Patch and rebuild #4
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* Wrap slice::from_raw_parts to be compatible with rcl Signed-off-by: Michael X. Grey <[email protected]> * Fix style Signed-off-by: Michael X. Grey <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]>
* Added action template * Added action generation * Added basic create_action_client function * dded action generation * checkin * Fix missing exported pre_field_serde field * Removed extra code * Sketch out action server construction and destruction This follows generally the same pattern as the service server. It required adding a typesupport function to the Action trait and pulling in some more rcl_action bindings. * Fix action typesupport function * Add ActionImpl trait with internal messages and services This is incomplete, since the service types aren't yet being generated. * Split srv.rs.em into idiomatic and rmw template files This results in the exact same file being produced for services, except for some whitespace changes. However, it enables actions to invoke the respective service template for its generation, similar to how the it works for services and their underlying messages. * Generate underlying service definitions for actions Not tested * Add runtime trait to get the UUID from a goal request C++ uses duck typing for this, knowing that for any `Action`, the type `Action::Impl::SendGoalService::Request` will always have a `goal_id` field of type `unique_identifier_msgs::msg::UUID` without having to prove this to the compiler. Rust's generics are more strict, requiring that this be proven using type bounds. The `Request` type is also action-specific as it contains a `goal` field containing the `Goal` message type of the action. We therefore cannot enforce that all `Request`s are a specific type in `rclrs`. This seems most easily represented using associated type bounds on the `SendGoalService` associated type within `ActionImpl`. To avoid introducing to `rosidl_runtime_rs` a circular dependency on message packages like `unique_identifier_msgs`, the `ExtractUuid` trait only operates on a byte array rather than a more nicely typed `UUID` message type. I'll likely revisit this as we introduce more similar bounds on the generated types. * Integrate RMW message methods into ActionImpl Rather than having a bunch of standalone traits implementing various message functions like `ExtractUuid` and `SetAccepted`, with the trait bounds on each associated type in `ActionImpl`, we'll instead add these functions directly to the `ActionImpl` trait. This is simpler on both the rosidl_runtime_rs and the rclrs side. * Add rosidl_runtime_rs::ActionImpl::create_feedback_message() Adds a trait method to create a feedback message given the goal ID and the user-facing feedback message type. Depending on how many times we do this, it may end up valuable to define a GoalUuid type in rosidl_runtime_rs itself. We wouldn't be able to utilize the `RCL_ACTION_UUID_SIZE` constant imported from `rcl_action`, but this is pretty much guaranteed to be 16 forever. Defining this method signature also required inverting the super-trait relationship between Action and ActionImpl. Now ActionImpl is the sub-trait as this gives it access to all of Action's associated types. Action doesn't need to care about anything from ActionImpl (hopefully). * Add GetResultService methods to ActionImpl * Implement ActionImpl trait methods in generator These still don't build without errors, but it's close. * Replace set_result_response_status with create_result_response rclrs needs to be able to generically construct result responses, including the user-defined result field. * Implement client-side trait methods for action messages This adds methods to ActionImpl for creating and accessing action-specific message types. These are needed by the rclrs ActionClient to generically read and write RMW messages. Due to issues with qualified paths in certain places (rust-lang/rust#86935), the generator now refers directly to its service and message types rather than going through associated types of the various traits. This also makes the generated code a little easier to read, with the trait method signatures from rosidl_runtime_rs still enforcing type-safety. * Format the rosidl_runtime_rs::ActionImpl trait * Wrap longs lines in rosidl_generator_rs action.rs This at least makes the template easier to read, but also helps with the generated code. In general, the generated code could actually fit on one line for the function signatures, but it's not a big deal to split it across multiple. * Use idiomatic message types in Action trait This is user-facing and so should use the friendly message types. * Cleanup ActionImpl using type aliases Signed-off-by: Michael X. Grey <[email protected]> * Formatting * Switch from std::os::raw::c_void to std::ffi::c_void While these are aliases of each other, we might as well use the more appropriate std::ffi version, as requested by reviewers. * Clean up rosidl_generator_rs's cmake files Some of the variables are present but no longer used. Others were not updated with the action changes. * Add a short doc page on the message generation pipeline This should help newcomers orient themselves around the rosidl_*_rs packages. --------- Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]>
