ns",
-        options), std::invalid_argument);
-  }
 }
 
 /*

rclcpp/test/rclcpp/test_node_options.cpp

@@ -316,12 +316,3 @@ TEST(TestNodeOptions, set_get_allocator) {
   // Check invalid allocator
   EXPECT_THROW(options.get_rcl_node_options(), std::bad_alloc);
 }
-
-TEST(TestNodeOptions, clock_type) {
-  rclcpp::NodeOptions options;
-  EXPECT_EQ(RCL_ROS_TIME, options.clock_type());
-  options.clock_type(RCL_SYSTEM_TIME);
-  EXPECT_EQ(RCL_SYSTEM_TIME, options.clock_type());
-  options.clock_type(RCL_STEADY_TIME);
-  EXPECT_EQ(RCL_STEADY_TIME, options.clock_type());
-}

rclcpp/test/rclcpp/test_publisher.cpp

@@ -245,9 +245,10 @@ const rosidl_message_type_support_t EmptyTypeSupport()
   return *rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::Empty>();
 }
 
-const rclcpp::PublisherOptionsWithAllocator<std::allocator<void>> PublisherOptions()
+const rcl_publisher_options_t PublisherOptions()
 {
-  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>();
+  return rclcpp::PublisherOptionsWithAllocator<std::allocator<void>>().template
+         to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10));
 }
 
 class TestPublisherBase : public rclcpp::PublisherBase
@@ -255,9 +256,7 @@ class TestPublisherBase : public rclcpp::PublisherBase
 public:
   explicit TestPublisherBase(rclcpp::Node * node)
   : rclcpp::PublisherBase(
-      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(),
-      PublisherOptions().to_rcl_publisher_options<test_msgs::msg::Empty>(rclcpp::QoS(10)),
-      PublisherOptions().event_callbacks, PublisherOptions().use_default_callbacks) {}
+      node->get_node_base_interface().get(), "topic", EmptyTypeSupport(), PublisherOptions()) {}
 };
 
 /*
@@ -409,7 +408,9 @@ TEST_F(TestPublisher, intra_process_publish_failures) {
   std::allocator<void> allocator;
   {
     rclcpp::LoanedMessage<test_msgs::msg::Empty> loaned_msg(*publisher, allocator);
-    EXPECT_NO_THROW(publisher->publish(std::move(loaned_msg)));
+    RCLCPP_EXPECT_THROW_EQ(
+      publisher->publish(std::move(loaned_msg)),
+      std::runtime_error("storing loaned messages in intra process is not supported yet"));
   }
 
   {

rclcpp/test/rclcpp/test_qos_event.cpp

@@ -14,7 +14,6 @@
 
 #include <gtest/gtest.h>
 
-#include <atomic>
 #include <chrono>
 #include <functional>
 #include <future>
@@ -233,7 +232,7 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
     auto throwing_statement = [callback, rcl_handle, event_type]() {
         // reset() is not needed for the exception, but it handles unused return value warning
         std::make_shared<
-          rclcpp::EventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
+          rclcpp::QOSEventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
           callback, rcl_publisher_event_init, rcl_handle, event_type).reset();
       };
     // This is done through a lambda because the compiler is having trouble parsing the templated
@@ -249,7 +248,7 @@ TEST_F(TestQosEvent, construct_destruct_rcl_error) {
     auto throwing_statement = [callback, rcl_handle, event_type]() {
         // reset() is needed for this exception
         std::make_shared<
-          rclcpp::EventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
+          rclcpp::QOSEventHandler<decltype(callback), std::shared_ptr<rcl_publisher_t>>>(
           callback, rcl_publisher_event_init, rcl_handle, event_type).reset();
       };
 
@@ -268,7 +267,7 @@ TEST_F(TestQosEvent, execute) {
   auto callback = [&handler_callback_executed](int) {handler_callback_executed = true;};
   rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
 
-  rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
+  rclcpp::QOSEventHandler<decltype(callback), decltype(rcl_handle)> handler(
     callback, rcl_publisher_event_init, rcl_handle, event_type);
 
   std::shared_ptr<void> data = handler.take_data();
@@ -293,7 +292,7 @@ TEST_F(TestQosEvent, add_to_wait_set) {
   auto callback = [](int) {};
 
   rcl_publisher_event_type_t event_type = RCL_PUBLISHER_OFFERED_DEADLINE_MISSED;
-  rclcpp::EventHandler<decltype(callback), decltype(rcl_handle)> handler(
+  rclcpp::QOSEventHandler<decltype(callback), decltype(rcl_handle)> handler(
     callback, rcl_publisher_event_init, rcl_handle, event_type);
 
   EXPECT_EQ(1u, handler.get_number_of_ready_events());
@@ -314,11 +313,6 @@ TEST_F(TestQosEvent, add_to_wait_set) {
 
