Fix up documentation build for rmw when using rosdoc2

rmw/Doxyfile

@@ -17,7 +17,9 @@ ENABLE_PREPROCESSING   = YES
 MACRO_EXPANSION        = YES
 EXPAND_ONLY_PREDEF     = YES
 PREDEFINED             += RMW_PUBLIC=
+PREDEFINED             += RMW_PUBLIC_TYPE=
 PREDEFINED             += RMW_WARN_UNUSED=
+PREDEFINED             += RCUTILS_DEPRECATED_WITH_MSG(x)=
 
 # Tag files that do not exist will produce a warning and cross-project linking will not work.
 TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"

rmw/include/rmw/event.h

@@ -30,7 +30,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Define publisher/subscription events
-typedef enum rmw_event_type_t
+typedef enum rmw_event_type_e
 {
   // subscription events
   RMW_EVENT_LIVELINESS_CHANGED,
@@ -48,7 +48,7 @@ typedef enum rmw_event_type_t
 } rmw_event_type_t;
 
 /// Encapsulate the RMW event implementation, data, and type.
-typedef struct RMW_PUBLIC_TYPE rmw_event_t
+typedef struct RMW_PUBLIC_TYPE rmw_event_s
 {
   /// Implementation identifier, used to ensure two different implementations are not being mixed.
   const char * implementation_identifier;

rmw/include/rmw/events_statuses/incompatible_qos.h

@@ -25,7 +25,7 @@ extern "C"
 {
 #endif
 
-struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_s
 {
   /**
    * Total cumulative number of times the concerned subscription discovered a
@@ -42,13 +42,13 @@ struct RMW_PUBLIC_TYPE rmw_qos_incompatible_event_status_t
    * incompatible the last time an incompatibility was detected.
    */
   rmw_qos_policy_kind_t last_policy_kind;
-};
+} rmw_qos_incompatible_event_status_t;
 
 /// Event state for a subscription's 'RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE' events.
-typedef struct rmw_qos_incompatible_event_status_t rmw_requested_qos_incompatible_event_status_t;
+typedef rmw_qos_incompatible_event_status_t rmw_requested_qos_incompatible_event_status_t;
 
 /// Event state for a publisher's 'RMW_EVENT_OFFERED_QOS_INCOMPATIBLE' events.
-typedef struct rmw_qos_incompatible_event_status_t rmw_offered_qos_incompatible_event_status_t;
+typedef rmw_qos_incompatible_event_status_t rmw_offered_qos_incompatible_event_status_t;
 
 #ifdef __cplusplus
 }

rmw/include/rmw/events_statuses/liveliness_changed.h

@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Liveliness Changed information provided by a subscription.
-typedef struct RMW_PUBLIC_TYPE rmw_liveliness_changed_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_changed_status_s
 {
   /**
    * The total number of currently active Publishers which publish to the topic associated with

rmw/include/rmw/events_statuses/liveliness_lost.h

@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Liveliness Lost information provided by a publisher.
-typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_liveliness_lost_status_s
 {
   /**
    * Lifetime cumulative number of times that a previously-alive Publisher became not alive due to

rmw/include/rmw/events_statuses/message_lost.h

@@ -24,7 +24,7 @@ extern "C"
 {
 #endif
 
-typedef struct RMW_PUBLIC_TYPE rmw_message_lost_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_lost_status_s
 {
   /// Total number of messages lost.
   size_t total_count;

rmw/include/rmw/events_statuses/offered_deadline_missed.h

@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Deadline Missed information provided by a publisher.
-typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_offered_deadline_missed_status_s
 {
   /**
    * Lifetime cumulative number of offered deadline periods elapsed during which a Publisher failed

rmw/include/rmw/events_statuses/requested_deadline_missed.h

@@ -25,7 +25,7 @@ extern "C"
 #endif
 
 /// QoS Requested Deadline Missed information provided by a subscription.
-typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_t
+typedef struct RMW_PUBLIC_TYPE rmw_requested_deadline_missed_status_s
 {
   /**
    * Lifetime cumulative number of missed deadlines detected for any instance read by the

rmw/include/rmw/init.h

@@ -31,10 +31,10 @@ extern "C"
 /**
  * This should be defined by the rmw implementation.
  */
-typedef struct rmw_context_impl_t rmw_context_impl_t;
+typedef struct rmw_context_impl_s rmw_context_impl_t;
 
