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Deprecate the shared_ptr<MessageT> subscription callback signatures #2975

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Deprecate the shared_ptr<MessageT> subscription callback signatures #2975

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4d32bec
Add static assert for removed subscription callback signatures
mini-1235 Nov 7, 2025
fef1518
Deprecate shared_ptr<MessageT>
mini-1235 Nov 26, 2025
705d119
Merge remote-tracking branch 'origin/rolling' into feat/static_assert
mini-1235 Dec 7, 2025
b1b1858
Add back tests
mini-1235 Dec 7, 2025
9904ebb
Format
mini-1235 Dec 7, 2025
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63 changes: 62 additions & 1 deletion rclcpp/include/rclcpp/any_subscription_callback.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -407,12 +407,73 @@ class AnySubscriptionCallback
// converted to one another, e.g. shared_ptr and unique_ptr.
using scbth = detail::SubscriptionCallbackTypeHelper<MessageT, CallbackT>;

callback_variant_ = static_cast<typename scbth::callback_type>(callback);
// Determine if the given CallbackT is a deprecated signature or not.
constexpr auto is_deprecated =
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<SubscribedType>)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<SubscribedType>, const rclcpp::MessageInfo &)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<ROSMessageType>)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<ROSMessageType>, const rclcpp::MessageInfo &)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)>
>::value ||
rclcpp::function_traits::same_arguments<
typename scbth::callback_type,
std::function<void(std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &)>
>::value;

// Use the discovered type to force the type of callback when assigning
// into the variant.
if constexpr (is_deprecated) {
// If deprecated, call sub-routine that is deprecated.
set_deprecated(static_cast<typename scbth::callback_type>(callback));
} else {
// Otherwise just assign it.
callback_variant_ = static_cast<typename scbth::callback_type>(callback);
}

// Return copy of self for easier testing, normally will be compiled out.
return *this;
}

/// Function for shared_ptr to non-const MessageT, which is deprecated.
template<typename SetT>
#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
// suppress deprecation warnings in `test_any_subscription_callback.cpp`
[[deprecated("use 'void(std::shared_ptr<const MessageT>)' instead")]]
#endif
void
set_deprecated(std::function<void(std::shared_ptr<SetT>)> callback)
{
callback_variant_ = callback;
}

/// Function for shared_ptr to non-const MessageT with MessageInfo, which is deprecated.
template<typename SetT>
#if !defined(RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS)
// suppress deprecation warnings in `test_any_subscription_callback.cpp`
[[deprecated(
"use 'void(std::shared_ptr<const MessageT>, const rclcpp::MessageInfo &)' instead"
)]]
#endif
void
set_deprecated(std::function<void(std::shared_ptr<SetT>, const rclcpp::MessageInfo &)> callback)
{
callback_variant_ = callback;
}

/// Disable the callback from being called during dispatch.
void disable()
{
Expand Down
5 changes: 3 additions & 2 deletions rclcpp/test/rclcpp/test_any_subscription_callback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include <string>
#include <utility>

#define RCLCPP_AVOID_DEPRECATIONS_FOR_UNIT_TESTS 1
#include "rclcpp/any_subscription_callback.hpp"
#include "test_msgs/msg/empty.hpp"

Expand Down Expand Up @@ -178,7 +179,7 @@ TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>) {});
asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
Expand All @@ -187,7 +188,7 @@ TEST_F(TestAnySubscriptionCallback, is_serialized_message_callback) {
}
{
rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc;
asc.set([](std::shared_ptr<rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
asc.set([](std::shared_ptr<const rclcpp::SerializedMessage>, const rclcpp::MessageInfo &) {});
EXPECT_TRUE(asc.is_serialized_message_callback());
EXPECT_NO_THROW(
asc.dispatch(
Expand Down
16 changes: 8 additions & 8 deletions rclcpp/test/rclcpp/test_subscription_publisher_with_same_type_adapter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -212,7 +212,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg) -> void {
std::shared_ptr<const std::string> msg) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
};
Expand All @@ -230,7 +230,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg,
std::shared_ptr<const std::string> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
Expand Down Expand Up @@ -422,7 +422,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg) -> void {
std::shared_ptr<const std::string> msg) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
};
Expand All @@ -440,7 +440,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<std::string> msg,
std::shared_ptr<const std::string> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
EXPECT_STREQ(message_data.c_str(), (*msg).c_str());
Expand Down Expand Up @@ -637,7 +637,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg) -> void {
std::shared_ptr<const double> msg) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
};
Expand All @@ -656,7 +656,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg,
std::shared_ptr<const double> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
Expand Down Expand Up @@ -862,7 +862,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg) -> void {
std::shared_ptr<const double> msg) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
};
Expand All @@ -882,7 +882,7 @@ TEST_F(
bool is_received = false;
auto callback =
[message_data, &is_received](
std::shared_ptr<double> msg,
std::shared_ptr<const double> msg,
const rclcpp::MessageInfo & message_info) -> void {
is_received = true;
ASSERT_EQ(message_data, *msg);
Expand Down