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

Migrate to Rust 2021

This commit is contained in:
Midnight Exigent 2022-01-07 04:15:21 +01:00
parent b303e78ff6
commit f22d29d02f
19 changed files with 134 additions and 114 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
Cargo.toml
View File

@ -5,7 +5,7 @@ version = "0.5.3"
authors = ["Martin Dahl <martin.dahl@gmail.com>"]
description = "Easy to use, runtime-agnostic, async rust bindings for ROS2."
license = "MIT OR Apache-2.0"
edition = "2018"
edition = "2021"
readme = "README.md"
homepage = "https://github.com/sequenceplanner/r2r"
repository = "https://github.com/sequenceplanner/r2r"
@ -15,22 +15,22 @@ documentation = "https://sequenceplanner.github.io/r2r/"
doctest = false
[dependencies]
serde = { version = "1.0.123", features = ["derive"] }
serde_json = "1.0.62"
thiserror = "1.0"
serde = { version = "1.0.133", features = ["derive"] }
serde_json = "1.0.74"
thiserror = "1.0.30"
lazy_static = "1.4.0"
r2r_common = { path = "r2r_common", version = "0.2.0" }
r2r_rcl = { path = "r2r_rcl", version = "0.2.0" }
r2r_msg_gen = { path = "r2r_msg_gen", version = "0.2.1" }
r2r_actions = { path = "r2r_actions", version = "0.2.0" }
uuid = { version = "0.8", features = ["serde", "v4"] }
retain_mut = "0.1.3"
futures = "0.3.15"
uuid = { version = "0.8.2", features = ["serde", "v4"] }
retain_mut = "0.1.5"
futures = "0.3.19"
[dev-dependencies]
serde_json = "1.0.62"
futures = "0.3.15"
tokio = { version = "1", features = ["full"] }
serde_json = "1.0.74"
futures = "0.3.19"
tokio = { version = "1.15.0", features = ["full"] }
rand = "0.8.4"
[build-dependencies]

5
examples/publishers.rs
View File

@ -1,12 +1,13 @@
use r2r::builtin_interfaces::msg::Duration;
use r2r::std_msgs::msg::Int32;
use r2r::trajectory_msgs::msg::*;
use r2r::QosProfile;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
let mut node = r2r::Node::create(ctx, "testnode", "")?;
let publisher = node.create_publisher::<JointTrajectoryPoint>("/jtp")?;
let publisher2 = node.create_publisher::<Int32>("/native_count")?;
let publisher = node.create_publisher::<JointTrajectoryPoint>("/jtp", QosProfile::default())?;
let publisher2 = node.create_publisher::<Int32>("/native_count", QosProfile::default())?;
// run for 10 seconds
let mut count = 0;

5
examples/rostopic_echo.rs
View File

@ -2,6 +2,7 @@ use futures::executor::LocalPool;
use futures::future;
use futures::stream::StreamExt;
use futures::task::LocalSpawnExt;
use r2r::QosProfile;
use std::collections::HashMap;
use std::env;
@ -42,9 +43,9 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
// create echo topic
let echo = &format!("{}_echo", topic);
let echo_pub = node.create_publisher_untyped(echo, type_name)?;
let echo_pub = node.create_publisher_untyped(echo, type_name, QosProfile::default())?;
let sub = node.subscribe_untyped(topic, type_name)?;
let sub = node.subscribe_untyped(topic, type_name, QosProfile::default())?;
spawner.spawn_local(async move {
sub.for_each(|msg| {
match msg {

8
examples/subscriber.rs
View File

@ -2,12 +2,14 @@ use futures::executor::LocalPool;
use futures::future;
use futures::stream::StreamExt;
use futures::task::LocalSpawnExt;
use r2r::QosProfile;
fn main() -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
let mut node = r2r::Node::create(ctx, "testnode", "")?;
let mut sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic")?;
let p = node.create_publisher::<r2r::std_msgs::msg::String>("/topic2")?;
let mut sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic", QosProfile::default())?;
let p =
node.create_publisher::<r2r::std_msgs::msg::String>("/topic2", QosProfile::default())?;
let mut pool = LocalPool::new();
let spawner = pool.spawner();
@ -32,7 +34,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
})?;
// for sub2 we just print the data
let sub2 = node.subscribe_untyped("/topic2", "std_msgs/msg/String")?;
let sub2 = node.subscribe_untyped("/topic2", "std_msgs/msg/String", QosProfile::default())?;
spawner.spawn_local(async move {
sub2.for_each(|msg| {
println!("topic2: new msg: {}", msg.expect("deserialization error"));

