Wide string support

msg_gen/build.rs

@@ -71,6 +71,8 @@ fn main() {
         .blacklist_type("rosidl_message_type_support_t")
         .blacklist_type("rosidl_generator_c__String")
         .blacklist_type("rosidl_generator_c__String__Sequence")
+        .blacklist_type("rosidl_generator_c__U16String")
+        .blacklist_type("rosidl_generator_c__U16String__Sequence")
         .blacklist_type("rosidl_generator_c__float32__Sequence")
         .blacklist_type("rosidl_generator_c__float__Sequence")
         .blacklist_type("rosidl_generator_c__float64__Sequence")

msg_gen/src/lib.rs

@@ -21,6 +21,8 @@ fn field_type(t: u8) -> String {
     // move to common
     if t == (rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8) {
         "std::string::String".to_owned()
+    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING as u8) {
+        "std::string::String".to_owned()
     } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN as u8) {
         "bool".to_owned()
     } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_CHAR as u8) {

rcl/Cargo.toml

@@ -7,6 +7,7 @@ edition = "2018"
 [dependencies]
 libc = "0.2.0"
 paste = "0.1.6"
+widestring = "0.4.0"
 
 [build-dependencies]
 bindgen = "0.50.0"

rcl/src/lib.rs

@@ -54,6 +54,45 @@ impl rosidl_generator_c__String {
     }
 }
 
+use widestring::U16String;
+impl rosidl_generator_c__U16String {
+    pub fn to_str(&self) -> String {
+        let s = unsafe { U16String::from_ptr(self.data, self.size) };
+        // U16Str = U16String::from_ptr(buffer, strlen as usize);
+        // let s = unsafe { CStr::from_ptr(self.data as *mut i8) };
+        //s.to_str().unwrap_or("")
+        s.to_string_lossy()
+    }
+
+    pub fn assign(&mut self, other: &str) -> () {
+        let wstr = U16String::from_str(other);
+        let to_send_ptr = wstr.as_ptr() as *const uint_least16_t;
+        unsafe {
+            rosidl_generator_c__U16String__assignn(self as *mut _, to_send_ptr, wstr.len());
+        }
+    }
+}
+
+impl rosidl_generator_c__U16String__Sequence {
+    pub fn update(&mut self, values: &[String]) {
+        unsafe { rosidl_generator_c__U16String__Sequence__fini(self as *mut _); }
+        unsafe { rosidl_generator_c__U16String__Sequence__init(self as *mut _, values.len()); }
+        let strs = unsafe { std::slice::from_raw_parts_mut(self.data, values.len()) };
+        for (target, source) in strs.iter_mut().zip(values) {
+            target.assign(&source);
+        }
+    }
+
+    pub fn to_vec(&self) -> Vec<String> {
+        let mut target = Vec::with_capacity(self.size);
+        let strs = unsafe { std::slice::from_raw_parts(self.data, self.size) };
+        for s in strs {
+            target.push(s.to_str().to_owned());
+        }
+        target
+    }
+}
+
 impl rosidl_generator_c__String__Sequence {
     pub fn update(&mut self, values: &[String]) {
         unsafe { rosidl_generator_c__String__Sequence__fini(self as *mut _); }

rcl/src/rcl_wrapper.h

@@ -11,6 +11,9 @@
 #include <rosidl_generator_c/string.h>
 #include <rosidl_generator_c/string_functions.h>
 
+#include <rosidl_generator_c/u16string.h>
+#include <rosidl_generator_c/u16string_functions.h>
+
 #include <rosidl_generator_c/primitives_sequence.h>
 #include <rosidl_generator_c/primitives_sequence_functions.h>