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Initial bump to 🦊y. Note that this breaks eloquent compability! 

Also see note about the package liblibstatistics_collector in
common/src/lib.rs.
This commit is contained in:
Martin Dahl 2020-06-08 14:42:45 +02:00
parent a124c21e6d
commit 827f97d07a
6 changed files with 72 additions and 64 deletions
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13
README.md
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@ -5,14 +5,15 @@ Minimal bindings for ROS2 that do *not* require hooking in to the ROS2 build inf
How to use How to use
-------------------- --------------------
1. Depend on this package: r2r = { git = "https://github.com/sequenceplanner/r2r" }. 1. Make sure you have libclang installed. (e.g. libclang-dev on ubuntu)
2. You need to source your ROS2 installation before building/running. 2. Depend on this package: r2r = { git = "https://github.com/sequenceplanner/r2r" }.
3. The bindings will rebuild automatically if/when you source your workspace(s). 3. You need to source your ROS2 installation before building/running.
4. If you make changes to existing message types, run cargo clean -p msg_gen to force recompilation of the rust message types on the next build. 4. The bindings will rebuild automatically if/when you source your workspace(s).
5. If you make changes to existing message types, run cargo clean -p msg_gen to force recompilation of the rust message types on the next build.
A couple of examples are included in examples/ A couple of examples are included in examples/
``` ```
. /opt/ros/eloquent/setup.sh . /opt/ros/foxy/setup.sh
cargo build cargo build
cargo run --example subscriber_with_thread cargo run --example subscriber_with_thread
``` ```
@ -20,7 +21,7 @@ An example application can be found here <https://github.com/sequenceplanner/r2r
What works? What works?
-------------------- --------------------
- Up to date with ROS2 ~Dashing~ Eloquent - Up to date with ROS2 ~Dashing~ ~Eloquent~ Foxy
- Building Rust types - Building Rust types
- Publish/subscribe - Publish/subscribe
- Services (servers, not clients yet) - Services (servers, not clients yet)

11
common/src/lib.rs
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@ -54,7 +54,6 @@ pub fn get_all_ros_msgs() -> Vec<String> {
if let Some(file_name_str) = file_name.to_str() { if let Some(file_name_str) = file_name.to_str() {
let substr = &l[4..l.len()-4]; let substr = &l[4..l.len()-4];
let srv_name = format!("{}/srv/{}", file_name_str, substr); let srv_name = format!("{}/srv/{}", file_name_str, substr);
println!("srv_name: {}", srv_name);
msgs.push(srv_name); msgs.push(srv_name);
} }
} }
@ -85,9 +84,15 @@ fn test_msg_list() {
pub fn parse_msgs(msgs: &Vec<String>) -> Vec<RosMsg> { pub fn parse_msgs(msgs: &Vec<String>) -> Vec<RosMsg> {
let v: Vec<Vec<&str>> = msgs.iter().map(|l| l.split("/").into_iter().take(3).collect()).collect(); let v: Vec<Vec<&str>> = msgs.iter().map(|l| l.split("/").into_iter().take(3).collect()).collect();
v.iter().filter(|v|v.len() == 3). let v: Vec<_> = v.iter().filter(|v|v.len() == 3).
map(|v| RosMsg { module: v[0].into(), prefix: v[1].into(), name: v[2].into()}).collect() map(|v| RosMsg { module: v[0].into(), prefix: v[1].into(), name: v[2].into()}).collect();
// hack because I don't have time to find out the root cause of this at the moment.
// for some reason the library files generated to this are called
// liblibstatistics_collector_test_msgs__..., but I don't know where test_msgs come from.
