Replace feature with cfg based on whether clock message is compiled

r2r/Cargo.toml

@@ -49,7 +49,6 @@ prettyplease = "0.2.6"
 [features]
 save-bindgen = ["r2r_rcl/save-bindgen", "r2r_msg_gen/save-bindgen", "r2r_actions/save-bindgen"]
 doc-only = ["r2r_common/doc-only", "r2r_rcl/doc-only", "r2r_msg_gen/doc-only", "r2r_actions/doc-only"]
-sim-time = []
 
 [package.metadata.docs.rs]
 features = ["doc-only"]
@@ -57,7 +56,3 @@ features = ["doc-only"]
 [[bench]]
 name = "deserialization"
 harness = false
-
-[[example]]
-name = "timer_sim_time"
-required-features = ["sim-time"]

r2r/examples/sim_time_publisher.rs

@@ -1,10 +1,11 @@
-use r2r::rosgraph_msgs::msg;
 use r2r::ClockType::SystemTime;
 use r2r::{Clock, QosProfile};
 use std::time::Duration;
 
 /// Simple publisher publishing time starting at time 0 every `SENDING_PERIOD`
+#[cfg(r2r__rosgraph_msgs__msg__Clock)]
 fn main() -> Result<(), Box<dyn std::error::Error>> {
+    use r2r::rosgraph_msgs::msg;
     let ctx = r2r::Context::create()?;
     let mut node = r2r::Node::create(ctx, "clock_publisher", "")?;
     let qos = QosProfile::default().keep_last(1);
@@ -28,3 +29,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
         std::thread::sleep(SENDING_PERIOD);
     }
 }
+
+#[cfg(not(r2r__rosgraph_msgs__msg__Clock))]
+fn main() {
+}

r2r/examples/timer_sim_time.rs

@@ -43,7 +43,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
     // Simulated time can be enabled by registering parameter handler
     // and starting the program this ros param 'use_sim_time:=true'
     // ```shell
-    // cargo run --features=sim-time --example=timer_sim_time -- --ros-args -p use_sim_time:=true
+    // cargo run --example=timer_sim_time -- --ros-args -p use_sim_time:=true
     // ```
     // this does not work if the parameter is changed during the runtime
     let (paramater_handler, _parameter_events) = node.make_parameter_handler()?;

r2r/src/clocks.rs

@@ -85,7 +85,7 @@ impl Clock {
     /// The clock must be [`ClockType::RosTime`].
     ///
     /// Wrapper for `rcl_enable_ros_time_override`
-    #[cfg(feature = "sim-time")]
+    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
     pub(crate) fn enable_ros_time_override(
         &mut self, initial_time: rcl_time_point_value_t,
     ) -> Result<()> {
@@ -110,7 +110,7 @@ impl Clock {
     /// The clock must be [`ClockType::RosTime`].
     ///
     /// Wrapper for `rcl_disable_ros_time_override`
-    #[cfg(feature = "sim-time")]
+    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
     pub(crate) fn disable_ros_time_override(&mut self) -> Result<()> {
         let valid = unsafe { rcl_clock_valid(&mut *self.clock_handle) };
         if !valid {
@@ -133,7 +133,7 @@ impl Clock {
     /// The clock must be [`ClockType::RosTime`].
     ///
     /// Wrapper for `rcl_set_ros_time_override`
-    #[cfg(feature = "sim-time")]
+    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
     pub(crate) fn set_ros_time_override(&mut self, time: rcl_time_point_value_t) -> Result<()> {
         let valid = unsafe { rcl_clock_valid(&mut *self.clock_handle) };
         if !valid {

r2r/src/lib.rs

@@ -125,9 +125,9 @@ pub use nodes::{Node, Timer};
 
 pub mod qos;
 
-#[cfg(feature = "sim-time")]
+#[cfg(r2r__rosgraph_msgs__msg__Clock)]
 mod time_source;
-#[cfg(feature = "sim-time")]
+#[cfg(r2r__rosgraph_msgs__msg__Clock)]
 pub use time_source::TimeSource;
 
 pub use qos::QosProfile;

r2r/src/nodes.rs

@@ -29,7 +29,7 @@ use crate::publishers::*;
 use crate::qos::QosProfile;
 use crate::services::*;
 use crate::subscribers::*;
-#[cfg(feature = "sim-time")]
+#[cfg(r2r__rosgraph_msgs__msg__Clock)]
 use crate::time_source::TimeSource;
 
 /// A ROS Node.
@@ -59,7 +59,7 @@ pub struct Node {
     // RosTime clock used by all timers created by create_timer()
     ros_clock: Arc<Mutex<Clock>>,
     // time source that provides simulated time
-    #[cfg(feature = "sim-time")]
+    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
     time_source: TimeSource,
 }
 
@@ -187,7 +187,7 @@ impl Node {
 
         if res == RCL_RET_OK as i32 {
             let ros_clock = Arc::new(Mutex::new(Clock::create(ClockType::RosTime)?));
-            #[cfg(feature = "sim-time")]
+            #[cfg(r2r__rosgraph_msgs__msg__Clock)]
             let time_source = {
                 let time_source = TimeSource::new();
                 time_source.attach_ros_clock(Arc::downgrade(&ros_clock))?;
@@ -206,7 +206,7 @@ impl Node {
                 timers: Vec::new(),
                 pubs: Vec::new(),
                 ros_clock,
-                #[cfg(feature = "sim-time")]
+                #[cfg(r2r__rosgraph_msgs__msg__Clock)]
                 time_source,
             };
             node.load_params()?;
@@ -428,7 +428,7 @@ impl Node {
 
         handlers.push(Box::pin(get_param_types_future));
 
-        #[cfg(feature = "sim-time")]
+        #[cfg(r2r__rosgraph_msgs__msg__Clock)]
         {
             // create TimeSource based on value of use_sim_time parameter
             let use_sim_time = {
@@ -1337,7 +1337,7 @@ impl Node {
     /// Get TimeSource of the node
     ///
     /// See: [`TimeSource`]
-    #[cfg(feature = "sim-time")]
+    #[cfg(r2r__rosgraph_msgs__msg__Clock)]
     pub fn get_time_source(&self) -> TimeSource {
         self.time_source.clone()
     }

r2r/src/time_source.rs

@@ -1,4 +1,4 @@
-#![cfg(feature = "sim-time")]
+#![cfg(r2r__rosgraph_msgs__msg__Clock)]
 
 use crate::builtin_interfaces::msg::Time;
 use crate::error::*;