 TEST_F(TestQosEvent, test_on_new_event_callback)
 {
-  // rmw_connextdds doesn't support rmw_event_set_callback() interface
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
   auto offered_deadline = rclcpp::Duration(std::chrono::milliseconds(1));
   auto requested_deadline = rclcpp::Duration(std::chrono::milliseconds(2));
 
@@ -360,11 +354,6 @@ TEST_F(TestQosEvent, test_on_new_event_callback)
 
 TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
 {
-  // rmw_connextdds doesn't support rmw_event_set_callback() interface
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
   auto pub = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
   auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
   auto dummy_cb = [](size_t count_events) {(void)count_events;};
@@ -387,12 +376,6 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
   EXPECT_NO_THROW(
     pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_OFFERED_INCOMPATIBLE_QOS));
 
-  EXPECT_NO_THROW(
-    pub->set_on_new_qos_event_callback(dummy_cb, RCL_PUBLISHER_MATCHED));
-
-  EXPECT_NO_THROW(
-    pub->clear_on_new_qos_event_callback(RCL_PUBLISHER_MATCHED));
-
   EXPECT_NO_THROW(
     sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_REQUESTED_DEADLINE_MISSED));
 
@@ -411,12 +394,6 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
   EXPECT_NO_THROW(
     sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_REQUESTED_INCOMPATIBLE_QOS));
 
-  EXPECT_NO_THROW(
-    sub->set_on_new_qos_event_callback(dummy_cb, RCL_SUBSCRIPTION_MATCHED));
-
-  EXPECT_NO_THROW(
-    sub->clear_on_new_qos_event_callback(RCL_SUBSCRIPTION_MATCHED));
-
   std::function<void(size_t)> invalid_cb;
 