8
examples/tokio.rs
View File

@ -1,5 +1,6 @@
use futures::future;
use futures::stream::StreamExt;
use r2r::QosProfile;
use std::sync::{Arc, Mutex};
use tokio::task;
@ -13,8 +14,9 @@ struct SharedState {
async fn main() -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
let mut node = r2r::Node::create(ctx, "testnode", "")?;
let mut sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic")?;
let p = node.create_publisher::<r2r::std_msgs::msg::String>("/topic2")?;
let mut sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic", QosProfile::default())?;
let p =
node.create_publisher::<r2r::std_msgs::msg::String>("/topic2", QosProfile::default())?;
let state = Arc::new(Mutex::new(SharedState::default()));
// task that every other time forwards message to topic2
@ -41,7 +43,7 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
});
// for sub2 we just print the data
let sub2 = node.subscribe::<r2r::std_msgs::msg::String>("/topic2")?;
let sub2 = node.subscribe::<r2r::std_msgs::msg::String>("/topic2", QosProfile::default())?;
task::spawn(async move {
sub2.for_each(|msg| {
println!("topic2: new msg: {}", msg.data);

6
examples/tokio_examples.rs
View File

@ -3,6 +3,7 @@ use std::sync::{Arc, Mutex};
use futures::future;
use futures::stream::StreamExt;
use r2r::QosProfile;
use tokio::task;
#[tokio::main]
@ -42,7 +43,7 @@ async fn subscriber(arc_node: Arc<Mutex<r2r::Node>>) -> Result<(), r2r::Error> {
let sub = arc_node
.lock()
.unwrap()
.subscribe::<r2r::std_msgs::msg::String>("/topic")?;
.subscribe::<r2r::std_msgs::msg::String>("/topic", QosProfile::default())?;
sub.for_each(|msg| {
println!("topic: new msg: {}", msg.data);
future::ready(())
@ -56,7 +57,8 @@ async fn publisher(arc_node: Arc<Mutex<r2r::Node>>) -> Result<(), r2r::Error> {
// Limiting the scope when locking the arc
let mut node = arc_node.lock().unwrap();
let timer = node.create_wall_timer(std::time::Duration::from_secs(2))?;
let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("/topic")?;
let publisher =
node.create_publisher::<r2r::std_msgs::msg::String>("/topic", QosProfile::default())?;
(timer, publisher)
};
for _ in 1..10 {

5
examples/tokio_publisher.rs
View File

@ -1,3 +1,5 @@
use r2r::QosProfile;
#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
@ -5,7 +7,8 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
let duration = std::time::Duration::from_millis(2500);
let mut timer = node.create_wall_timer(duration)?;
let publisher = node.create_publisher::<r2r::std_msgs::msg::String>("/topic")?;
let publisher =
node.create_publisher::<r2r::std_msgs::msg::String>("/topic", QosProfile::default())?;
let handle = tokio::task::spawn_blocking(move || loop {
node.spin_once(std::time::Duration::from_millis(100));

6
r2r_actions/Cargo.toml
View File

@ -4,7 +4,7 @@ version = "0.2.0"
authors = ["Martin Dahl <martin.dahl@gmail.com>"]
description = "Internal dependency to the r2r crate."
license = "MIT OR Apache-2.0"
edition = "2018"
edition = "2021"
readme = "README.md"
homepage = "https://github.com/sequenceplanner/r2r"
repository = "https://github.com/sequenceplanner/r2r"
@ -15,6 +15,6 @@ r2r_rcl = { path = "../r2r_rcl", version = "0.2.0" }
r2r_msg_gen = { path = "../r2r_msg_gen", version = "0.2.0" }
[build-dependencies]
bindgen = "0.57.0"
itertools = "0.10.0"
bindgen = "0.59.2"
itertools = "0.10.3"
r2r_common = { path = "../r2r_common", version = "0.2.0" }