// (this seems to be a useless package anyway)
// also affects message generation below.
v.into_iter().filter(|v| v.module != "libstatistics_collector").collect()
} }
pub fn as_map(included_msgs: &[RosMsg]) -> HashMap<&str, HashMap<&str, Vec<&str>>> { pub fn as_map(included_msgs: &[RosMsg]) -> HashMap<&str, HashMap<&str, Vec<&str>>> {

44
msg_gen/build.rs
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@ -44,7 +44,7 @@ fn main() {
&msg.module, &msg.prefix, &include_filename &msg.module, &msg.prefix, &include_filename
)); ));
includes.push_str(&format!( includes.push_str(&format!(
"#include <{}/{}/{}__rosidl_typesupport_introspection_c.h>\n", "#include <{}/{}/detail/{}__rosidl_typesupport_introspection_c.h>\n",
&msg.module, &msg.prefix, &include_filename &msg.module, &msg.prefix, &include_filename
)); ));
@ -78,27 +78,27 @@ fn main() {
// blacklist types that are handled by rcl bindings // blacklist types that are handled by rcl bindings
.blacklist_type("rosidl_message_type_support_t") .blacklist_type("rosidl_message_type_support_t")
.blacklist_type("rosidl_service_type_support_t") .blacklist_type("rosidl_service_type_support_t")
.blacklist_type("rosidl_generator_c__String") .blacklist_type("rosidl_runtime_c__String")
.blacklist_type("rosidl_generator_c__String__Sequence") .blacklist_type("rosidl_runtime_c__String__Sequence")
.blacklist_type("rosidl_generator_c__U16String") .blacklist_type("rosidl_runtime_c__U16String")
.blacklist_type("rosidl_generator_c__U16String__Sequence") .blacklist_type("rosidl_runtime_c__U16String__Sequence")
.blacklist_type("rosidl_generator_c__float32__Sequence") .blacklist_type("rosidl_runtime_c__float32__Sequence")
.blacklist_type("rosidl_generator_c__float__Sequence") .blacklist_type("rosidl_runtime_c__float__Sequence")
.blacklist_type("rosidl_generator_c__float64__Sequence") .blacklist_type("rosidl_runtime_c__float64__Sequence")
.blacklist_type("rosidl_generator_c__double__Sequence") .blacklist_type("rosidl_runtime_c__double__Sequence")
.blacklist_type("rosidl_generator_c__long_double__Sequence") .blacklist_type("rosidl_runtime_c__long_double__Sequence")
.blacklist_type("rosidl_generator_c__char__Sequence") .blacklist_type("rosidl_runtime_c__char__Sequence")
.blacklist_type("rosidl_generator_c__wchar__Sequence") .blacklist_type("rosidl_runtime_c__wchar__Sequence")
.blacklist_type("rosidl_generator_c__boolean__Sequence") .blacklist_type("rosidl_runtime_c__boolean__Sequence")
.blacklist_type("rosidl_generator_c__octet__Sequence") .blacklist_type("rosidl_runtime_c__octet__Sequence")
.blacklist_type("rosidl_generator_c__uint8__Sequence") .blacklist_type("rosidl_runtime_c__uint8__Sequence")
.blacklist_type("rosidl_generator_c__int8__Sequence") .blacklist_type("rosidl_runtime_c__int8__Sequence")
.blacklist_type("rosidl_generator_c__uint16__Sequence") .blacklist_type("rosidl_runtime_c__uint16__Sequence")
.blacklist_type("rosidl_generator_c__int16__Sequence") .blacklist_type("rosidl_runtime_c__int16__Sequence")
.blacklist_type("rosidl_generator_c__uint32__Sequence") .blacklist_type("rosidl_runtime_c__uint32__Sequence")
.blacklist_type("rosidl_generator_c__int32__Sequence") .blacklist_type("rosidl_runtime_c__int32__Sequence")
.blacklist_type("rosidl_generator_c__uint64__Sequence") .blacklist_type("rosidl_runtime_c__uint64__Sequence")
.blacklist_type("rosidl_generator_c__int64__Sequence") .blacklist_type("rosidl_runtime_c__int64__Sequence")
.default_enum_style(bindgen::EnumVariation::Rust { .default_enum_style(bindgen::EnumVariation::Rust {
non_exhaustive: false, non_exhaustive: false,
}); });

2
rcl/build.rs
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@ -30,7 +30,7 @@ fn main() {
println!("cargo:rustc-link-lib=dylib=rmw"); println!("cargo:rustc-link-lib=dylib=rmw");
println!("cargo:rustc-link-lib=dylib=rmw_implementation"); println!("cargo:rustc-link-lib=dylib=rmw_implementation");
println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_c"); println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_c");
println!("cargo:rustc-link-lib=dylib=rosidl_generator_c"); println!("cargo:rustc-link-lib=dylib=rosidl_runtime_c");
let bindings = builder.generate().expect("Unable to generate bindings"); let bindings = builder.generate().expect("Unable to generate bindings");

52
rcl/src/lib.rs
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@ -11,6 +11,8 @@ use std::ffi::CString;
impl Default for rmw_message_info_t { impl Default for rmw_message_info_t {
fn default() -> Self { fn default() -> Self {
rmw_message_info_t { rmw_message_info_t {
source_timestamp: 0,
received_timestamp: 0,
publisher_gid: rmw_gid_t { publisher_gid: rmw_gid_t {
implementation_identifier: std::ptr::null(), implementation_identifier: std::ptr::null(),
data: [0; 24], data: [0; 24],
@ -39,7 +41,7 @@ impl Default for rmw_qos_profile_t {
// special treatment to convert to/from rust strings. // special treatment to convert to/from rust strings.
