mirror
/
r2r
mirror of https://github.com/sequenceplanner/r2r.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

cargo fmt

This commit is contained in:
Martin Dahl 2021-08-17 13:22:20 +02:00
parent ac51828cad
commit 42bf5d9906
13 changed files with 111 additions and 103 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
examples/untyped_client.rs
View File

@ -21,7 +21,8 @@ async fn requester_task(c: r2r::UntypedClient) -> Result<(), Box<dyn std::error:
fn main() -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
let mut node = r2r::Node::create(ctx, "testnode", "")?;
let client = node.create_client_untyped("/add_two_ints", "example_interfaces/srv/AddTwoInts")?;
let client =
node.create_client_untyped("/add_two_ints", "example_interfaces/srv/AddTwoInts")?;
// wait for service to be available
println!("waiting for service...");

4
rcl/src/lib.rs
View File

@ -140,10 +140,10 @@ macro_rules! primitive_sequence {
primitive_sequence!(rosidl_runtime_c__float32, f32);
primitive_sequence!(rosidl_runtime_c__float64, f64);
#[cfg(all(target_os="macos", target_arch = "aarch64"))]
#[cfg(all(target_os = "macos", target_arch = "aarch64"))]
primitive_sequence!(rosidl_runtime_c__long_double, f64);
#[cfg(not(all(target_os="macos", target_arch = "aarch64")))]
#[cfg(not(all(target_os = "macos", target_arch = "aarch64")))]
primitive_sequence!(rosidl_runtime_c__long_double, u128);
primitive_sequence!(rosidl_runtime_c__char, i8);

44
src/action_clients.rs
View File

@ -53,12 +53,14 @@ where
&self,
goal: T::Goal,
) -> Result<
impl Future<Output = Result<
(
ClientGoal<T>,
impl Future<Output = Result<(GoalStatus, T::Result)>>,
impl Stream<Item = T::Feedback> + Unpin,
)>>>
impl Future<
Output = Result<(
ClientGoal<T>,
impl Future<Output = Result<(GoalStatus, T::Result)>>,
impl Stream<Item = T::Feedback> + Unpin,
)>,
>,
>
where
T: WrappedActionTypeSupport,
{
@ -112,12 +114,14 @@ where
c.send_result_request(uuid.clone());
}
Ok((ClientGoal {
client: fut_client,
uuid,
}, result_receiver
.map_err(|_| Error::RCL_RET_ACTION_CLIENT_INVALID),
feedback_receiver))
Ok((
ClientGoal {
client: fut_client,
uuid,
},
result_receiver.map_err(|_| Error::RCL_RET_ACTION_CLIENT_INVALID),
feedback_receiver,
))
} else {
println!("goal rejected");
Err(Error::RCL_RET_ACTION_GOAL_REJECTED)
@ -137,9 +141,7 @@ pub fn make_action_client<T>(client: Weak<Mutex<WrappedActionClient<T>>>) -> Act
where
T: WrappedActionTypeSupport,
{
ActionClient {
client
}
ActionClient { client }
}
pub fn action_server_available<T>(node: &rcl_node_t, client: &ActionClient<T>) -> Result<bool>
@ -152,9 +154,7 @@ where
.ok_or(Error::RCL_RET_CLIENT_INVALID)?;
let client = client.lock().unwrap();
let mut avail = false;
let result = unsafe {
rcl_action_server_is_available(node, client.handle(), &mut avail)
};
let result = unsafe { rcl_action_server_is_available(node, client.handle(), &mut avail) };
if result == RCL_RET_OK as i32 {
Ok(avail)
@ -230,7 +230,8 @@ where
<<T as WrappedActionTypeSupport>::SendGoal as WrappedServiceTypeSupport>::Response,
>,
)>,
pub cancel_response_channels: Vec<(i64, oneshot::Sender<action_msgs::srv::CancelGoal::Response>)>,
pub cancel_response_channels:
Vec<(i64, oneshot::Sender<action_msgs::srv::CancelGoal::Response>)>,
pub feedback_senders: Vec<(uuid::Uuid, mpsc::Sender<T::Feedback>)>,
pub result_requests: Vec<(i64, uuid::Uuid)>,
pub result_senders: Vec<(uuid::Uuid, oneshot::Sender<(GoalStatus, T::Result)>)>,
@ -265,7 +266,10 @@ where
*self.goal_status.get(uuid).unwrap_or(&GoalStatus::Unknown)
}
pub fn send_cancel_request(&mut self, goal: &uuid::Uuid) -> Result<impl Future<Output = Result<()>>>
pub fn send_cancel_request(
&mut self,
goal: &uuid::Uuid,
) -> Result<impl Future<Output = Result<()>>>
where
T: WrappedActionTypeSupport,
{

