Add support for ROS 2 types

Signed-off-by: Juan Lopez Fernandez <juanlopez@eprosima.com>

Author: juanlofer-eprosima

include/fastdds/dds/xtypes/utils.hpp

@@ -60,6 +60,20 @@ FASTDDS_EXPORTED_API ReturnCode_t json_serialize(
         DynamicDataJsonFormat format,
         std::ostream& output) noexcept;
 
+/*!
+ * Deserializes a JSON object string into a @ref DynamicData.
+ * @param[in] input JSON object string to be deserialized.
+ * @param[in] dynamic_type @ref DynamicType corresponding to the @ref DynamicData where the JSON string is deserialized.
+ * @param[in] format @ref DynamicDataJsonFormat JSON serialization format.
+ * @param[in,out] data @ref DynamicData reference where the JSON string is deserialized. Must be null.
+ * @retval RETCODE_OK when deserialization fully succeeds, RETCODE_BAD_PARAMETER when parsing fails or preconditions are not met, and inner (member deserialization) failing code otherwise.
+ */
+FASTDDS_EXPORTED_API ReturnCode_t json_deserialize(
+        const std::string& input,
+        const DynamicType::_ref_type& dynamic_type,
+        DynamicDataJsonFormat format,
+        DynamicData::_ref_type& data) noexcept;
+
 } // dds
 } // fastdds
 } // eprosima

src/cpp/CMakeLists.txt

@@ -107,6 +107,7 @@ set(${PROJECT_NAME}_source_files
     fastdds/xtypes/exception/Exception.cpp
     fastdds/xtypes/serializers/idl/dynamic_type_idl.cpp
     fastdds/xtypes/serializers/json/dynamic_data_json.cpp
+    fastdds/xtypes/serializers/json/json_dynamic_data.cpp
     fastdds/xtypes/type_representation/dds_xtypes_typeobjectPubSubTypes.cxx
     fastdds/xtypes/type_representation/TypeObjectRegistry.cpp
     fastdds/xtypes/type_representation/TypeObjectUtils.cpp

src/cpp/fastdds/xtypes/serializers/json/dynamic_data_json.cpp

@@ -501,7 +501,7 @@ ReturnCode_t json_serialize_member(
         }
         default:
             EPROSIMA_LOG_ERROR(XTYPES_UTILS,
-                    "Error encountered while serializing map member to JSON: unexpected kind " << member_kind <<
+                    "Error encountered while serializing member to JSON: unexpected kind " << member_kind <<
                     " found.");
             return RETCODE_BAD_PARAMETER;
     }
@@ -746,7 +746,7 @@ ReturnCode_t json_serialize_basic_member(
                 // Insert UTF-8 converted value
                 std::wstring aux_wstring_value({value});
                 std::wstring_convert<std::codecvt_utf8<wchar_t>> converter;
-                std::string utf8_value = converter.to_bytes(aux_wstring_value);
+                std::string utf8_value = converter.to_bytes(aux_wstring_value); // TODO: handle exception
                 json_insert(member_name, utf8_value, output);
             }
             else
@@ -777,7 +777,7 @@ ReturnCode_t json_serialize_basic_member(
             {
                 // Insert UTF-8 converted value
                 std::wstring_convert<std::codecvt_utf8<wchar_t>> converter;
-                std::string utf8_value = converter.to_bytes(value);
+                std::string utf8_value = converter.to_bytes(value); // TODO: handle exception
                 json_insert(member_name, utf8_value, output);
             }
             else