 /// Initialization context structure which is used to store init specific information.
-typedef struct RMW_PUBLIC_TYPE rmw_context_t
+typedef struct RMW_PUBLIC_TYPE rmw_context_s
 {
   /// Locally (process local) unique ID that represents this init/shutdown cycle.
   uint64_t instance_id;

rmw/include/rmw/init_options.h

@@ -34,10 +34,10 @@ extern "C"
 /**
  * This should be defined by the rmw implementation.
  */
-typedef struct rmw_init_options_impl_t rmw_init_options_impl_t;
+typedef struct rmw_init_options_impl_s rmw_init_options_impl_t;
 
 /// Options structure used during rmw_init().
-typedef struct RMW_PUBLIC_TYPE rmw_init_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_init_options_s
 {
   /// Locally (process local) unique ID that represents this init/shutdown cycle.
   /**

rmw/include/rmw/localhost.h

@@ -23,7 +23,7 @@ extern "C"
 #endif
 
 /// Used to specify if the context can only communicate through localhost.
-typedef enum RMW_PUBLIC_TYPE rmw_localhost_only_t
+typedef enum RMW_PUBLIC_TYPE rmw_localhost_only_e
 {
   /// Uses ROS_LOCALHOST_ONLY environment variable.
   RMW_LOCALHOST_ONLY_DEFAULT = 0,

rmw/include/rmw/message_sequence.h

@@ -27,7 +27,7 @@ extern "C"
 #endif
 
 /// Structure to hold a sequence of ROS messages.
-typedef struct RMW_PUBLIC_TYPE rmw_message_sequence_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_sequence_s
 {
   /// Array of pointers to ROS messages.
   void ** data;
@@ -40,7 +40,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_message_sequence_t
 } rmw_message_sequence_t;
 
 /// Structure to hold a sequence of message infos.
-typedef struct RMW_PUBLIC_TYPE rmw_message_info_sequence_t
+typedef struct RMW_PUBLIC_TYPE rmw_message_info_sequence_s
 {
   /// Array of message info.
   rmw_message_info_t * data;

rmw/include/rmw/names_and_types.h

@@ -29,7 +29,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Associative array of topic or service names and types.
-typedef struct RMW_PUBLIC_TYPE rmw_names_and_types_t
+typedef struct RMW_PUBLIC_TYPE rmw_names_and_types_s
 {
   /// Array of names
   rcutils_string_array_t names;

rmw/include/rmw/network_flow_endpoint.h

@@ -24,7 +24,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Transport protocol types
-typedef enum rmw_transport_protocol_t
+typedef enum rmw_transport_protocol_e
 {
   RMW_TRANSPORT_PROTOCOL_UNKNOWN = 0,
   RMW_TRANSPORT_PROTOCOL_UDP,
@@ -33,7 +33,7 @@ typedef enum rmw_transport_protocol_t
 } rmw_transport_protocol_t;
 
 /// Internet protocol types
-typedef enum rmw_internet_protocol_t
+typedef enum rmw_internet_protocol_e
 {
   RMW_INTERNET_PROTOCOL_UNKNOWN = 0,
   RMW_INTERNET_PROTOCOL_IPV4,
@@ -46,7 +46,7 @@ typedef enum rmw_internet_protocol_t
 #define RMW_INET_ADDRSTRLEN 48
 
