Runtime Interface Reflection: rosidl (#728)

* Add type description utils

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Fix realloc check bug

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Fix const and bool bug

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Implement type name string replacement

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Lint

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Fix windows build

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Fix print

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Fix print (for nulls)

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Refactor type description utils to use return types

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Fix windows warnings

Signed-off-by: methylDragon <methylDragon@gmail.com>

* Remove print functions

Signed-off-by: methylDragon <methylDragon@gmail.com>

---------

Signed-off-by: methylDragon <methylDragon@gmail.com>

Author: methylDragon

rosidl_runtime_c/CMakeLists.txt

@@ -25,6 +25,7 @@ add_library(${PROJECT_NAME}
   "src/string_functions.c"
   "src/type_hash.c"
   "src/u16string_functions.c"
+  "src/type_description_utils.c"
   ${type_description_sources}
 )
 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -136,6 +137,11 @@ if(BUILD_TESTING)
     target_compile_definitions(test_u16string_functions PUBLIC RCUTILS_ENABLE_FAULT_INJECTION)
   endif()
 
+  ament_add_gtest(test_type_description_utils test/test_type_description_utils.cpp)
+  if(TARGET test_type_description_utils)
+    target_link_libraries(test_type_description_utils ${PROJECT_NAME})
+  endif()
+
   add_performance_test(benchmark_string_conversion test/benchmark/benchmark_string_conversion.cpp)
   if(TARGET benchmark_string_conversion)
     target_link_libraries(benchmark_string_conversion ${PROJECT_NAME})