51
src/clients.rs
View File

@ -18,29 +18,23 @@ where
T: WrappedServiceTypeSupport,
{
// upgrade to actual ref. if still alive
let client = self
.client
.upgrade()
.ok_or(Error::RCL_RET_CLIENT_INVALID)?;
let client = self.client.upgrade().ok_or(Error::RCL_RET_CLIENT_INVALID)?;
let mut client = client.lock().unwrap();
client.request(msg)
}
}
pub struct UntypedClient
{
pub struct UntypedClient {
client: Weak<Mutex<UntypedClient_>>,
}
impl UntypedClient
{
pub fn request(&self, msg: serde_json::Value) -> Result<impl Future<Output = Result<Result<serde_json::Value>>>>
{
impl UntypedClient {
pub fn request(
&self,
msg: serde_json::Value,
) -> Result<impl Future<Output = Result<Result<serde_json::Value>>>> {
// upgrade to actual ref. if still alive
let client = self
.client
.upgrade()
.ok_or(Error::RCL_RET_CLIENT_INVALID)?;
let client = self.client.upgrade().ok_or(Error::RCL_RET_CLIENT_INVALID)?;
let mut client = client.lock().unwrap();
client.request(msg)
}
@ -50,15 +44,11 @@ pub fn make_client<T>(client: Weak<Mutex<TypedClient<T>>>) -> Client<T>
where
T: WrappedServiceTypeSupport,
{
Client {
client
}
Client { client }
}
pub fn make_untyped_client(client: Weak<Mutex<UntypedClient_>>) -> UntypedClient {
UntypedClient {
client
}
UntypedClient { client }
}
unsafe impl<T> Send for TypedClient<T> where T: WrappedServiceTypeSupport {}
@ -92,8 +82,10 @@ where
unsafe impl Send for UntypedClient_ {}
impl UntypedClient_ {
pub fn request(&mut self, msg: serde_json::Value) -> Result<impl Future<Output = Result<Result<serde_json::Value>>>>
{
pub fn request(
&mut self,
msg: serde_json::Value,
) -> Result<impl Future<Output = Result<Result<serde_json::Value>>>> {
let mut native_msg = (self.service_type.make_request_msg)();
native_msg.from_json(msg)?;
@ -184,15 +176,13 @@ where
}
}
pub struct UntypedClient_
{
pub struct UntypedClient_ {
pub service_type: UntypedServiceSupport,
pub rcl_handle: rcl_client_t,
pub response_channels: Vec<(i64, oneshot::Sender<Result<serde_json::Value>>)>,
}
impl Client_ for UntypedClient_
{
impl Client_ for UntypedClient_ {
fn handle(&self) -> &rcl_client_t {
&self.rcl_handle
}
@ -273,9 +263,7 @@ pub fn create_client_helper(
pub fn service_available_helper(node: &mut rcl_node_t, client: &rcl_client_t) -> Result<bool> {
let mut avail = false;
let result = unsafe {
rcl_service_server_is_available(node, client, &mut avail)
};
let result = unsafe { rcl_service_server_is_available(node, client, &mut avail) };
if result == RCL_RET_OK as i32 {
Ok(avail)
@ -284,7 +272,10 @@ pub fn service_available_helper(node: &mut rcl_node_t, client: &rcl_client_t) ->
}
}
pub fn service_available<T: 'static + WrappedServiceTypeSupport>(node: &mut rcl_node_t, client: &Client<T>) -> Result<bool> {
pub fn service_available<T: 'static + WrappedServiceTypeSupport>(
node: &mut rcl_node_t,
client: &Client<T>,
) -> Result<bool> {
let client = client
.client
.upgrade()

