Merge branch 'master' into Deserialization

Author: rotu

.github/workflows/CI.yml

@@ -5,15 +5,8 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          rosdistro: [dashing, eloquent, master]
+          rosdistro: [master]
           os: [ubuntu-18.04, macOS-latest, windows-latest]
-          exclude:
-            # pending https://github.com/ament/ament_cmake/pull/233
-            - rosdistro: eloquent
-              os: windows-latest
-            # pending https://github.com/ament/ament_cmake/pull/234
-            - rosdistro: dashing
-              os: windows-latest
     runs-on: ${{ matrix.os }}
     steps:
     - if: runner.os == 'Linux'

README.md

@@ -26,7 +26,10 @@ Cyclone DDS is ready to use. It seeks to give the fastest, easiest, and most rob
 
 ## Building from source and contributing
 
-Note the `master` branch maintains compatibility with ROS releases Dashing and later, including the not-yet-released [*Foxy*](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/).
+The following branches are actively maintained:
+
+* `master`, which targets the upcoming ROS version, [*Foxy*](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/).
+* `dashing-eloquent`, which maintains compatibility with ROS releases [*Dashing*](https://index.ros.org/doc/ros2/Releases/Release-Dashing-Diademata/) and [*Eloquent*](https://index.ros.org/doc/ros2/Releases/Release-Eloquent-Elusor/)
 
 If building ROS2 from source ([ros2.repos](https://github.com/ros2/ros2/blob/master/ros2.repos)), you already have this package and Cyclone DDS:
 

cyclonedds_cmake_module/CHANGELOG.rst

@@ -22,14 +22,14 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wimplicit-fallthrough)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
 
-find_package(cyclonedds_cmake_module REQUIRED)
+#find_package(cyclonedds_cmake_module REQUIRED)
 find_package(CycloneDDS QUIET CONFIG)
 if(NOT CycloneDDS_FOUND)
   message(WARNING "Could not find Eclipse Cyclone DDS - skipping '${PROJECT_NAME}'")
@@ -38,13 +38,13 @@ if(NOT CycloneDDS_FOUND)
 endif()
 
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
@@ -71,7 +71,7 @@ ament_target_dependencies(rmw_cyclonedds_cpp
   "rosidl_typesupport_introspection_c"
   "rosidl_typesupport_introspection_cpp"
   "rmw"
-  "rosidl_generator_c"
+  "rosidl_runtime_c"
 )
 
 configure_rmw_library(rmw_cyclonedds_cpp)

cyclonedds_cmake_module/CMakeLists.txt

@@ -16,9 +16,9 @@
 #ifndef RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
 #define RMW_CYCLONEDDS_CPP__TYPESUPPORT_HPP_
 
-#include <rosidl_generator_c/string.h>
-#include <rosidl_generator_c/string_functions.h>
-#include <rosidl_generator_c/u16string_functions.h>
+#include <rosidl_runtime_c/string.h>
+#include <rosidl_runtime_c/string_functions.h>
+#include <rosidl_runtime_c/u16string_functions.h>
 
 #include <cassert>
 #include <string>
@@ -53,15 +53,15 @@ struct StringHelper;
 template<>
 struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
 {
-  using type = rosidl_generator_c__String;
+  using type = rosidl_runtime_c__String;
 
   static std::string convert_to_std_string(void * data)
   {
-    auto c_string = static_cast<rosidl_generator_c__String *>(data);
+    auto c_string = static_cast<rosidl_runtime_c__String *>(data);
     if (!c_string) {
       RCUTILS_LOG_ERROR_NAMED(
         "rmw_cyclonedds_cpp",
-        "Failed to cast data as rosidl_generator_c__String");
+        "Failed to cast data as rosidl_runtime_c__String");
       return "";
     }
     if (!c_string->data) {
@@ -73,7 +73,7 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
     return std::string(c_string->data);
   }
 
-  static std::string convert_to_std_string(rosidl_generator_c__String & data)
+  static std::string convert_to_std_string(rosidl_runtime_c__String & data)
   {
     return std::string(data.data);
   }
@@ -82,8 +82,8 @@ struct StringHelper<rosidl_typesupport_introspection_c__MessageMembers>
   {
     std::string str;
     deser >> str;
-    rosidl_generator_c__String * c_str = static_cast<rosidl_generator_c__String *>(field);
-    rosidl_generator_c__String__assign(c_str, str.c_str());
+    rosidl_runtime_c__String * c_str = static_cast<rosidl_runtime_c__String *>(field);
+    rosidl_runtime_c__String__assign(c_str, str.c_str());
   }
 };