Vendor rcl_interfaces as a private module into rclrs (#288)

Author: nnmm

rclrs/package.xml

@@ -16,6 +16,8 @@
   <build_depend>libclang-dev</build_depend>
   <build_depend>rosidl_runtime_rs</build_depend>
   <build_depend>rcl</build_depend>
+  <depend>builtin_interfaces</depend>
+  <depend>rcl_interfaces</depend>
 
   <export>
     <build_type>ament_cargo</build_type>

rclrs/src/lib.rs

@@ -15,6 +15,7 @@ mod publisher;
 mod qos;
 mod service;
 mod subscription;
+mod vendor;
 mod wait;
 
 mod rcl_bindings;

rclrs/src/parameter/service.rs

@@ -0,0 +1,89 @@
+use std::sync::{Arc, Weak, Mutex};
+
+use crate::vendor::rcl_interfaces::srv::rmw::*;
+use crate::vendor::rcl_interfaces::msg::rmw::*;
+use rosidl_runtime_rs::{Sequence, seq};
+
+use crate::{rmw_request_id_t, Node, RclrsError, Service, ServiceBase};
+use crate::rcl_bindings::rcl_node_t;
+
+pub struct ParameterService {
+    describe_parameters_service: Arc<Service<DescribeParameters>>,
+    get_parameter_types_service: Arc<Service<GetParameterTypes>>,
+    get_parameters_service: Arc<Service<GetParameters>>,
+    list_parameters_service: Arc<Service<ListParameters>>,
+    set_parameters_service: Arc<Service<SetParameters>>,
+    set_parameters_atomically_service: Arc<Service<SetParametersAtomically>>,
+}
+
+impl ParameterService {
+    pub fn new(rcl_node_mtx: Arc<Mutex<rcl_node_t>>) -> Result<Self, RclrsError> {
+        let describe_parameters_service = Service::new(Arc::clone(&rcl_node_mtx),
+            "describe_parameters",
+            |req_id: &rmw_request_id_t, req: DescribeParameters_Request| {
+                DescribeParameters_Response {
+                    descriptors: seq![]
+                }
+            },
+        )?;
+        let get_parameter_types_service = Service::new(Arc::clone(&rcl_node_mtx),
+            "get_parameter_types",
+            |req_id: &rmw_request_id_t, req: GetParameterTypes_Request| {
+                GetParameterTypes_Response {
+                    types: seq![]
+                }
+            },
+        )?;
+        let get_parameters_service = Service::new(Arc::clone(&rcl_node_mtx),
+            "get_parameters",
+            |req_id: &rmw_request_id_t, req: GetParameters_Request| {
+                GetParameters_Response {
+                    values: seq![]
+                }
+            },
+        )?;
+        let list_parameters_service = Service::new(Arc::clone(&rcl_node_mtx),
+            "list_parameters",
+            |req_id: &rmw_request_id_t, req: ListParameters_Request| {
+                ListParameters_Response {
+                    result: ListParametersResult::default()
+                }
+            },
+        )?;
+        let set_parameters_service = Service::new(Arc::clone(&rcl_node_mtx),
+            "set_parameters",
+            |req_id: &rmw_request_id_t, req: SetParameters_Request| {
+                SetParameters_Response {
+                    results: seq![]
+                }
+            },
+        )?;
+        let set_parameters_atomically_service = Service::new(Arc::clone(&rcl_node_mtx),
+            "set_parameters_atomically",
+            |req_id: &rmw_request_id_t, req: SetParametersAtomically_Request| {
+                SetParametersAtomically_Response {
+                    result: SetParametersResult::default()
+                }
+            },
+        )?;
+        Ok(Self {
+            describe_parameters_service: Arc::new(describe_parameters_service),
+            get_parameter_types_service: Arc::new(get_parameter_types_service),
+            get_parameters_service: Arc::new(get_parameters_service),
+            list_parameters_service: Arc::new(list_parameters_service),
+            set_parameters_service: Arc::new(set_parameters_service),
+            set_parameters_atomically_service: Arc::new(set_parameters_atomically_service),
+        })
+    }
+
+    pub fn services(&self) -> Vec<Weak<dyn ServiceBase>> {
+        vec![
+            Arc::downgrade(&self.describe_parameters_service) as Weak<dyn ServiceBase>,
+            Arc::downgrade(&self.get_parameter_types_service) as Weak<dyn ServiceBase>,
+            Arc::downgrade(&self.get_parameters_service) as Weak<dyn ServiceBase>,
+            Arc::downgrade(&self.list_parameters_service) as Weak<dyn ServiceBase>,
+            Arc::downgrade(&self.set_parameters_service) as Weak<dyn ServiceBase>,
+            Arc::downgrade(&self.set_parameters_atomically_service) as Weak<dyn ServiceBase>,
+        ]
+    }
+}