44
r2r_actions/build.rs
View File

@ -1,4 +1,4 @@
use bindgen;
use itertools::Itertools;
use std::env;
use std::path::{Path, PathBuf};
@ -12,10 +12,10 @@ fn main() {
non_exhaustive: false,
});
if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
if let Ok(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS") {
// we are running from cmake, do special thing.
let mut includes = cmake_includes.split(":").collect::<Vec<_>>();
includes.sort();
let mut includes = cmake_includes.split(':').collect::<Vec<_>>();
includes.sort_unstable();
includes.dedup();
for x in &includes {
@ -25,8 +25,8 @@ fn main() {
}
env::var("CMAKE_LIBRARIES")
.unwrap_or(String::new())
.split(":")
.unwrap_or_default()
.split(':')
.into_iter()
.filter(|s| s.contains(".so") || s.contains(".dylib"))
.flat_map(|l| Path::new(l).parent().and_then(|p| p.to_str()))
@ -42,7 +42,7 @@ fn main() {
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
for ament_prefix_path in ament_prefix_var.split(":") {
for ament_prefix_path in ament_prefix_var.split(':') {
builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
println!(
"added include search dir: {}",
@ -58,26 +58,26 @@ fn main() {
.no_debug("_OSUnaligned.*")
.derive_partialeq(true)
.derive_copy(true)
// whitelist a few specific things that we need.
.whitelist_recursively(false)
.whitelist_type("rcl_action_client_t")
// allowlist a few specific things that we need.
.allowlist_recursively(false)
.allowlist_type("rcl_action_client_t")
.opaque_type("rcl_action_client_t")
.whitelist_type("rcl_action_server_t")
.allowlist_type("rcl_action_server_t")
.opaque_type("rcl_action_server_t")
.whitelist_type("rcl_action_goal_info_t")
.whitelist_type("rcl_action_goal_handle_t")
.allowlist_type("rcl_action_goal_info_t")
.allowlist_type("rcl_action_goal_handle_t")
.opaque_type("rcl_action_goal_handle_t")
.whitelist_type("rcl_action_cancel_request_t")
.whitelist_type("rcl_action_cancel_response_t")
.whitelist_type("rcl_action_goal_event_t")
.whitelist_type("rcl_action_goal_state_t")
.allowlist_type("rcl_action_cancel_request_t")
.allowlist_type("rcl_action_cancel_response_t")
.allowlist_type("rcl_action_goal_event_t")
.allowlist_type("rcl_action_goal_state_t")
.opaque_type("rcl_action_goal_state_t")
.whitelist_type("rcl_action_goal_status_array_t")
.allowlist_type("rcl_action_goal_status_array_t")
.opaque_type("rcl_action_goal_status_array_t")
.whitelist_function("rcl_action_.*")
.whitelist_type("rcl_action_client_options_t")
.whitelist_type("rcl_action_server_options_t")
.whitelist_var("RCL_RET_ACTION_.*")
.allowlist_function("rcl_action_.*")
.allowlist_type("rcl_action_client_options_t")
.allowlist_type("rcl_action_server_options_t")
.allowlist_var("RCL_RET_ACTION_.*")
.generate_comments(false)
.generate()
.expect("Unable to generate bindings");

2
r2r_common/Cargo.toml
View File

@ -4,7 +4,7 @@ version = "0.2.0"
authors = ["Martin Dahl <martin.dahl@gmail.com>"]
description = "Minimal ros2 bindings."
license = "Apache-2.0/MIT"
edition = "2018"
edition = "2021"
readme = "README.md"
homepage = "https://github.com/sequenceplanner/r2r"
repository = "https://github.com/sequenceplanner/r2r"

6
r2r_common/src/lib.rs
View File

@ -94,7 +94,7 @@ pub fn get_ros_msgs(paths: &[&Path]) -> Vec<String> {
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())
.map(|l| l.split('/').into_iter().take(3).collect())
.collect();
let v: Vec<_> = v
.iter()
@ -133,7 +133,7 @@ mod tests {
use super::*;
#[test]
fn test_parse_msgs() -> () {
fn test_parse_msgs() {
let msgs = "
std_msgs/msg/Bool
x/y
@ -150,7 +150,7 @@ std_msgs/msg/String
}
#[test]
fn test_as_map() -> () {
fn test_as_map() {
let msgs = "
std_msgs/msg/Bool
x/y