// ros strings are owned by ros, assignment is a copy // ros strings are owned by ros, assignment is a copy
impl rosidl_generator_c__String { impl rosidl_runtime_c__String {
pub fn to_str(&self) -> &str { pub fn to_str(&self) -> &str {
let s = unsafe { CStr::from_ptr(self.data as *mut i8) }; let s = unsafe { CStr::from_ptr(self.data as *mut i8) };
s.to_str().unwrap_or("") s.to_str().unwrap_or("")
@ -49,13 +51,13 @@ impl rosidl_generator_c__String {
let q = CString::new(other).unwrap(); let q = CString::new(other).unwrap();
let to_send_ptr = q.as_ptr() as *const i8; let to_send_ptr = q.as_ptr() as *const i8;
unsafe { unsafe {
rosidl_generator_c__String__assign(self as *mut _, to_send_ptr); rosidl_runtime_c__String__assign(self as *mut _, to_send_ptr);
} }
} }
} }
use widestring::U16String; use widestring::U16String;
impl rosidl_generator_c__U16String { impl rosidl_runtime_c__U16String {
pub fn to_str(&self) -> String { pub fn to_str(&self) -> String {
let s = unsafe { U16String::from_ptr(self.data, self.size) }; let s = unsafe { U16String::from_ptr(self.data, self.size) };
// U16Str = U16String::from_ptr(buffer, strlen as usize); // U16Str = U16String::from_ptr(buffer, strlen as usize);
@ -68,15 +70,15 @@ impl rosidl_generator_c__U16String {
let wstr = U16String::from_str(other); let wstr = U16String::from_str(other);
let to_send_ptr = wstr.as_ptr() as *const uint_least16_t; let to_send_ptr = wstr.as_ptr() as *const uint_least16_t;
unsafe { unsafe {
rosidl_generator_c__U16String__assignn(self as *mut _, to_send_ptr, wstr.len()); rosidl_runtime_c__U16String__assignn(self as *mut _, to_send_ptr, wstr.len());
} }
} }
} }
impl rosidl_generator_c__U16String__Sequence { impl rosidl_runtime_c__U16String__Sequence {
pub fn update(&mut self, values: &[String]) { pub fn update(&mut self, values: &[String]) {
unsafe { rosidl_generator_c__U16String__Sequence__fini(self as *mut _); } unsafe { rosidl_runtime_c__U16String__Sequence__fini(self as *mut _); }
unsafe { rosidl_generator_c__U16String__Sequence__init(self as *mut _, values.len()); } unsafe { rosidl_runtime_c__U16String__Sequence__init(self as *mut _, values.len()); }
let strs = unsafe { std::slice::from_raw_parts_mut(self.data, values.len()) }; let strs = unsafe { std::slice::from_raw_parts_mut(self.data, values.len()) };
for (target, source) in strs.iter_mut().zip(values) { for (target, source) in strs.iter_mut().zip(values) {
target.assign(&source); target.assign(&source);
@ -93,10 +95,10 @@ impl rosidl_generator_c__U16String__Sequence {
} }
} }
impl rosidl_generator_c__String__Sequence { impl rosidl_runtime_c__String__Sequence {
pub fn update(&mut self, values: &[String]) { pub fn update(&mut self, values: &[String]) {
unsafe { rosidl_generator_c__String__Sequence__fini(self as *mut _); } unsafe { rosidl_runtime_c__String__Sequence__fini(self as *mut _); }
unsafe { rosidl_generator_c__String__Sequence__init(self as *mut _, values.len()); } unsafe { rosidl_runtime_c__String__Sequence__init(self as *mut _, values.len()); }