   rclcpp::SubscriptionOptions sub_options;
@@ -436,170 +413,3 @@ TEST_F(TestQosEvent, test_invalid_on_new_event_callback)
     pub->set_on_new_qos_event_callback(invalid_cb, RCL_PUBLISHER_OFFERED_DEADLINE_MISSED),
     std::invalid_argument);
 }
-
-TEST_F(TestQosEvent, test_pub_matched_event_by_set_event_callback)
-{
-  // rmw_connextdds doesn't support rmw_event_set_callback() interface
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  std::atomic_size_t matched_count = 0;
-
-  rclcpp::PublisherOptions pub_options;
-  pub_options.event_callbacks.matched_callback = [](auto) {};
-  auto pub = node->create_publisher<test_msgs::msg::Empty>(
-    topic_name, 10, pub_options);
-
-  auto matched_event_callback = [&matched_count](size_t count) {
-      matched_count += count;
-    };
-
-  pub->set_on_new_qos_event_callback(matched_event_callback, RCL_PUBLISHER_MATCHED);
-
-  rclcpp::executors::SingleThreadedExecutor ex;
-  ex.add_node(node->get_node_base_interface());
-
-  const auto timeout = std::chrono::milliseconds(200);
-
-  {
-    auto sub1 = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
-    ex.spin_some(timeout);
-    EXPECT_EQ(matched_count, static_cast<size_t>(1));
-
-    {
-      auto sub2 = node->create_subscription<test_msgs::msg::Empty>(
-        topic_name, 10, message_callback);
-      ex.spin_some(timeout);
-      EXPECT_EQ(matched_count, static_cast<size_t>(2));
-    }
-    ex.spin_some(timeout);
-    EXPECT_EQ(matched_count, static_cast<size_t>(3));
-  }
-
-  ex.spin_some(timeout);
-  EXPECT_EQ(matched_count, static_cast<size_t>(4));
-}
-
-TEST_F(TestQosEvent, test_sub_matched_event_by_set_event_callback)
-{
-  // rmw_connextdds doesn't support rmw_event_set_callback() interface
-  if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
-    GTEST_SKIP();
-  }
-
-  std::atomic_size_t matched_count = 0;
-
-  rclcpp::SubscriptionOptions sub_options;
-  sub_options.event_callbacks.matched_callback = [](auto) {};
-  auto sub = node->create_subscription<test_msgs::msg::Empty>(
-    topic_name, 10, message_callback, sub_options);
-
-  auto matched_event_callback = [&matched_count](size_t count) {
-      matched_count += count;
-    };
-
-  sub->set_on_new_qos_event_callback(matched_event_callback, RCL_SUBSCRIPTION_MATCHED);
-
-  rclcpp::executors::SingleThreadedExecutor ex;
-  ex.add_node(node->get_node_base_interface());
-
-  const auto timeout = std::chrono::milliseconds(200);
-
-  {
-    auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-
-    ex.spin_some(timeout);
-    EXPECT_EQ(matched_count, static_cast<size_t>(1));
-
-    {
-      auto pub2 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-      ex.spin_some(timeout);
-      EXPECT_EQ(matched_count, static_cast<size_t>(2));
-    }
-
-    ex.spin_some(timeout);
-    EXPECT_EQ(matched_count, static_cast<size_t>(3));
-  }
-
-  ex.spin_some(timeout);
-  EXPECT_EQ(matched_count, static_cast<size_t>(4));
-}
-
-TEST_F(TestQosEvent, test_pub_matched_event_by_option_event_callback)
-{
-  rmw_matched_status_t matched_expected_result;
-
-  rclcpp::PublisherOptions pub_options;
-  pub_options.event_callbacks.matched_callback =
-    [&matched_expected_result](rmw_matched_status_t & s) {
-      EXPECT_EQ(s.total_count, matched_expected_result.total_count);
-      EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
-      EXPECT_EQ(s.current_count, matched_expected_result.current_count);
-      EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
-    };
-
-  auto pub = node->create_publisher<test_msgs::msg::Empty>(
-    topic_name, 10, pub_options);
-
-  rclcpp::executors::SingleThreadedExecutor ex;
-  ex.add_node(node->get_node_base_interface());
-
-  // Create a connected subscription
-  matched_expected_result.total_count = 1;
-  matched_expected_result.total_count_change = 1;
-  matched_expected_result.current_count = 1;
-  matched_expected_result.current_count_change = 1;
-
-  const auto timeout = std::chrono::milliseconds(200);
-
-  {
-    auto sub = node->create_subscription<test_msgs::msg::Empty>(topic_name, 10, message_callback);
-    ex.spin_some(timeout);
-
-    // destroy a connected subscription
-    matched_expected_result.total_count = 1;
-    matched_expected_result.total_count_change = 0;
-    matched_expected_result.current_count = 0;
-    matched_expected_result.current_count_change = -1;
-  }
-  ex.spin_some(timeout);
-}
-
-TEST_F(TestQosEvent, test_sub_matched_event_by_option_event_callback)
-{
-  rmw_matched_status_t matched_expected_result;
-
-  rclcpp::SubscriptionOptions sub_options;
-  sub_options.event_callbacks.matched_callback =
-    [&matched_expected_result](rmw_matched_status_t & s) {
-      EXPECT_EQ(s.total_count, matched_expected_result.total_count);
-      EXPECT_EQ(s.total_count_change, matched_expected_result.total_count_change);
-      EXPECT_EQ(s.current_count, matched_expected_result.current_count);
-      EXPECT_EQ(s.current_count_change, matched_expected_result.current_count_change);
-    };
-  auto sub = node->create_subscription<test_msgs::msg::Empty>(
-    topic_name, 10, message_callback, sub_options);
-
-  rclcpp::executors::SingleThreadedExecutor ex;
-  ex.add_node(node->get_node_base_interface());
-
-  // Create a connected publisher
-  matched_expected_result.total_count = 1;
-  matched_expected_result.total_count_change = 1;
-  matched_expected_result.current_count = 1;
-  matched_expected_result.current_count_change = 1;
-
-  const auto timeout = std::chrono::milliseconds(200);
-  {
-    auto pub1 = node->create_publisher<test_msgs::msg::Empty>(topic_name, 10);
-    ex.spin_some(timeout);
-
-    // destroy a connected publisher
-    matched_expected_result.total_count = 1;
-    matched_expected_result.total_count_change = 0;
-    matched_expected_result.current_count = 0;
-    matched_expected_result.current_count_change = -1;
-  }
-  ex.spin_some(timeout);
-}

rclcpp/test/rclcpp/test_qos_parameters.cpp

@@ -255,9 +255,3 @@ TEST(TestQosParameters, internal_functions_failure_modes) {
       nullptr, rclcpp::QosPolicyKind::Reliability),
     std::invalid_argument);
 }
-
-TEST(TestQosParameters, keep_last_zero) {
-  rclcpp::KeepLast keep_last(0);
-
-  EXPECT_EQ(keep_last.depth, RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT);
-}