6
r2r_msg_gen/Cargo.toml
View File

@ -4,7 +4,7 @@ version = "0.2.1"
authors = ["Martin Dahl <martin.dahl@gmail.com>"]
description = "Internal dependency to the r2r crate."
license = "MIT OR Apache-2.0"
edition = "2018"
edition = "2021"
readme = "README.md"
homepage = "https://github.com/sequenceplanner/r2r"
repository = "https://github.com/sequenceplanner/r2r"
@ -16,7 +16,7 @@ r2r_rcl = { path = "../r2r_rcl", version = "0.2.0" }
r2r_common = { path = "../r2r_common", version = "0.2.0" }
[build-dependencies]
bindgen = "0.57.0"
bindgen = "0.59.2"
r2r_rcl = { path = "../r2r_rcl", version = "0.2.0" }
r2r_common = { path = "../r2r_common", version = "0.2.0" }
heck = "0.3.2"
heck = "0.4.0"

70
r2r_msg_gen/build.rs
View File

@ -1,5 +1,6 @@
use bindgen;
use r2r_common;
use heck::ToSnakeCase;
use std::env;
use std::fs::File;
use std::io::Write;
@ -10,16 +11,16 @@ fn main() {
let mut builder = bindgen::Builder::default();
let msg_list = if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
let msg_list = if let Ok(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS") {
let packages = cmake_includes
.split(":")
.split(':')
.flat_map(|i| Path::new(i).parent())
.collect::<Vec<_>>();
for p in cmake_includes.split(":") {
for p in cmake_includes.split(':') {
builder = builder.clang_arg(format!("-I{}", p));
}
let deps = env::var("CMAKE_IDL_PACKAGES").unwrap_or(String::default());
let deps = deps.split(":").collect::<Vec<_>>();
let deps = env::var("CMAKE_IDL_PACKAGES").unwrap_or_default();
let deps = deps.split(':').collect::<Vec<_>>();
let msgs = r2r_common::get_ros_msgs(&packages);
r2r_common::parse_msgs(&msgs)
.into_iter()
@ -27,12 +28,12 @@ fn main() {
.collect::<Vec<_>>()
} else {
let ament_prefix_var = env::var("AMENT_PREFIX_PATH").expect("Source your ROS!");
for p in ament_prefix_var.split(":") {
for p in ament_prefix_var.split(':') {
builder = builder.clang_arg(format!("-I{}/include", p));
}
let paths = ament_prefix_var
.split(":")
.map(|i| Path::new(i))
.split(':')
.map(Path::new)
.collect::<Vec<_>>();
let msgs = r2r_common::get_ros_msgs(&paths);
@ -63,7 +64,6 @@ fn main() {
for msg in msg_list {
// filename is certainly CamelCase -> snake_case. convert
use heck::SnakeCase;
let include_filename = msg.name.to_snake_case();
includes.push_str(&format!(
@ -119,30 +119,30 @@ fn main() {
.header(msg_includes_fn.to_str().unwrap())
.derive_copy(false)
// blacklist types that are handled by rcl bindings
.blacklist_type("rosidl_message_type_support_t")
.blacklist_type("rosidl_service_type_support_t")
.blacklist_type("rosidl_action_type_support_t")
.blacklist_type("rosidl_runtime_c__String")
.blacklist_type("rosidl_runtime_c__String__Sequence")
.blacklist_type("rosidl_runtime_c__U16String")
.blacklist_type("rosidl_runtime_c__U16String__Sequence")
.blacklist_type("rosidl_runtime_c__float32__Sequence")
.blacklist_type("rosidl_runtime_c__float__Sequence")
.blacklist_type("rosidl_runtime_c__float64__Sequence")
.blacklist_type("rosidl_runtime_c__double__Sequence")
.blacklist_type("rosidl_runtime_c__long_double__Sequence")
.blacklist_type("rosidl_runtime_c__char__Sequence")
.blacklist_type("rosidl_runtime_c__wchar__Sequence")
.blacklist_type("rosidl_runtime_c__boolean__Sequence")
.blacklist_type("rosidl_runtime_c__octet__Sequence")
.blacklist_type("rosidl_runtime_c__uint8__Sequence")
.blacklist_type("rosidl_runtime_c__int8__Sequence")
.blacklist_type("rosidl_runtime_c__uint16__Sequence")
.blacklist_type("rosidl_runtime_c__int16__Sequence")
.blacklist_type("rosidl_runtime_c__uint32__Sequence")
.blacklist_type("rosidl_runtime_c__int32__Sequence")
.blacklist_type("rosidl_runtime_c__uint64__Sequence")
.blacklist_type("rosidl_runtime_c__int64__Sequence")
.blocklist_type("rosidl_message_type_support_t")
.blocklist_type("rosidl_service_type_support_t")
.blocklist_type("rosidl_action_type_support_t")
.blocklist_type("rosidl_runtime_c__String")
.blocklist_type("rosidl_runtime_c__String__Sequence")
.blocklist_type("rosidl_runtime_c__U16String")
.blocklist_type("rosidl_runtime_c__U16String__Sequence")
.blocklist_type("rosidl_runtime_c__float32__Sequence")
.blocklist_type("rosidl_runtime_c__float__Sequence")
.blocklist_type("rosidl_runtime_c__float64__Sequence")
.blocklist_type("rosidl_runtime_c__double__Sequence")
.blocklist_type("rosidl_runtime_c__long_double__Sequence")
.blocklist_type("rosidl_runtime_c__char__Sequence")
.blocklist_type("rosidl_runtime_c__wchar__Sequence")
.blocklist_type("rosidl_runtime_c__boolean__Sequence")
.blocklist_type("rosidl_runtime_c__octet__Sequence")
.blocklist_type("rosidl_runtime_c__uint8__Sequence")
.blocklist_type("rosidl_runtime_c__int8__Sequence")
.blocklist_type("rosidl_runtime_c__uint16__Sequence")
.blocklist_type("rosidl_runtime_c__int16__Sequence")
.blocklist_type("rosidl_runtime_c__uint32__Sequence")
.blocklist_type("rosidl_runtime_c__int32__Sequence")
.blocklist_type("rosidl_runtime_c__uint64__Sequence")
.blocklist_type("rosidl_runtime_c__int64__Sequence")
.size_t_is_usize(true)
.no_debug("_OSUnaligned.*")
.generate_comments(false)

