fix rolling compilation issues

r2r_actions/build.rs

@@ -42,12 +42,15 @@ fn main() {
         let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
 
         for ament_prefix_path in ament_prefix_var.split(':') {
-            builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
+            if let Some(include_path) = r2r_common::guess_cmake_include_path(Path::new(ament_prefix_path)) {
-            println!(
+                if let Some(s) = include_path.to_str() {
-                "added include search dir: {}",
+                    builder = builder.clang_arg(format!("-I{}", s));
-                format!("-I{}/include", ament_prefix_path)
+                };
-            );
+            }
-            println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
+            let lib_path = Path::new(ament_prefix_path).join("lib");
+            lib_path.to_str().map(|s| {
+                println!("cargo:rustc-link-search=native={}", s);
+            });
         }
     }
 
@@ -67,15 +70,21 @@ fn main() {
         .allowlist_type("rcl_action_goal_handle_t")
         .opaque_type("rcl_action_goal_handle_t")
         .allowlist_type("rcl_action_cancel_request_t")
+        .allowlist_type("rcl_action_cancel_request_s")
+        .opaque_type("rcl_action_cancel_request_s")
         .allowlist_type("rcl_action_cancel_response_t")
+        .allowlist_type("rcl_action_cancel_response_s")
         .allowlist_type("rcl_action_goal_event_t")
+        .allowlist_type("rcl_action_goal_event_e")
         .allowlist_type("rcl_action_goal_state_t")
         .opaque_type("rcl_action_goal_state_t")
         .allowlist_type("rcl_action_goal_status_array_t")
         .opaque_type("rcl_action_goal_status_array_t")
         .allowlist_function("rcl_action_.*")
         .allowlist_type("rcl_action_client_options_t")
+        .opaque_type("rcl_action_client_options_t")
         .allowlist_type("rcl_action_server_options_t")
+        .opaque_type("rcl_action_server_options_t")
         .allowlist_var("RCL_RET_ACTION_.*")
         .generate_comments(false)
         .generate()

r2r_common/src/lib.rs

@@ -1,7 +1,35 @@
 use std::collections::HashMap;
 use std::fs::{self, File};
 use std::io::Read;
-use std::path::Path;
+use std::path::{Path, PathBuf};
+
+// Hack to build rolling after https://github.com/ros2/rcl/pull/959 was merged.
+//
+// The problem is that now we need to use CMAKE to properly find the
+// include paths. But we don't want to do that so we hope that the ros
+// developers use the same convention everytime they move the include
+// files to a subdirectory.
+//
+// The convention is to put include files in include/${PROJECT_NAME}
+//
+// So we check if there is a double directory on the form
+// include/${PROJECT_NAME}/${PROJECT_NAME}, and if so append it only once.
+//
+// Should work mostly, and shouldn't really change often, so manual
+// intervention could be applied. But yes it is hacky.
+pub fn guess_cmake_include_path(path: &Path) -> Option<PathBuf> {
+    if let Some(leaf) = path.file_name() {
+        let double_include_path = Path::new(path).join("include").join(leaf).join(leaf);
+        if double_include_path.is_dir() {
+            // double dir detected, append the package name
+            return Some(path.to_owned().join("include").join(leaf));
+        } else {
+            // dont append
+            return Some(path.to_owned().join("include"));
+        }
+    }
+    return None;
+}
 
 pub fn print_cargo_watches() {
     println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");

r2r_msg_gen/build.rs

@@ -28,7 +28,10 @@ fn main() {
     } else {
         let ament_prefix_var = env::var("AMENT_PREFIX_PATH").expect("Source your ROS!");
         for p in ament_prefix_var.split(':') {
-            builder = builder.clang_arg(format!("-I{}/include", p));
+            let path = Path::new(p).join("include");
+            if let Some(s) = path.to_str() {
+                builder = builder.clang_arg(format!("-I{}", s));
+            }
         }
         let paths = ament_prefix_var
             .split(':')

r2r_msg_gen/src/lib.rs

@@ -15,45 +15,66 @@ use std::collections::HashMap;
 
 use std::ffi::CStr;
 