rclcpp/test/rclcpp/test_rosout_subscription.cpp

@@ -1,180 +0,0 @@
-// Copyright 2021 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 <gtest/gtest.h>
-
-#include <chrono>
-#include <memory>
-#include <string>
-
-#include "rclcpp/rclcpp.hpp"
-
-#include "rcl_interfaces/msg/log.hpp"
-
-using namespace std::chrono_literals;
-
-class TestRosoutSubscription : public ::testing::Test
-{
-protected:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  static void TearDownTestCase()
-  {
-    rclcpp::shutdown();
-  }
-
-  void SetUp()
-  {
-    node = std::make_shared<rclcpp::Node>("test_rosout_subscription", "/ns");
-    sub = node->create_subscription<rcl_interfaces::msg::Log>(
-      "/rosout", 10, [this](rcl_interfaces::msg::Log::ConstSharedPtr msg) {
-        if (msg->msg == this->rosout_msg_data &&
-        msg->name == this->rosout_msg_name)
-        {
-          received_msg_promise.set_value(true);
-        }
-      });
-  }
-
-  void TearDown()
-  {
-    node.reset();
-  }
-
-  rclcpp::Node::SharedPtr node;
-  rclcpp::Subscription<rcl_interfaces::msg::Log>::SharedPtr sub;
-  std::promise<bool> received_msg_promise;
-  std::string rosout_msg_data;
-  std::string rosout_msg_name;
-};
-
-TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild) {
-  std::string logger_name = "ns.test_rosout_subscription.child";
-  this->rosout_msg_data = "SOMETHING";
-  this->rosout_msg_name = logger_name;
-  {
-    // before calling get_child of Logger
-    {
-      RCLCPP_INFO(
-        rclcpp::get_logger(logger_name), this->rosout_msg_data.c_str());
-      auto future = received_msg_promise.get_future();
-      auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-      ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
-      received_msg_promise = {};
-    }
-
-    rclcpp::Logger child_logger = this->node->get_logger().get_child("child");
-    ASSERT_EQ(child_logger.get_name(), logger_name);
-
-    // after calling get_child of Logger
-    // 1. use child_logger directly
-    {
-      RCLCPP_INFO(child_logger, this->rosout_msg_data.c_str());
-      auto future = received_msg_promise.get_future();
-      auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-      ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-      EXPECT_TRUE(future.get());
-      received_msg_promise = {};
-    }
-
-    // 2. use rclcpp::get_logger
-    {
-      RCLCPP_INFO(rclcpp::get_logger(logger_name), this->rosout_msg_data.c_str());
-      auto future = received_msg_promise.get_future();
-      auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-      ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-      EXPECT_TRUE(future.get());
-      received_msg_promise = {};
-    }
-  }
-
-  // `child_logger` is end of life, there is no sublogger
-  {
-    RCLCPP_INFO(rclcpp::get_logger(logger_name), this->rosout_msg_data.c_str());
-    auto future = received_msg_promise.get_future();
-    auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-    ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
-    received_msg_promise = {};
-  }
-}
-
-TEST_F(TestRosoutSubscription, test_rosoutsubscription_parent_log) {
-  std::string logger_name = "ns.test_rosout_subscription";
-  this->rosout_msg_data = "SOMETHING";
-  this->rosout_msg_name = logger_name;
-
-  rclcpp::Logger logger = this->node->get_logger();
-  ASSERT_EQ(logger.get_name(), logger_name);
-  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
-  auto future = received_msg_promise.get_future();
-  auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-  EXPECT_TRUE(future.get());
-  received_msg_promise = {};
-}
-
-TEST_F(TestRosoutSubscription, test_rosoutsubscription_child_log) {
-  std::string logger_name = "ns.test_rosout_subscription.child1";
-  this->rosout_msg_data = "SOMETHING";
-  this->rosout_msg_name = logger_name;
-
-  rclcpp::Logger logger = this->node->get_logger();
-  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
-  auto future = received_msg_promise.get_future();
-  auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-  ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
-  received_msg_promise = {};
-
-  logger = this->node->get_logger().get_child("child1");
-  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
-  future = received_msg_promise.get_future();
-  return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-  EXPECT_TRUE(future.get());
-  received_msg_promise = {};
-
-  logger = this->node->get_logger().get_child("child2");
-  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
-  future = received_msg_promise.get_future();
-  return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-  ASSERT_EQ(rclcpp::FutureReturnCode::TIMEOUT, return_code);
-  received_msg_promise = {};
-
-  this->rosout_msg_name = "ns.test_rosout_subscription.child2";
-  RCLCPP_INFO(logger, this->rosout_msg_data.c_str());
-  future = received_msg_promise.get_future();
-  return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-  EXPECT_TRUE(future.get());
-  received_msg_promise = {};
-}
-
-TEST_F(TestRosoutSubscription, test_rosoutsubscription_getchild_hierarchy) {
-  std::string logger_name = "ns.test_rosout_subscription.child.grandchild";
-  this->rosout_msg_data = "SOMETHING";
-  this->rosout_msg_name = logger_name;
-
-  rclcpp::Logger grandchild_logger =
-    this->node->get_logger().get_child("child").get_child("grandchild");
-  ASSERT_EQ(grandchild_logger.get_name(), logger_name);
-  RCLCPP_INFO(grandchild_logger, this->rosout_msg_data.c_str());
-  auto future = received_msg_promise.get_future();
-  auto return_code = rclcpp::spin_until_future_complete(this->node, future, 3s);
-  ASSERT_EQ(rclcpp::FutureReturnCode::SUCCESS, return_code);
-  EXPECT_TRUE(future.get());
-  received_msg_promise = {};
-}