1
src/clocks.rs
View File

@ -21,7 +21,6 @@ pub fn clock_type_to_rcl(ct: &ClockType) -> rcl_clock_type_t {
}
}
impl Clock {
pub fn create(ct: ClockType) -> Result<Clock> {
let mut clock_handle = MaybeUninit::<rcl_clock_t>::uninit();

1
src/context.rs
View File

@ -1,6 +1,5 @@
use super::*;
#[derive(Debug, Clone)]
pub struct Context {
pub context_handle: Arc<Mutex<ContextHandle>>,

9
src/lib.rs
View File

@ -23,7 +23,7 @@ use actions::*;
use rcl::*;
mod error;
use error::*;
pub use error::{Error, Result};
mod msg_types;
use msg_types::*;
@ -39,8 +39,10 @@ use subscribers::*;
mod publishers;
use publishers::*;
pub use publishers::{Publisher, PublisherUntyped};
mod services;
pub use services::ServiceRequest;
use services::*;
mod clients;
@ -48,18 +50,19 @@ use clients::*;
pub use clients::{Client, UntypedClient};
mod action_clients;
pub use action_clients::ActionClient;
use action_clients::*;
mod action_servers;
use action_servers::*;
pub use action_servers::{ActionServer, GoalRequest, ServerGoal, CancelRequest};
pub use action_servers::{ActionServer, CancelRequest, GoalRequest, ServerGoal};
mod context;
pub use context::Context;
mod parameters;
use parameters::*;
pub use parameters::ParameterValue;
use parameters::*;
mod clocks;
pub use clocks::{Clock, ClockType};

8
src/msg_types.rs
View File

@ -127,12 +127,8 @@ impl UntypedServiceSupport {
where
T: WrappedServiceTypeSupport,
{
let make_request_msg = || {
WrappedNativeMsgUntyped::new::<T::Request>()
};
let make_response_msg = || {
WrappedNativeMsgUntyped::new::<T::Response>()
};
let make_request_msg = || WrappedNativeMsgUntyped::new::<T::Request>();
let make_response_msg = || WrappedNativeMsgUntyped::new::<T::Response>();
UntypedServiceSupport {
ts: T::get_ts(),