rclrs/src/vendor/builtin_interfaces/mod.rs

@@ -0,0 +1,3 @@
+#![allow(non_camel_case_types)]
+
+pub mod msg;

rclrs/src/vendor/builtin_interfaces/msg.rs

@@ -0,0 +1,258 @@
+pub mod rmw {
+    #[cfg(feature = "serde")]
+    use serde::{Deserialize, Serialize};
+
+    #[link(name = "builtin_interfaces__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Duration(
+        ) -> *const std::os::raw::c_void;
+    }
+
+    #[link(name = "builtin_interfaces__rosidl_generator_c")]
+    extern "C" {
+        fn builtin_interfaces__msg__Duration__init(msg: *mut Duration) -> bool;
+        fn builtin_interfaces__msg__Duration__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<Duration>,
+            size: usize,
+        ) -> bool;
+        fn builtin_interfaces__msg__Duration__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<Duration>,
+        );
+        fn builtin_interfaces__msg__Duration__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Duration>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<Duration>,
+        ) -> bool;
+    }
+
+    // Corresponds to builtin_interfaces__msg__Duration
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct Duration {
+        pub sec: i32,
+        pub nanosec: u32,
+    }
+
+    impl Default for Duration {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !builtin_interfaces__msg__Duration__init(&mut msg as *mut _) {
+                    panic!("Call to builtin_interfaces__msg__Duration__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for Duration {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { builtin_interfaces__msg__Duration__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { builtin_interfaces__msg__Duration__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { builtin_interfaces__msg__Duration__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for Duration {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for Duration
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "builtin_interfaces/msg/Duration";
+        fn get_type_support() -> *const std::os::raw::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Duration()
+            }
+        }
+    }
+
+    #[link(name = "builtin_interfaces__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Time(
+        ) -> *const std::os::raw::c_void;
+    }
+
+    #[link(name = "builtin_interfaces__rosidl_generator_c")]
+    extern "C" {
+        fn builtin_interfaces__msg__Time__init(msg: *mut Time) -> bool;
+        fn builtin_interfaces__msg__Time__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<Time>,
+            size: usize,
+        ) -> bool;
+        fn builtin_interfaces__msg__Time__Sequence__fini(
+            seq: *mut rosidl_runtime_rs::Sequence<Time>,
+        );
+        fn builtin_interfaces__msg__Time__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Time>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<Time>,
+        ) -> bool;
+    }
+
+    // Corresponds to builtin_interfaces__msg__Time
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct Time {
+        pub sec: i32,
+        pub nanosec: u32,
+    }
+
+    impl Default for Time {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !builtin_interfaces__msg__Time__init(&mut msg as *mut _) {
+                    panic!("Call to builtin_interfaces__msg__Time__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for Time {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { builtin_interfaces__msg__Time__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { builtin_interfaces__msg__Time__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { builtin_interfaces__msg__Time__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for Time {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for Time
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "builtin_interfaces/msg/Time";
+        fn get_type_support() -> *const std::os::raw::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__builtin_interfaces__msg__Time(
+                )
+            }
+        }
+    }
+} // mod rmw
+
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct Duration {
+    pub sec: i32,
+    pub nanosec: u32,
+}
+
+impl Default for Duration {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::builtin_interfaces::msg::rmw::Duration::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for Duration {
+    type RmwMsg = crate::vendor::builtin_interfaces::msg::rmw::Duration;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                sec: msg.sec,
+                nanosec: msg.nanosec,
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                sec: msg.sec,
+                nanosec: msg.nanosec,
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            sec: msg.sec,
+            nanosec: msg.nanosec,
+        }
+    }
+}
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct Time {
+    pub sec: i32,
+    pub nanosec: u32,
+}
+
+impl Default for Time {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::builtin_interfaces::msg::rmw::Time::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for Time {
+    type RmwMsg = crate::vendor::builtin_interfaces::msg::rmw::Time;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                sec: msg.sec,
+                nanosec: msg.nanosec,
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                sec: msg.sec,
+                nanosec: msg.nanosec,
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            sec: msg.sec,
+            nanosec: msg.nanosec,
+        }
+    }
+}

rclrs/src/vendor/mod.rs

@@ -0,0 +1,6 @@
+//! Created by vendor_interfaces.py
+#![allow(dead_code)]
+#![allow(clippy::derive_partial_eq_without_eq)]
+
+pub mod builtin_interfaces;
+pub mod rcl_interfaces;

rclrs/src/vendor/rcl_interfaces/mod.rs

@@ -0,0 +1,5 @@
+#![allow(non_camel_case_types)]
+
+pub mod msg;
+
+pub mod srv;