let strs = unsafe { std::slice::from_raw_parts_mut(self.data, values.len()) }; let strs = unsafe { std::slice::from_raw_parts_mut(self.data, values.len()) };
for (target, source) in strs.iter_mut().zip(values) { for (target, source) in strs.iter_mut().zip(values) {
target.assign(&source); target.assign(&source);
@ -136,18 +138,18 @@ macro_rules! primitive_sequence {
} }
} }
primitive_sequence!(rosidl_generator_c__float32, f32); primitive_sequence!(rosidl_runtime_c__float32, f32);
primitive_sequence!(rosidl_generator_c__float64, f64); primitive_sequence!(rosidl_runtime_c__float64, f64);
primitive_sequence!(rosidl_generator_c__long_double, u128); primitive_sequence!(rosidl_runtime_c__long_double, u128);
primitive_sequence!(rosidl_generator_c__char, i8); primitive_sequence!(rosidl_runtime_c__char, i8);
primitive_sequence!(rosidl_generator_c__wchar, u16); primitive_sequence!(rosidl_runtime_c__wchar, u16);
primitive_sequence!(rosidl_generator_c__boolean, bool); primitive_sequence!(rosidl_runtime_c__boolean, bool);
primitive_sequence!(rosidl_generator_c__octet, u8); primitive_sequence!(rosidl_runtime_c__octet, u8);
primitive_sequence!(rosidl_generator_c__uint8, u8); primitive_sequence!(rosidl_runtime_c__uint8, u8);
primitive_sequence!(rosidl_generator_c__int8, i8); primitive_sequence!(rosidl_runtime_c__int8, i8);
primitive_sequence!(rosidl_generator_c__uint16, u16); primitive_sequence!(rosidl_runtime_c__uint16, u16);
primitive_sequence!(rosidl_generator_c__int16, i16); primitive_sequence!(rosidl_runtime_c__int16, i16);
primitive_sequence!(rosidl_generator_c__uint32, u32); primitive_sequence!(rosidl_runtime_c__uint32, u32);
primitive_sequence!(rosidl_generator_c__int32, i32); primitive_sequence!(rosidl_runtime_c__int32, i32);
primitive_sequence!(rosidl_generator_c__uint64, u64); primitive_sequence!(rosidl_runtime_c__uint64, u64);
primitive_sequence!(rosidl_generator_c__int64, i64); primitive_sequence!(rosidl_runtime_c__int64, i64);

14
rcl/src/rcl_wrapper.h
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@ -8,16 +8,16 @@
#include <rcutils/error_handling.h> #include <rcutils/error_handling.h>
// low level msg type handling // low level msg type handling
#include <rosidl_generator_c/string.h> #include <rosidl_runtime_c/string.h>
#include <rosidl_generator_c/string_functions.h> #include <rosidl_runtime_c/string_functions.h>
#include <rosidl_generator_c/u16string.h> #include <rosidl_runtime_c/u16string.h>
#include <rosidl_generator_c/u16string_functions.h> #include <rosidl_runtime_c/u16string_functions.h>
#include <rosidl_generator_c/primitives_sequence.h> #include <rosidl_runtime_c/primitives_sequence.h>
#include <rosidl_generator_c/primitives_sequence_functions.h> #include <rosidl_runtime_c/primitives_sequence_functions.h>
#include <rosidl_generator_c/message_type_support_struct.h> #include <rosidl_runtime_c/message_type_support_struct.h>
#include <rosidl_typesupport_introspection_c/message_introspection.h> #include <rosidl_typesupport_introspection_c/message_introspection.h>
#include <rosidl_typesupport_introspection_c/field_types.h> #include <rosidl_typesupport_introspection_c/field_types.h>