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Rosidl_generator_c / cpp API review

In preparation for the upcoming ROS 2 Foxy release we are doing an API review of the C and C++ code generators. Please see the following tickets for details:

If you have any comments, feedback, or suggestions please comment on these tickets. Please read the note at the top of these tickets to keep the discussion organized:

Please provide feedback in separate comments - one per topic - to allow hiding them when they have been resolved - to keep the discussion readable and pending items visible.
Beside any additional feedback it is also valuable to comment if you agree/disagree with the check boxes indicating proposed to-dos.