rmw serialized to rcutils serialized

rmw/CMakeLists.txt

@@ -29,7 +29,6 @@ set(rmw_sources
   "src/convert_rcutils_ret_to_rmw_ret.c"
   "src/error_handling.c"
   "src/names_and_types.c"
-  "src/serialized_message.c"
   "src/sanity_checks.c"
   "src/node_security_options.c"
   "src/validate_full_topic_name.c"

rmw/include/rmw/serialized_message.h

@@ -20,79 +20,14 @@ extern "C"
 {
 #endif
 
-#include "rcutils/allocator.h"
-
-#include "rmw/macros.h"
-#include "rmw/types.h"
-#include "rmw/visibility_control.h"
-
-/// Return a zero initialized serialized message struct.
-/**
- * \return rmw_serialized_message_t a zero initialized serialized message struct
- */
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_serialized_message_t
-rmw_get_zero_initialized_serialized_message(void);
-
-/// Initialize a zero initialized serialized message struct.
-/**
- * This function may leak if the serialized message struct is already
- * pre-initialized.
- * If the capacity is set to 0, no memory is allocated and the internal buffer
- * is still NULL.
- *
- * \param msg a pointer to the to be initialized serialized message struct
- * \param buffer_capacity the size of the memory to allocate for the byte stream
- * \param allocator the allocator to use for the memory allocation
- * \return `RMW_RET_OK` if successful, or
- * \return `RMW_RET_ERROR` if an unexpected error occurs
- */
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_ret_t
-rmw_serialized_message_init(
-  rmw_serialized_message_t * msg,
-  size_t buffer_capacity,
-  const rcutils_allocator_t * allocator);
-
-/// Finalize a serialized message struct.
-/**
- * Cleans up and deallocates any resources used in a rmw_message_serialized_t.
- * Passing a rmw_serialized_message_t which has not been zero initialized using
- * rmw_get_zero_initialized_serialized_message() to this function is undefined
- * behavior.
- *
- * \param msg pointer to the serialized message to be cleaned up
- * \return `RMW_RET_OK` if successful, or
- * \return `RMW_RET_BAD_ALLOC` if memory allocation failed, or
- * \return `RMW_RET_ERROR` if an unexpected error occurs
- */
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_ret_t
-rmw_serialized_message_fini(rmw_serialized_message_t * msg);
-
-/// Resize the internal buffer for the message byte stream.
-/**
- * The internal buffer of the serialized message can be resized dynamically if needed.
- * If the new size is smaller than the current capacity, then the memory is
- * truncated.
- * Be aware, that this will deallocate the memory and therefore invalidates any
- * pointers to this storage.
- * If the new size is larger, new memory is getting allocated and the existing
- * content is copied over.
- *
- * \param msg pointer to the instance of rmw_serialized_message_t which is being resized
- * \param new_size the new size of the internal buffer
- * \return `RMW_RET_OK` if successful, or
- * \return `RMW_RET_BAD_ALLOC` if memory allocation failed, or
- * \return `RMW_RET_ERROR` if an unexpected error occurs
- */
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_ret_t
-rmw_serialized_message_resize(rmw_serialized_message_t * msg, size_t new_size);
+#include "rcutils/types/serialized_message.h"
+
+// aliases for rcutils_serialized_message_t
+typedef rcutils_serialized_message_t rmw_serialized_message_t;
+#define rmw_get_zero_initialized_serialized_message rcutils_get_zero_initialized_serialized_message
+#define rmw_serialized_message_init rcutils_serialized_message_init
+#define rmw_serialized_message_fini rcutils_serialized_message_fini
+#define rmw_serialized_message_resize rcutils_serialized_message_resize
 
 #if __cplusplus
 }

rmw/include/rmw/types.h

@@ -27,6 +27,7 @@ extern "C"
 // map rcutils specific log levels to rmw speicfic type
 #include <rcutils/logging.h>
 
+#include "rmw/serialized_message.h"
 #include "rmw/visibility_control.h"
 
 typedef int rmw_ret_t;
@@ -222,15 +223,6 @@ typedef struct RMW_PUBLIC_TYPE rmw_gid_t
   uint8_t data[RMW_GID_STORAGE_SIZE];
 } rmw_gid_t;
 
-typedef struct RMW_PUBLIC_TYPE rmw_serialized_message_t
-{
-  // serialized message data
-  char * buffer;
-  size_t buffer_length;
-  size_t buffer_capacity;
-  rcutils_allocator_t allocator;
-} rmw_serialized_message_t;
-
 typedef struct RMW_PUBLIC_TYPE rmw_message_info_t
 {
   // const rmw_time_t received_timestamp;

rmw/test/test_serialized_message.cpp

@@ -16,7 +16,7 @@
 
 #include "rcutils/allocator.h"
 
-#include "rmw/serialized_message.h"
+#include "rmw/types.h"
 
 TEST(test_serialized_message, default_initialization) {
   auto serialized_msg = rmw_get_zero_initialized_serialized_message();