+// because the c enum has been named between galactic and the next release,
+// we cannot know its name. therefor we use the constants as is and hope we notice
+// when they change.
+// rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT = 1,
+// rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE = 2,
+// rosidl_typesupport_introspection_c__ROS_TYPE_LONG_DOUBLE = 3,
+// rosidl_typesupport_introspection_c__ROS_TYPE_CHAR = 4,
+// rosidl_typesupport_introspection_c__ROS_TYPE_WCHAR = 5,
+// rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN = 6,
+// rosidl_typesupport_introspection_c__ROS_TYPE_OCTET = 7,
+// rosidl_typesupport_introspection_c__ROS_TYPE_UINT8 = 8,
+// rosidl_typesupport_introspection_c__ROS_TYPE_INT8 = 9,
+// rosidl_typesupport_introspection_c__ROS_TYPE_UINT16 = 10,
+// rosidl_typesupport_introspection_c__ROS_TYPE_INT16 = 11,
+// rosidl_typesupport_introspection_c__ROS_TYPE_UINT32 = 12,
+// rosidl_typesupport_introspection_c__ROS_TYPE_INT32 = 13,
+// rosidl_typesupport_introspection_c__ROS_TYPE_UINT64 = 14,
+// rosidl_typesupport_introspection_c__ROS_TYPE_INT64 = 15,
+// rosidl_typesupport_introspection_c__ROS_TYPE_STRING = 16,
+// rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING = 17,
+// rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE = 18,
 fn field_type(t: u8) -> String {
     // lovely...
     // move to common
-    if t == (rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8) {
+    if t == 16 {
         "std::string::String".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_WSTRING as u8) {
+    } else if t == 17 {
         "std::string::String".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_BOOLEAN as u8) {
+    } else if t == 6 {
         "bool".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_CHAR as u8) {
+    } else if t == 4 {
         "i8".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_WCHAR as u8) {
+    } else if t == 5 {
-        "u16".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_OCTET as u8) {
-        "u8".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT8 as u8) {
-        "u8".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT8 as u8) {
-        "i8".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT16 as u8) {
-        "u16".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT16 as u8) {
         "i16".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT32 as u8) {
+    } else if t == 7 {
+        "u8".to_owned()
+    } else if t == 8 {
+        "u8".to_owned()
+    } else if t == 9 {
+        "i8".to_owned()
+    } else if t == 10 {
+        "u16".to_owned()
+    } else if t == 11 {
+        "i16".to_owned()
+    } else if t == 12 {
         "u32".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT32 as u8) {
+    } else if t == 13 {
         "i32".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_UINT64 as u8) {
+    } else if t == 14 {
         "u64".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_INT64 as u8) {
+    } else if t == 15 {
         "i64".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_FLOAT as u8) {
+    } else if t == 1 {
         "f32".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_DOUBLE as u8) {
+    } else if t == 2 {
         "f64".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_LONG_DOUBLE as u8) {
+    } else if t == 3 {
         // f128 does not exist in rust
         "u128".to_owned()
-    } else if t == (rosidl_typesupport_introspection_c__ROS_TYPE_MESSAGE as u8) {
+    } else if t == 18 {
         "message".to_owned()
     } else {
         panic!("ros native type not implemented: {}", t);

r2r_rcl/build.rs

@@ -47,12 +47,15 @@ fn main() {
         let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
 
         for ament_prefix_path in ament_prefix_var.split(':') {
-            builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
+            if let Some(include_path) = r2r_common::guess_cmake_include_path(Path::new(ament_prefix_path)) {
-            println!(
+                if let Some(s) = include_path.to_str() {
-                "added include search dir: {}",
+                    builder = builder.clang_arg(format!("-I{}", s));
-                format!("-I{}/include", ament_prefix_path)
+                };
-            );
+            }
-            println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
+            let lib_path = Path::new(ament_prefix_path).join("lib");
+            lib_path.to_str().map(|s| {
+                println!("cargo:rustc-link-search=native={}", s);
+            });
         }
     }
 

src/msg_types.rs

@@ -460,10 +460,7 @@ mod tests {
             let type_id = (*member).type_id_;
             let is_array = (*member).is_array_;
             assert_eq!(field_name, "data");
-            assert_eq!(
+            assert_eq!(type_id, 16u8); // rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8
-                type_id,
-                rosidl_typesupport_introspection_c__ROS_TYPE_STRING as u8
-            );
             assert!(!is_array);
         }
     }