 /// Structure that describes network flow endpoint of a publisher or subscription
-typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_t
+typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_s
 {
   // Transport protocol
   rmw_transport_protocol_t transport_protocol;

rmw/include/rmw/network_flow_endpoint_array.h

@@ -27,7 +27,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Structure to hold an arrary of network_flow_endpoint_t
-typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_array_t
+typedef struct RMW_PUBLIC_TYPE rmw_network_flow_endpoint_array_s
 {
   /// Size of the array
   size_t size;

rmw/include/rmw/qos_policy_kind.h

@@ -24,7 +24,7 @@ extern "C"
 #endif
 
 /// QoS Policy Kinds
-typedef enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_policy_kind_e
 {
   RMW_QOS_POLICY_INVALID = 1 << 0,
   RMW_QOS_POLICY_DURABILITY = 1 << 1,

rmw/include/rmw/qos_profiles.h

@@ -113,7 +113,7 @@ static const rmw_qos_profile_t rmw_qos_profile_unknown =
   false
 };
 
-typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_t
+typedef enum RMW_PUBLIC_TYPE rmw_qos_compatibility_type_e
 {
   /// QoS policies are compatible
   RMW_QOS_COMPATIBILITY_OK = 0,

rmw/include/rmw/qos_string_conversions.h

@@ -73,31 +73,31 @@ rmw_qos_policy_kind_to_str(rmw_qos_policy_kind_t kind);
  */
 RMW_PUBLIC
 const char *
-rmw_qos_durability_policy_to_str(enum rmw_qos_durability_policy_t value);
+rmw_qos_durability_policy_to_str(rmw_qos_durability_policy_t value);
 
 /// Return a string representing the policy value.
 /**
  * See \ref rmw_qos_durability_policy_to_str() for more details.
  */
 RMW_PUBLIC
 const char *
-rmw_qos_history_policy_to_str(enum rmw_qos_history_policy_t value);
+rmw_qos_history_policy_to_str(rmw_qos_history_policy_t value);
 
 /// Return a string representing the policy value.
 /**
  * See \ref rmw_qos_durability_policy_to_str() for more details.
  */
 RMW_PUBLIC
 const char *
-rmw_qos_liveliness_policy_to_str(enum rmw_qos_liveliness_policy_t value);
+rmw_qos_liveliness_policy_to_str(rmw_qos_liveliness_policy_t value);
 
 /// Return a string representing the policy value.
 /**
  * See \ref rmw_qos_durability_policy_to_str() for more details.
  */
 RMW_PUBLIC
 const char *
-rmw_qos_reliability_policy_to_str(enum rmw_qos_reliability_policy_t value);
+rmw_qos_reliability_policy_to_str(rmw_qos_reliability_policy_t value);
 
 /// Return a policy kind based on the provided string.
 /**
@@ -142,23 +142,23 @@ rmw_qos_policy_kind_from_str(const char * str);
  * \return `RMW_QOS_POLICY_*_UNKNOWN` if the string doesn't represent any value.
  */
 RMW_PUBLIC
-enum rmw_qos_durability_policy_t
+rmw_qos_durability_policy_t
 rmw_qos_durability_policy_from_str(const char * str);
 
 /// Return a enum value based on the provided string.
 /**
  * See \ref rmw_qos_durability_policy_from_str() for more details.
  */
 RMW_PUBLIC
-enum rmw_qos_history_policy_t
+rmw_qos_history_policy_t
 rmw_qos_history_policy_from_str(const char * str);
 
 /// Return a enum value based on the provided string.
 /**
  * See \ref rmw_qos_durability_policy_from_str() for more details.
  */
 RMW_PUBLIC
-enum rmw_qos_liveliness_policy_t
+rmw_qos_liveliness_policy_t
 rmw_qos_liveliness_policy_from_str(const char * str);
 
 
@@ -167,7 +167,7 @@ rmw_qos_liveliness_policy_from_str(const char * str);
  * See \ref rmw_qos_durability_policy_from_str() for more details.
  */
 RMW_PUBLIC
-enum rmw_qos_reliability_policy_t
+rmw_qos_reliability_policy_t
 rmw_qos_reliability_policy_from_str(const char * str);
 
 #ifdef __cplusplus

rmw/include/rmw/rmw.h

@@ -100,6 +100,7 @@ extern "C"
 
