use const void* for service_introspection_message__create handle fns

Signed-off-by: Brian Chen <[email protected]>

rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em

@@ -63,8 +63,8 @@ extern "C"
 void * rosidl_typesupport_fastrtps_c_@('__'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))__service_introspection_message__create (
     const rosidl_service_introspection_info_t * info,
     rcutils_allocator_t * allocator,
-    void * request_message,
-    void * response_message,
+    const void * request_message,
+    const void * response_message,
     bool enable_message_payload)
 {
   auto * event_msg = static_cast<@event_type *>(allocator->zero_allocate(1, sizeof(@event_type), allocator->state));
@@ -135,10 +135,6 @@ bool rosidl_typesupport_fastrtps_c_@('__'.join([package_name, *interface_path.pa
   return true;
 }
 
-
-
-
-
 static service_type_support_callbacks_t @(service.namespaced_type.name)__callbacks = {
   "@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
   "@(service.namespaced_type.name)",
@@ -155,17 +151,6 @@ static rosidl_service_type_support_t @(service.namespaced_type.name)__handle = {
   &_@(service.namespaced_type.name)_Event__type_support
 };
 
-
-
-
-
-
-
-
-
-
-
-
 const rosidl_service_type_support_t *
 ROSIDL_TYPESUPPORT_INTERFACE__SERVICE_SYMBOL_NAME(rosidl_typesupport_fastrtps_c, @(', '.join([package_name] + list(interface_path.parents[0].parts) + [service.namespaced_type.name])))() {
   return &@(service.namespaced_type.name)__handle;

rosidl_typesupport_fastrtps_cpp/resource/srv__type_support.cpp.em

@@ -1,6 +1,9 @@
 @# Included from rosidl_typesupport_fastrtps_cpp/resource/idl__type_support.cpp.em
 @{
 from rosidl_pycommon import convert_camel_case_to_lower_case_underscore
+from rosidl_parser.definition import SERVICE_REQUEST_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_RESPONSE_MESSAGE_SUFFIX
+from rosidl_parser.definition import SERVICE_EVENT_MESSAGE_SUFFIX
 
 include_parts = [package_name] + list(interface_path.parents[0].parts) + [
     'detail', convert_camel_case_to_lower_case_underscore(interface_path.stem)]
@@ -56,8 +59,8 @@ namespace typesupport_fastrtps_cpp
 static service_type_support_callbacks_t _@(service.namespaced_type.name)__callbacks = {
   "@('::'.join([package_name] + list(interface_path.parents[0].parts)))",
   "@(service.namespaced_type.name)",
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Request)(),
-  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name)_Response)(),
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_REQUEST_MESSAGE_SUFFIX))(),
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_fastrtps_cpp, @(', '.join([package_name] + list(interface_path.parents[0].parts))), @(service.namespaced_type.name + SERVICE_REQUEST_MESSAGE_SUFFIX))(),
 };
 
 
@@ -67,23 +70,17 @@ extern "C"
 {
 #endif
 
-@{event_type = '::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + '_Event'}
+@{event_type = '::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + SERVICE_EVENT_MESSAGE_SUFFIX}
 
 void *
 rosidl_@('_'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))_introspection_message_create
 (
     const rosidl_service_introspection_info_t * info,
     rcutils_allocator_t * allocator,
-    void * request_message,
-    void * response_message,
+    const void * request_message,
+    const void * response_message,
     bool enable_message_payload)
 {
-
-  // Use allocator pattern b.c. shared_ptr ref count -> 0
-  // add allocator arg
-  // could malloc the class (?) manual construct/destruct
-
-
   auto * event_msg = static_cast<@event_type *>(allocator->zero_allocate(1, sizeof(@event_type), allocator->state));
   if (nullptr == event_msg) {
     return NULL;
@@ -101,9 +98,11 @@ rosidl_@('_'.join([package_name, *interface_path.parents[0].parts, service.names
 
   if (enable_message_payload) {
     if (nullptr == request_message) {
-      event_msg->response.push_back(*static_cast<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))_Response *> (response_message));
+      event_msg->response.push_back(*static_cast<const @('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + SERVICE_RESPONSE_MESSAGE_SUFFIX) *> (response_message));
     } else if (nullptr == response_message) {
-      event_msg->request.push_back(*static_cast<@('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]))_Request *> (request_message)); } else { // raise an error here
+      event_msg->request.push_back(*static_cast<const @('::'.join([package_name, *interface_path.parents[0].parts, service.namespaced_type.name]) + SERVICE_REQUEST_MESSAGE_SUFFIX)*> (request_message));
+    } else {
+      throw std::invalid_argument("request_message and response_message cannot be both non-null");
     }
   }
 
@@ -119,9 +118,7 @@ rcutils_allocator_t * allocator
 )
 {
   auto * event_msg_ = static_cast<@event_type *>(event_msg);
-  // event_msg_->@('::'.join([package_name, *interface_path.parents[0].parts]) + '::~' + service.namespaced_type.name + '_Event')();
-  // std::destroy_at(event_msg_); // Why can't I compile with c++17?
-  event_msg_->~@(service.namespaced_type.name)_Event();
+  event_msg_->~@(service.namespaced_type.name+SERVICE_EVENT_MESSAGE_SUFFIX)();
   allocator->deallocate(event_msg, allocator->state);
   return true;
 }