Refine stubs

Signed-off-by: methylDragon <[email protected]>

Author: methylDragon

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message.hpp

@@ -32,9 +32,6 @@ namespace rclcpp
 namespace dynamic_typesupport
 {
 
-class DynamicMessageType;
-class DynamicMessageTypeBuilder;
-
 /// Utility wrapper class for rosidl_dynamic_typesupport_dynamic_data_t
 /// STUBBED OUT
 class DynamicMessage : public std::enable_shared_from_this<DynamicMessage>

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type.hpp

@@ -30,9 +30,6 @@ namespace rclcpp
 namespace dynamic_typesupport
 {
 
-class DynamicMessage;
-class DynamicMessageTypeBuilder;
-
 /// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_t`
 /// STUBBED OUT
 class DynamicMessageType : public std::enable_shared_from_this<DynamicMessageType>

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_message_type_builder.hpp

@@ -30,9 +30,6 @@ namespace rclcpp
 namespace dynamic_typesupport
 {
 
-class DynamicMessage;
-class DynamicMessageType;
-
 /// Utility wrapper class for `rosidl_dynamic_typesupport_dynamic_type_builder_t *`
 /// STUBBED OUT
 class DynamicMessageTypeBuilder : public std::enable_shared_from_this<DynamicMessageTypeBuilder>

rclcpp/include/rclcpp/dynamic_typesupport/dynamic_serialization_support.hpp

@@ -31,15 +31,6 @@ 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/include/rclcpp/generic_subscription.hpp

@@ -125,7 +125,6 @@ class GenericSubscription : public rclcpp::SubscriptionBase
 
 
   // DYNAMIC TYPE ==================================================================================
-  // TODO(methylDragon): Reorder later
   RCLCPP_PUBLIC
   rclcpp::dynamic_typesupport::DynamicMessageType::SharedPtr get_shared_dynamic_message_type()
   override;

rclcpp/include/rclcpp/subscription_base.hpp

@@ -239,7 +239,10 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
   const rosidl_message_type_support_t &
   get_message_type_support_handle() const;
 
-  /// DEPRECATED: Check if subscription takes and handles serialized messages
+  /// Return if the subscription is serialized
+  /**
+   * \return `true` if the subscription is serialized, `false` otherwise
+   */
   RCLCPP_PUBLIC
   bool
   is_serialized() const;

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp

@@ -28,14 +28,19 @@ using rclcpp::dynamic_typesupport::DynamicSerializationSupport;
 
 // CONSTRUCTION ====================================================================================
 DynamicSerializationSupport::DynamicSerializationSupport(rcl_allocator_t allocator)
-: DynamicSerializationSupport::DynamicSerializationSupport("", allocator) {}  // STUBBED
+: DynamicSerializationSupport::DynamicSerializationSupport("", allocator)
+{
+  throw std::runtime_error("Unimplemented");
+}
 
 DynamicSerializationSupport::DynamicSerializationSupport(
   const std::string & /*serialization_library_name*/,
   rcl_allocator_t /*allocator*/)
 : rosidl_serialization_support_(
     rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())
-{}  // STUBBED
+{
+  throw std::runtime_error("Unimplemented");
+}
 
 DynamicSerializationSupport::~DynamicSerializationSupport()
 {}  // STUBBED

rclcpp/src/rclcpp/subscription_base.cpp

@@ -269,9 +269,6 @@ SubscriptionBase::get_message_type_support_handle() const
 bool
 SubscriptionBase::is_serialized() const
 {
-  RCLCPP_WARN(
-    rclcpp::get_logger(
-      "rclcpp"), "is_serialized() is deprecated, use get_subscription_type() instead.");
   return subscription_type_ == rclcpp::SubscriptionType::SERIALIZED_MESSAGE;
 }
 
@@ -542,6 +539,7 @@ SubscriptionBase::take_dynamic_message(
   rclcpp::dynamic_typesupport::DynamicMessage & /*message_out*/,
   rclcpp::MessageInfo & /*message_info_out*/)
 {
-  RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "take_dynamic_message stubbed out for now.");
+
+  throw std::runtime_error("Unimplemented");
   return false;
 }