50
src/nodes.rs
View File

@ -162,7 +162,8 @@ impl Node {
where
T: WrappedTypesupport,
{
let subscription_handle = create_subscription_helper(self.node_handle.as_mut(), topic, T::get_ts())?;
let subscription_handle =
create_subscription_helper(self.node_handle.as_mut(), topic, T::get_ts())?;
let (sender, receiver) = mpsc::channel::<T>(10);
let ws = TypedSubscriber {
@ -180,7 +181,8 @@ impl Node {
where
T: WrappedTypesupport,
{
let subscription_handle = create_subscription_helper(self.node_handle.as_mut(), topic, T::get_ts())?;
let subscription_handle =
create_subscription_helper(self.node_handle.as_mut(), topic, T::get_ts())?;
let (sender, receiver) = mpsc::channel::<WrappedNativeMsg<T>>(10);
let ws = NativeSubscriber {
@ -198,7 +200,8 @@ impl Node {
topic_type: &str,
) -> Result<impl Stream<Item = Result<serde_json::Value>> + Unpin> {
let msg = WrappedNativeMsgUntyped::new_from(topic_type)?;
let subscription_handle = create_subscription_helper(self.node_handle.as_mut(), topic, msg.ts)?;
let subscription_handle =
create_subscription_helper(self.node_handle.as_mut(), topic, msg.ts)?;
let (sender, receiver) = mpsc::channel::<Result<serde_json::Value>>(10);
let ws = UntypedSubscriber {
@ -217,7 +220,8 @@ impl Node {
where
T: WrappedServiceTypeSupport,
{
let service_handle = create_service_helper(self.node_handle.as_mut(), service_name, T::get_ts())?;
let service_handle =
create_service_helper(self.node_handle.as_mut(), service_name, T::get_ts())?;
let (sender, receiver) = mpsc::channel::<ServiceRequest<T>>(10);
let ws = TypedService::<T> {
@ -234,7 +238,8 @@ impl Node {
where
T: WrappedServiceTypeSupport,
{
let client_handle = create_client_helper(self.node_handle.as_mut(), service_name, T::get_ts())?;
let client_handle =
create_client_helper(self.node_handle.as_mut(), service_name, T::get_ts())?;
let ws = TypedClient::<T> {
rcl_handle: client_handle,
response_channels: Vec::new(),
@ -247,10 +252,14 @@ impl Node {
}
/// Create a service client without having the concrete rust type.
pub fn create_client_untyped(&mut self, service_name: &str, service_type: &str) -> Result<UntypedClient>
{
pub fn create_client_untyped(
&mut self,
service_name: &str,
service_type: &str,
) -> Result<UntypedClient> {
let service_type = UntypedServiceSupport::new_from(service_type)?;
let client_handle = create_client_helper(self.node_handle.as_mut(), service_name, service_type.ts)?;
let client_handle =
create_client_helper(self.node_handle.as_mut(), service_name, service_type.ts)?;
let client = UntypedClient_ {
service_type,
rcl_handle: client_handle,
@ -263,7 +272,10 @@ impl Node {
Ok(c)
}
pub fn service_available<T: 'static + WrappedServiceTypeSupport>(&mut self, client: &Client<T>) -> Result<bool> {
pub fn service_available<T: 'static + WrappedServiceTypeSupport>(
&mut self,
client: &Client<T>,
) -> Result<bool> {
service_available(self.node_handle.as_mut(), client)
}
@ -275,7 +287,8 @@ impl Node {
where
T: WrappedActionTypeSupport,
{
let client_handle = create_action_client_helper(self.node_handle.as_mut(), action_name, T::get_ts())?;
let client_handle =
create_action_client_helper(self.node_handle.as_mut(), action_name, T::get_ts())?;
let client = WrappedActionClient::<T> {
rcl_handle: client_handle,
goal_response_channels: Vec::new(),
@ -322,8 +335,12 @@ impl Node {
let (goal_request_sender, goal_request_receiver) = mpsc::channel::<GoalRequest<T>>(10);
let server_handle =
create_action_server_helper(self.node_handle.as_mut(), action_name, clock_handle.as_mut(), T::get_ts())?;
let server_handle = create_action_server_helper(
self.node_handle.as_mut(),
action_name,
clock_handle.as_mut(),
T::get_ts(),
)?;
let server = WrappedActionServer::<T> {
rcl_handle: server_handle,
clock_handle,
@ -344,7 +361,8 @@ impl Node {
where
T: WrappedTypesupport,
{
let publisher_handle = create_publisher_helper(self.node_handle.as_mut(), topic, T::get_ts())?;
let publisher_handle =
create_publisher_helper(self.node_handle.as_mut(), topic, T::get_ts())?;
let arc = Arc::new(publisher_handle);
let p = make_publisher(Arc::downgrade(&arc));
self.pubs.push(arc);
@ -501,7 +519,11 @@ impl Node {
}
for acs in &self.action_servers {
unsafe {
rcl_action_wait_set_add_action_server(&mut ws, acs.lock().unwrap().handle(), std::ptr::null_mut());
rcl_action_wait_set_add_action_server(
&mut ws,
acs.lock().unwrap().handle(),
std::ptr::null_mut(),
);
}
}