4
r2r_msg_gen/src/lib.rs
View File

@ -207,7 +207,7 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> String {
let key = format!("{}__{}__{}", module_, prefix_, name_);
let ptr = INTROSPECTION_FNS
.get(key.as_str())
.expect(&format!("code generation error: {}", key));
.unwrap_or_else(|| panic!("code generation error: {}", key));
let ptr = *ptr as *const i32 as *const rosidl_message_type_support_t;
unsafe {
let (module, prefix, mut name, c_struct, members) = introspection(ptr);
@ -221,7 +221,7 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> String {
// same for actions with _Goal, _Result, _Feedback
// TODO: refactor...
// handle special case of ActionName_ServiceName_Response
let nn = name.splitn(3, "_").collect::<Vec<&str>>();
let nn = name.splitn(3, '_').collect::<Vec<&str>>();
if let [_mod_name, _srv_name, msg_name] = &nn[..] {
name = msg_name.to_string();
} else if let [_mod_name, msg_name] = &nn[..] {

10
r2r_rcl/Cargo.toml
View File

@ -4,17 +4,17 @@ version = "0.2.0"
authors = ["Martin Dahl <martin.dahl@gmail.com>"]
description = "Internal dependency to the r2r crate."
license = "MIT OR Apache-2.0"
edition = "2018"
edition = "2021"
readme = "README.md"
homepage = "https://github.com/sequenceplanner/r2r"
repository = "https://github.com/sequenceplanner/r2r"
documentation = "https://sequenceplanner.github.io/r2r/"
[dependencies]
paste = "1.0.4"
widestring = "0.4.3"
paste = "1.0.6"
widestring = "0.5.1"
[build-dependencies]
bindgen = "0.57.0"
itertools = "0.10.0"
bindgen = "0.59.2"
itertools = "0.10.3"
r2r_common = { path = "../r2r_common", version = "0.2.0" }

