Binary compatible interface.

Signed-off-by: Miguel Company <[email protected]>

rosidl_typesupport_fastrtps_c/resource/msg__type_support_c.cpp.em

@@ -599,10 +599,19 @@ if isinstance(type_, AbstractNestedType):
   return current_alignment - initial_alignment;
 }
 
-static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(bool & full_bounded, bool & is_plain)
+static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(char & bounds_info)
 {
-  return max_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
+  bool full_bounded;
+  bool is_plain;
+  size_t ret_val;
+
+  ret_val = max_serialized_size_@('__'.join([package_name] + list(interface_path.parents[0].parts) + [message.structure.namespaced_type.name]))(
     full_bounded, is_plain, 0);
+
+  bounds_info =
+    is_plain ? ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE :
+    is_bounded ? ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE : ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE;
+  return ret_val;
 }
 
 @

rosidl_typesupport_fastrtps_cpp/include/rosidl_typesupport_fastrtps_cpp/message_type_support.h

@@ -22,6 +22,10 @@
 /// Feature define to allow API version detection
 #define ROSIDL_TYPESUPPORT_FASTRTPS_HAS_PLAIN_TYPES
 
+#define ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE 0x00
+#define ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE   0x01
+#define ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE     0x03
+
 /// Encapsulates the callbacks for getting properties of this rosidl type.
 /**
  * These callbacks are implemented in the generated sources.
@@ -63,12 +67,15 @@ typedef struct message_type_support_callbacks_t
   /// Callback function to determine the maximum size needed for serialization, which is used for
   /// type support initialization.
   /**
-   * \param[out] full_bounded Whether the maximum serialized size was fully bounded,
-   *  (i.e. not unbounded strings or sequences).
-   * \param[out] is_plain Whether the type is plain (i.e. does not have strings or sequences).
+   * \param[out] bounds_info Bounds information for the type.
+   *                         May return one of the following values:
+   *                         - \c ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE for POD types
+   *                         - \c ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE for fully bounded types,
+   *                           (i.e. not unbounded strings or sequences).
+   *                         - \c ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE for unbounded types
    * \return The maximum serialized size, in bytes.
    */
-  size_t (* max_serialized_size)(bool & full_bounded, bool & is_plain);
+  size_t (* max_serialized_size)(char & bounds_info);
 } message_type_support_callbacks_t;
 
 #endif  // ROSIDL_TYPESUPPORT_FASTRTPS_CPP__MESSAGE_TYPE_SUPPORT_H_

rosidl_typesupport_fastrtps_cpp/resource/msg__type_support.cpp.em

@@ -467,9 +467,18 @@ static uint32_t _@(message.structure.namespaced_type.name)__get_serialized_size(
   return static_cast<uint32_t>(get_serialized_size(*typed_message, 0));
 }
 
-static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(bool & full_bounded, bool & is_plain)
+static size_t _@(message.structure.namespaced_type.name)__max_serialized_size(char & bounds_info)
 {
-  return max_serialized_size_@(message.structure.namespaced_type.name)(full_bounded, is_plain, 0);
+  bool full_bounded;
+  bool is_plain;
+  size_t ret_val;
+
+  ret_val = max_serialized_size_@(message.structure.namespaced_type.name)(full_bounded, is_plain, 0);
+
+  bounds_info =
+    is_plain ? ROSIDL_TYPESUPPORT_FASTRTPS_PLAIN_TYPE :
+    is_bounded ? ROSIDL_TYPESUPPORT_FASTRTPS_BOUNDED_TYPE : ROSIDL_TYPESUPPORT_FASTRTPS_UNBOUNDED_TYPE;
+  return ret_val;
 }
 
 static message_type_support_callbacks_t _@(message.structure.namespaced_type.name)__callbacks = {