10
src/parameters.rs
View File

@ -45,18 +45,12 @@ pub fn parameter_value_from_rcl(v: &rcl_variant_t) -> ParameterValue {
ParameterValue::IntegerArray(vals.iter().cloned().collect())
} else if v.double_array_value != std::ptr::null_mut() {
let vals = unsafe {
std::slice::from_raw_parts(
(*v.double_array_value).values,
(*v.double_array_value).size,
)
std::slice::from_raw_parts((*v.double_array_value).values, (*v.double_array_value).size)
};
ParameterValue::DoubleArray(vals.iter().cloned().collect())
} else if v.string_array_value != std::ptr::null_mut() {
let vals = unsafe {
std::slice::from_raw_parts(
(*v.string_array_value).data,
(*v.string_array_value).size,
)
std::slice::from_raw_parts((*v.string_array_value).data, (*v.string_array_value).size)
};
let s = vals
.iter()

10
src/publishers.rs
View File

@ -44,7 +44,9 @@ pub struct PublisherUntyped {
}
pub fn make_publisher<T>(handle: Weak<rcl_publisher_t>) -> Publisher<T>
where T: WrappedTypesupport {
where
T: WrappedTypesupport,
{
Publisher {
handle,
type_: PhantomData,
@ -52,10 +54,7 @@ where T: WrappedTypesupport {
}
pub fn make_publisher_untyped(handle: Weak<rcl_publisher_t>, type_: String) -> PublisherUntyped {
PublisherUntyped {
handle,
type_,
}
PublisherUntyped { handle, type_ }
}
pub fn create_publisher_helper(
@ -84,7 +83,6 @@ pub fn create_publisher_helper(
}
}
impl PublisherUntyped {
pub fn publish(&self, msg: serde_json::Value) -> Result<()> {
// upgrade to actual ref. if still alive

22
src/services.rs
View File

@ -18,7 +18,10 @@ where
{
/// Complete the service request, consuming the request in the process.
pub fn respond(self, msg: T::Response) -> Result<()> {
let service = self.service.upgrade().ok_or(Error::RCL_RET_ACTION_SERVER_INVALID)?;
let service = self
.service
.upgrade()
.ok_or(Error::RCL_RET_ACTION_SERVER_INVALID)?;
let mut service = service.lock().unwrap();
let native_msg = WrappedNativeMsg::<T::Response>::from(&msg);
service.send_response(self.request_id, Box::new(native_msg))
@ -49,14 +52,13 @@ where
&self.rcl_handle
}
fn send_response(&mut self, mut request_id: rmw_request_id_t, mut msg: Box<dyn VoidPtr>) -> Result<()> {
let res = unsafe {
rcl_send_response(
&self.rcl_handle,
&mut request_id,
msg.void_ptr_mut(),
)
};
fn send_response(
&mut self,
mut request_id: rmw_request_id_t,
mut msg: Box<dyn VoidPtr>,
) -> Result<()> {
let res =
unsafe { rcl_send_response(&self.rcl_handle, &mut request_id, msg.void_ptr_mut()) };
if res == RCL_RET_OK as i32 {
Ok(())
} else {
@ -81,7 +83,7 @@ where
let request = ServiceRequest::<T> {
message: request_msg,
request_id,
service: Arc::downgrade(&service)
service: Arc::downgrade(&service),
};
match self.sender.try_send(request) {
Err(e) => eprintln!("warning: could not send service request ({})", e),

1
src/subscribers.rs
View File

@ -130,7 +130,6 @@ impl Subscriber_ for UntypedSubscriber {
}
}
pub fn create_subscription_helper(
node: &mut rcl_node_t,
topic: &str,