 #include "rmw/init.h"
 #include "rmw/macros.h"
+#include "rmw/publisher_options.h"
 #include "rmw/qos_profiles.h"
 #include "rmw/subscription_options.h"
 #include "rmw/message_sequence.h"
@@ -194,6 +195,10 @@ RMW_WARN_UNUSED
 rmw_ret_t
 rmw_destroy_node(rmw_node_t * node);
 
+/**
+ * \deprecated `rmw_node_assert_liveliness` implementation was removed.
+ *   If manual liveliness assertion is needed, use MANUAL_BY_TOPIC.
+ */
 RMW_PUBLIC
 RCUTILS_DEPRECATED_WITH_MSG(
   "rmw_node_assert_liveliness implementation was removed."
@@ -297,12 +302,6 @@ rmw_ret_t
 rmw_fini_publisher_allocation(
   rmw_publisher_allocation_t * allocation);
 
-/// Return a rmw_publisher_options_t initialized with default values.
-RMW_PUBLIC
-RMW_WARN_UNUSED
-rmw_publisher_options_t
-rmw_get_default_publisher_options(void);
-
 /// Create a publisher and return a handle to that publisher.
 /**
  * This function can fail, and therefore return `NULL`, if:

rmw/include/rmw/security_options.h

@@ -27,15 +27,15 @@ extern "C"
 #include "rmw/ret_types.h"
 #include "rmw/visibility_control.h"
 
-typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_t
+typedef enum RMW_PUBLIC_TYPE rmw_security_enforcement_policy_e
 {
   RMW_SECURITY_ENFORCEMENT_PERMISSIVE,
   RMW_SECURITY_ENFORCEMENT_ENFORCE,
 } rmw_security_enforcement_policy_t;
 
-typedef struct RMW_PUBLIC_TYPE rmw_security_options_t
+typedef struct RMW_PUBLIC_TYPE rmw_security_options_s
 {
-  enum rmw_security_enforcement_policy_t enforce_security;
+  rmw_security_enforcement_policy_t enforce_security;
   char * security_root_path;
 } rmw_security_options_t;
 

rmw/include/rmw/serialized_message.h

@@ -23,16 +23,13 @@ extern "C"
 #include "rcutils/types/uint8_array.h"
 
 /**
- * \struct rmw_serialized_message_t
- *
  * \brief Serialized message as a string of bytes.
  *
  * It includes (but it is not limited to) the following members:
  *   \e \c buffer the reference to internal storage, as a pointer
  *   \e \c buffer_length the size of stored contents, as an unsigned integer
  *   \e \c buffer_capacity the capacity of internal storage, as an unsigned integer
  */
-
 /* For now this is a simple aliasing from a serialized message to a uint8 array.
  * However, in future developments this serialized message can become something
  * more complex and is therefore aliased.

rmw/include/rmw/time.h

@@ -28,7 +28,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// A struct representing a duration or relative time in RMW - does not encode an origin.
-typedef struct RMW_PUBLIC_TYPE rmw_time_t
+typedef struct RMW_PUBLIC_TYPE rmw_time_s
 {
   /// Seconds component
   uint64_t sec;

rmw/include/rmw/topic_endpoint_info.h

@@ -27,7 +27,7 @@ extern "C"
 /// A data structure that encapsulates the node name, node namespace,
 /// topic_type, gid, and qos_profile of publishers and subscriptions
 /// for a topic.
-typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_t
+typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_s
 {
   /// Name of the node
   const char * node_name;
@@ -288,7 +288,7 @@ RMW_WARN_UNUSED
 rmw_ret_t
 rmw_topic_endpoint_info_set_gid(
   rmw_topic_endpoint_info_t * topic_endpoint_info,
-  const uint8_t gid[],
+  const uint8_t * gid,
   size_t size);
 
 /// Set the endpoint QoS profile in the given topic endpoint info data structure.

rmw/include/rmw/topic_endpoint_info_array.h

@@ -25,7 +25,7 @@ extern "C"
 #include "rmw/visibility_control.h"
 
 /// Array of topic endpoint information
-typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_array_t
+typedef struct RMW_PUBLIC_TYPE rmw_topic_endpoint_info_array_s
 {
   /// Size of the array.
   size_t size;