15
r2r_rcl/build.rs
View File

@ -1,7 +1,7 @@
extern crate bindgen;
use itertools::Itertools;
use r2r_common;
use std::env;
use std::path::{Path, PathBuf};
@ -16,10 +16,10 @@ fn main() {
non_exhaustive: false,
});
if let Some(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS").ok() {
if let Ok(cmake_includes) = env::var("CMAKE_INCLUDE_DIRS") {
// we are running from cmake, do special thing.
let mut includes = cmake_includes.split(":").collect::<Vec<_>>();
includes.sort();
let mut includes = cmake_includes.split(':').collect::<Vec<_>>();
includes.sort_unstable();
includes.dedup();
for x in &includes {
@ -28,9 +28,8 @@ fn main() {
builder = builder.clang_arg(clang_arg);
}
env::var("CMAKE_LIBRARIES")
.unwrap_or(String::new())
.split(":")
env::var("CMAKE_LIBRARIES").unwrap_or_default()
.split(':')
.into_iter()
.filter(|s| s.contains(".so") || s.contains(".dylib"))
.flat_map(|l| Path::new(l).parent().and_then(|p| p.to_str()))
@ -46,7 +45,7 @@ fn main() {
let ament_prefix_var_name = "AMENT_PREFIX_PATH";
let ament_prefix_var = env::var(ament_prefix_var_name).expect("Source your ROS!");
for ament_prefix_path in ament_prefix_var.split(":") {
for ament_prefix_path in ament_prefix_var.split(':') {
builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
println!(
"added include search dir: {}",

8
r2r_rcl/src/lib.rs
View File

@ -22,7 +22,7 @@ impl rosidl_runtime_c__String {
s.to_str().unwrap_or("")
}
pub fn assign(&mut self, other: &str) -> () {
pub fn assign(&mut self, other: &str) {
let q = CString::new(other).unwrap();
unsafe {
rosidl_runtime_c__String__assign(self as *mut _, q.as_ptr());
@ -40,7 +40,7 @@ impl rosidl_runtime_c__U16String {
s.to_string_lossy()
}
pub fn assign(&mut self, other: &str) -> () {
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 {
@ -59,7 +59,7 @@ impl rosidl_runtime_c__U16String__Sequence {
}
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);
target.assign(source);
}
}
@ -83,7 +83,7 @@ impl rosidl_runtime_c__String__Sequence {
}
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);
target.assign(source);
}
}

7
tests/threads.rs
View File

@ -1,6 +1,8 @@
use std::thread;
use std::time::Duration;
use r2r::QosProfile;
#[test]
// Let's create and drop a lot of node and publishers for a while to see that we can cope.
fn doesnt_crash() -> Result<(), Box<dyn std::error::Error>> {
@ -21,7 +23,10 @@ fn doesnt_crash() -> Result<(), Box<dyn std::error::Error>> {
// each with 10 publishers
for _j in 0..10 {
let p = node
.create_publisher::<r2r::std_msgs::msg::String>(&format!("/r2r{}", i))
.create_publisher::<r2r::std_msgs::msg::String>(
&format!("/r2r{}", i),
QosProfile::default(),
)
.unwrap();
let to_send = r2r::std_msgs::msg::String {
data: format!("[node{}]: {}", i, c),

13
tests/tokio_testing.rs
View File

@ -1,4 +1,5 @@
use futures::stream::StreamExt;
use r2r::QosProfile;
use std::sync::{Arc, Mutex};
use tokio::task;
@ -7,10 +8,14 @@ use tokio::task;
async fn tokio_testing() -> Result<(), Box<dyn std::error::Error>> {
let ctx = r2r::Context::create()?;
let mut node = r2r::Node::create(ctx, "testnode", "")?;
let mut s_the_no = node.subscribe::<r2r::std_msgs::msg::Int32>("/the_no")?;
let mut s_new_no = node.subscribe::<r2r::std_msgs::msg::Int32>("/new_no")?;
let p_the_no = node.create_publisher::<r2r::std_msgs::msg::Int32>("/the_no")?;
let p_new_no = node.create_publisher::<r2r::std_msgs::msg::Int32>("/new_no")?;
let mut s_the_no =
node.subscribe::<r2r::std_msgs::msg::Int32>("/the_no", QosProfile::default())?;
let mut s_new_no =
node.subscribe::<r2r::std_msgs::msg::Int32>("/new_no", QosProfile::default())?;
let p_the_no =
node.create_publisher::<r2r::std_msgs::msg::Int32>("/the_no", QosProfile::default())?;
let p_new_no =
node.create_publisher::<r2r::std_msgs::msg::Int32>("/new_no", QosProfile::default())?;
let state = Arc::new(Mutex::new(0));
task::spawn(async move {