Add new subscription type and refine code

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

Author: methylDragon

rclcpp/include/rclcpp/subscription_base.hpp

@@ -65,6 +65,7 @@ class IntraProcessManager;
 
 enum class SubscriptionType : uint8_t
 {
+  INVALID = 0,  // The subscription type is most likely uninitialized
   ROS_MESSAGE = 1,  // take message as ROS message and handle as ROS message
   SERIALIZED_MESSAGE = 2,  // take message as serialized and handle as serialized
   DYNAMIC_MESSAGE_DIRECT = 3,  // take message as DynamicMessage and handle as DynamicMessage

rclcpp/src/rclcpp/dynamic_typesupport/dynamic_serialization_support.cpp

@@ -31,8 +31,8 @@ DynamicSerializationSupport::DynamicSerializationSupport(rcl_allocator_t allocat
 : DynamicSerializationSupport::DynamicSerializationSupport("", allocator) {}  // STUBBED
 
 DynamicSerializationSupport::DynamicSerializationSupport(
-  const std::string & serialization_library_name,
-  rcl_allocator_t allocator)
+  const std::string & /*serialization_library_name*/,
+  rcl_allocator_t /*allocator*/)
 : rosidl_serialization_support_(
     rosidl_dynamic_typesupport_get_zero_initialized_serialization_support())
 {}  // STUBBED

rclcpp/src/rclcpp/executor.cpp

@@ -690,6 +690,11 @@ Executor::execute_subscription(rclcpp::SubscriptionBase::SharedPtr subscription)
       {
         throw std::runtime_error("Unimplemented");
       }
+
+    default:
+      {
+        throw std::runtime_error("Subscription type is not supported");
+      }
   }
   return;
 }

rclcpp/src/rclcpp/generic_subscription.cpp

@@ -25,32 +25,37 @@
 namespace rclcpp
 {
 
-std::shared_ptr<void> GenericSubscription::create_message()
+std::shared_ptr<void>
+GenericSubscription::create_message()
 {
   return create_serialized_message();
 }
 
-std::shared_ptr<rclcpp::SerializedMessage> GenericSubscription::create_serialized_message()
+std::shared_ptr<rclcpp::SerializedMessage>
+GenericSubscription::create_serialized_message()
 {
   return std::make_shared<rclcpp::SerializedMessage>(0);
 }
 
-void GenericSubscription::handle_message(
+void
+GenericSubscription::handle_message(
   std::shared_ptr<void> &,
   const rclcpp::MessageInfo &)
 {
   throw rclcpp::exceptions::UnimplementedError(
           "handle_message is not implemented for GenericSubscription");
 }
 
-void GenericSubscription::handle_serialized_message(
+void
+GenericSubscription::handle_serialized_message(
   const std::shared_ptr<rclcpp::SerializedMessage> & message,
   const rclcpp::MessageInfo &)
 {
   callback_(message);
 }
 
-void GenericSubscription::handle_loaned_message(
+void
+GenericSubscription::handle_loaned_message(
   void * message, const rclcpp::MessageInfo & message_info)
 {
   (void) message;
@@ -59,13 +64,15 @@ void GenericSubscription::handle_loaned_message(
           "handle_loaned_message is not implemented for GenericSubscription");
 }
 
-void GenericSubscription::return_message(std::shared_ptr<void> & message)
+void
+GenericSubscription::return_message(std::shared_ptr<void> & message)
 {
   auto typed_message = std::static_pointer_cast<rclcpp::SerializedMessage>(message);
   return_serialized_message(typed_message);
 }
 
-void GenericSubscription::return_serialized_message(
+void
+GenericSubscription::return_serialized_message(
   std::shared_ptr<rclcpp::SerializedMessage> & message)
 {
   message.reset();

rclcpp/src/rclcpp/subscription_base.cpp

@@ -539,8 +539,8 @@ SubscriptionBase::get_content_filter() const
 // DYNAMIC TYPE ==================================================================================
 bool
 SubscriptionBase::take_dynamic_message(
-  rclcpp::dynamic_typesupport::DynamicMessage & message_out,
-  rclcpp::MessageInfo & message_info_out)
+  rclcpp::dynamic_typesupport::DynamicMessage & /*message_out*/,
+  rclcpp::MessageInfo & /*message_info_out*/)
 {
   RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "take_dynamic_message stubbed out for now.");
   return false;