[20596] Feature: topic keys with non breaking ABI (humble backport)

rosidl_parser/rosidl_parser/definition.py

@@ -507,6 +507,15 @@ def __init__(self, namespaced_type: NamespacedType, members=None):
         self.namespaced_type = namespaced_type
         self.members = members or []
 
+    def has_any_member_with_annotation(self, name: str):
+        """
+        Returns whether any member has a particular annotation.
+
+        :param name: the annotation name
+        """
+        has_any = [member.name for member in self.members if member.has_annotation(name)]
+        return bool(has_any)
+
 
 class Include:
     """An include statement."""

rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/identifier.h

@@ -26,6 +26,10 @@ extern "C"
 ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC
 extern const char * rosidl_typesupport_introspection_c__identifier;
 
+/// String identifying the typesupport introspection implementation in use.
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC
+extern const char * rosidl_typesupport_introspection_c__identifier_v2;
+
 #ifdef __cplusplus
 }
 #endif

rosidl_typesupport_introspection_c/include/rosidl_typesupport_introspection_c/message_introspection.h

@@ -95,6 +95,8 @@ typedef struct rosidl_typesupport_introspection_c__MessageMembers_s
   void (* init_function)(void *, enum rosidl_runtime_c__message_initialization);
   /// The function used to clean up the interface's in-memory representation
   void (* fini_function)(void *);
+  /// A pointer to the array that indicates whether each field is annotated as @key
+  const bool * key_members_array_;
 } rosidl_typesupport_introspection_c__MessageMembers;
 
 #endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_C__MESSAGE_INTROSPECTION_H_

rosidl_typesupport_introspection_c/resource/msg__type_support.c.em

@@ -197,6 +197,23 @@ bool @(function_prefix)__resize_function__@(message.structure.namespaced_type.na
 @[    end if]@
 @[  end if]@
 @[end for]@
+
+static bool @(function_prefix)__@(message.structure.namespaced_type.name)_key_members_array[@(len(message.structure.members))] = {
+@{
+for index, member in enumerate(message.structure.members):
+  if member.has_annotation('key'):
+    if index < len(message.structure.members) - 1:
+        print('  true,')
+    else:
+        print('  true')
+  else:
+    if index < len(message.structure.members) - 1:
+        print('  false,')
+    else:
+        print('  false')
+}@
+};
+
 static rosidl_typesupport_introspection_c__MessageMember @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array[@(len(message.structure.members))] = {
 @{
 for index, member in enumerate(message.structure.members):
@@ -274,7 +291,8 @@ static const rosidl_typesupport_introspection_c__MessageMembers @(function_prefi
   sizeof(@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))),
   @(function_prefix)__@(message.structure.namespaced_type.name)_message_member_array,  // message members
   @(function_prefix)__@(message.structure.namespaced_type.name)_init_function,  // function to initialize message memory (memory has to be allocated)
-  @(function_prefix)__@(message.structure.namespaced_type.name)_fini_function  // function to terminate message instance (will not free memory)
+  @(function_prefix)__@(message.structure.namespaced_type.name)_fini_function,  // function to terminate message instance (will not free memory)
+  @(function_prefix)__@(message.structure.namespaced_type.name)_key_members_array // mapping to each field to know whether it is keyed or not
 };
 
 // this is not const since it must be initialized on first access
@@ -301,7 +319,7 @@ if isinstance(type_, AbstractNestedType):
 @[end for]@
   if (!@(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle.typesupport_identifier) {
     @(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle.typesupport_identifier =
-      rosidl_typesupport_introspection_c__identifier;
+      rosidl_typesupport_introspection_c__identifier_v2;
   }
   return &@(function_prefix)__@(message.structure.namespaced_type.name)_message_type_support_handle;
 }

rosidl_typesupport_introspection_c/src/identifier.c

@@ -15,3 +15,4 @@
 #include "rosidl_typesupport_introspection_c/identifier.h"
 
 const char * rosidl_typesupport_introspection_c__identifier = "rosidl_typesupport_introspection_c";
+const char * rosidl_typesupport_introspection_c__identifier_v2 = "rosidl_typesupport_introspection_c_v2";

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/identifier.hpp

@@ -24,6 +24,10 @@ namespace rosidl_typesupport_introspection_cpp
 ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_IMPORT
 extern const char * typesupport_identifier;
 
+/// String identifying the typesupport introspection implementation in use.
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_IMPORT
+extern const char * typesupport_identifier_v2;
+
 }  // namespace rosidl_typesupport_introspection_cpp
 
 #endif  // ROSIDL_TYPESUPPORT_INTROSPECTION_CPP__IDENTIFIER_HPP_

rosidl_typesupport_introspection_cpp/include/rosidl_typesupport_introspection_cpp/message_introspection.hpp

@@ -102,6 +102,8 @@ typedef struct ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_PUBLIC MessageMembers_s
   void (* init_function)(void *, rosidl_runtime_cpp::MessageInitialization);
   /// The function used to clean up the interface's in-memory representation
   void (* fini_function)(void *);
+  /// A pointer to the array that indicates whether each field is annotated as @key
+  const bool * key_members_array_;
 } MessageMembers;
 
 }  // namespace rosidl_typesupport_introspection_cpp

rosidl_typesupport_introspection_cpp/resource/msg__type_support.cpp.em

@@ -162,6 +162,23 @@ void resize_function__@(message.structure.namespaced_type.name)__@(member.name)(
 @[    end if]@
 @[  end if]@
 @[end for]@
+
+static const bool @(message.structure.namespaced_type.name)_key_members_array[@(len(message.structure.members))] = {
+@{
+for index, member in enumerate(message.structure.members):
+  if member.has_annotation('key'):
+    if index < len(message.structure.members) - 1:
+        print('  true,')
+    else:
+        print('  true')
+  else:
+    if index < len(message.structure.members) - 1:
+        print('  false,')
+    else:
+        print('  false')
+}@
+};
+
 static const ::rosidl_typesupport_introspection_cpp::MessageMember @(message.structure.namespaced_type.name)_message_member_array[@(len(message.structure.members))] = {
 @{
 for index, member in enumerate(message.structure.members):
@@ -239,11 +256,12 @@ static const ::rosidl_typesupport_introspection_cpp::MessageMembers @(message.st
   sizeof(@('::'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))),
   @(message.structure.namespaced_type.name)_message_member_array,  // message members
   @(message.structure.namespaced_type.name)_init_function,  // function to initialize message memory (memory has to be allocated)
-  @(message.structure.namespaced_type.name)_fini_function  // function to terminate message instance (will not free memory)
+  @(message.structure.namespaced_type.name)_fini_function,  // function to terminate message instance (will not free memory)
+  @(message.structure.namespaced_type.name)_key_members_array // mapping to each field to know whether it is keyed or not
 };
 
 static const rosidl_message_type_support_t @(message.structure.namespaced_type.name)_message_type_support_handle = {
-  ::rosidl_typesupport_introspection_cpp::typesupport_identifier,
+  ::rosidl_typesupport_introspection_cpp::typesupport_identifier_v2,
   &@(message.structure.namespaced_type.name)_message_members,
   get_message_typesupport_handle_function,
 };

rosidl_typesupport_introspection_cpp/src/identifier.cpp

@@ -20,4 +20,8 @@ namespace rosidl_typesupport_introspection_cpp
 ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_EXPORT
 const char * typesupport_identifier = "rosidl_typesupport_introspection_cpp";
 
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_CPP_EXPORT
+const char * typesupport_identifier_v2 = "rosidl_typesupport_introspection_cpp_v2";
+
 }  // namespace rosidl_typesupport_introspection_cpp