Add missing implementations (#296)

* Add missing implementations

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Add depend to colcon

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Test with repo clone

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Only clone rosidl_runtime_c

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Ignore tests

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Move apt install

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Fix build

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Add missing header

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

---------

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

Author: Acuadros95

.github/workflows/ci.yml

@@ -21,18 +21,24 @@ jobs:
 
         - name: Download dependencies
           run: |
-            apt update && apt install -y python3-pip git python3-rosdep python3-colcon-common-extensions curl
+            apt update && apt install -y python3-pip git python3-rosdep python3-colcon-common-extensions curl ros-$ROS_DISTRO-performance-test-fixture
             git clone -b ros2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
             git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
             git clone -b main https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
-            git clone -b master https://github.com/ros2/rmw src/rmw
+            git clone -b rolling https://github.com/ros2/rmw src/rmw
             touch src/rosidl_typesupport_microxrcedds/test/COLCON_IGNORE
+
+            # Workarround until rolling docker is updated
+            git clone -b rolling https://github.com/ros2/rosidl src/rosidl
+            cp -r src/rosidl/rosidl_runtime_c src/rosidl_runtime_c
+            rm -rf src/rosidl
+            touch src/rosidl_runtime_c/test/COLCON_IGNORE
+
             # Install coverage tools
             pip3 install gcovr
             . /opt/ros/$ROS_DISTRO/setup.sh
             rosdep init && rosdep update
             rosdep install --from-paths src -r
-            apt -y install ros-$ROS_DISTRO-performance-test-fixture
 
         - name: Build
           run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon build --symlink-install --cmake-args -DBUILD_SHARED_LIBS=ON -DCMAKE_CXX_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_CXX_OUTPUT_EXTENSION_REPLACE=ON -DCMAKE_C_FLAGS="-ftest-coverage --coverage -fno-inline -fno-inline-small-functions -fno-default-inline" -DCMAKE_C_OUTPUT_EXTENSION_REPLACE=ON

rmw_microxrcedds_c/CMakeLists.txt

@@ -196,6 +196,7 @@ set(SRCS
   src/rmw_get_topic_endpoint_info.c
   src/rmw_get_endpoint_network_flow.c
   src/rmw_qos_profile_check_compatible.c
+  src/rmw_dynamic_message_type_support.c
   src/rmw_guard_condition.c
   src/rmw_init.c
   src/rmw_logging.c

rmw_microxrcedds_c/package.xml

@@ -14,6 +14,7 @@
   <buildtool_export_depend>rosidl_cmake</buildtool_export_depend>
 
   <depend>microcdr</depend>
+  <depend>rosidl_runtime_c</depend>
   <depend>microxrcedds_client</depend>
   <depend>rcutils</depend>
   <depend>rmw</depend>

rmw_microxrcedds_c/src/rmw_dynamic_message_type_support.c

@@ -0,0 +1,66 @@
+// Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 <rmw/dynamic_message_type_support.h>
+
+#include "./rmw_microros_internal/error_handling_internal.h"
+
+rmw_ret_t
+rmw_take_dynamic_message(
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void)subscription;
+  (void)dynamic_message;
+  (void)taken;
+  (void)allocation;
+  RMW_UROS_TRACE_MESSAGE("function not implemented");
+  return RMW_RET_UNSUPPORTED;
+}
+
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_take_dynamic_message_with_info(
+  const rmw_subscription_t * subscription,
+  rosidl_dynamic_typesupport_dynamic_data_t * dynamic_message,
+  bool * taken,
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void)subscription;
+  (void)dynamic_message;
+  (void)taken;
+  (void)message_info;
+  (void)allocation;
+  RMW_UROS_TRACE_MESSAGE("function not implemented");
+  return RMW_RET_UNSUPPORTED;
+}
+
+RMW_PUBLIC
+RMW_WARN_UNUSED
+rmw_ret_t
+rmw_serialization_support_init(
+  const char * serialization_lib_name,
+  rcutils_allocator_t * allocator,
+  rosidl_dynamic_typesupport_serialization_support_t * serialization_support)
+{
+  (void)serialization_lib_name;
+  (void)allocator;
+  (void)serialization_support;
+  RMW_UROS_TRACE_MESSAGE("function not implemented");
+  return RMW_RET_UNSUPPORTED;
+}