* Use latest stable Rust CI Signed-off-by: Michael X. Grey <[email protected]> * Fix quotation in doc Signed-off-by: Michael X. Grey <[email protected]> * Fix serde feature for vendored messages Signed-off-by: Michael X. Grey <[email protected]> * Fix formatting of lists in docs Signed-off-by: Michael X. Grey <[email protected]> * Update minimum supported Rust version based on the currently used language features Signed-off-by: Michael X. Grey <[email protected]> * Conform to clippy style guide Signed-off-by: Michael X. Grey <[email protected]> * Add rust toolchain as a matrix dimension Signed-off-by: Michael X. Grey <[email protected]> * Bump declaration of minimum supported rust version Signed-off-by: Michael X. Grey <[email protected]> * Limit the scheduled runs to once a week Signed-off-by: Michael X. Grey <[email protected]> * Define separate stable and minimal workflows because matrix does not work with reusable actions Signed-off-by: Michael X. Grey <[email protected]> * Reduce minimum version to 1.75 to target Noble Signed-off-by: Michael X. Grey <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]>
* Update rclrs vendor_interfaces.py script This updates the vendor_interfaces.py script to also vendor in the action_msgs and unique_identifier_msgs packages. The script is modified to always use a list of package names rather than hard-coding the package names everywhere. * Silence certain clippy lints on generated code In case a user enforces clippy linting on these generated packages, silence expected warnings. This is already the case in rclrs, but should be applied directly to the generated packages for the sake of downstream users. The `clippy::derive_partial_eq_without_eq` lint was already being disabled for the packages vendored by rclrs, but is now moved to the rosidl_generator_rs template instead. This is necessary since we always derive the PartialEq trait, but can't necessary derive Eq, and so don't. The `clippy::upper_case_acronyms` is new and was added to account for message type names being upper-case acrynyms, like unique_identifier_msgs::msg::UUID. * Update vendored message packages This updates the message packages vendored under the rclrs `vendor` module. The vendor_interfaces.py script was used for reproducibility. The existing packages – rcl_interfaces, rosgraph_msgs, and builtin_interfaces – are only modified in that they now use the std::ffi::c_void naming for c_void instead of the std::os::raw::c_void alias and disable certain clippy lints. The action_msgs and unique_identifier_msgs packages are newly added to enable adding action support to rclrs. action_msgs is needed for interaction with action goal info and statuses, and has a dependency on unique_identifier_msgs.
* Initial logging implementation * * Moved logging_fini to follow correct call sequence based on rclcpp * Primary change to fix builder's node variable going out of scope * Fix linting issue with use statement * Remove the need to Box rcl_node_t (ros2-rust#5) Signed-off-by: Michael X. Grey <[email protected]> * Fix linting issues * Fix logging lifecycles and clean up tests Signed-off-by: Michael X. Grey <[email protected]> * Linting fixes after logging lifecycle improvements * Introduce Logger and LogParams Signed-off-by: Michael X. Grey <[email protected]> * Cleaner logging tests Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Nathan Wiebe Neufeldt <[email protected]> * Address feedback for logging PR Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Nathan Wiebe Neufeldt <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Grey <[email protected]> Co-authored-by: Nathan Wiebe Neufeldt <[email protected]>
* Add Publisher::can_loan_msgs * Fix formatting
…os2-rust#436) Signed-off-by: Agustin Alba Chicar <[email protected]>
* Update for clippy 1.83 Signed-off-by: Michael X. Grey <[email protected]> * Update clippy for cfg(test) as well Signed-off-by: Michael X. Grey <[email protected]> * Exclude dependencies from clippy test Signed-off-by: Michael X. Grey <[email protected]> * Fix clippy for rosidl_runtime_rs Signed-off-by: Michael X. Grey <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Javier Balloffet <[email protected]>
Signed-off-by: Javier Balloffet <[email protected]>
…os2-rust#442) Signed-off-by: Esteve Fernandez <[email protected]>
* Fix buffer overflow for bounded sequence example Signed-off-by: Michael X. Grey <[email protected]> * Allow longer characters for wstring Signed-off-by: Michael X. Grey <[email protected]> --------- Signed-off-by: Michael X. Grey <[email protected]>
Also, add a link to the installation instruction from the main README.md Co-authored-by: Lucas Chiesa <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
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