From 110d965426d3469e3e76d234bc73c21f622c442d Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 28 Nov 2022 17:18:07 +0100 Subject: [PATCH 01/27] Added action template --- .../rosidl_generator_rs_generate_interfaces.cmake | 11 ++++++----- rosidl_generator_rs/resource/action.rs.em | 9 +++++++++ 2 files changed, 15 insertions(+), 5 deletions(-) create mode 100644 rosidl_generator_rs/resource/action.rs.em diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake index 9cfdfa579..1dc47514f 100644 --- a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake +++ b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake @@ -37,13 +37,13 @@ foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES}) if(_parent_folder STREQUAL "msg") set(_has_msg TRUE) - set(_idl_file_without_actions ${_idl_file_without_actions} ${_idl_file}) + set(_idl_files ${_idl_files} ${_idl_file}) elseif(_parent_folder STREQUAL "srv") set(_has_srv TRUE) - set(_idl_file_without_actions ${_idl_file_without_actions} ${_idl_file}) + set(_idl_files ${_idl_files} ${_idl_file}) elseif(_parent_folder STREQUAL "action") set(_has_action TRUE) - message(WARNING "Rust actions generation is not implemented") + set(_idl_files ${_idl_files} ${_idl_file}) else() message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}") endif() @@ -81,12 +81,13 @@ endforeach() set(target_dependencies "${rosidl_generator_rs_BIN}" ${rosidl_generator_rs_GENERATOR_FILES} + "${rosidl_generator_rs_TEMPLATE_DIR}/action.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/msg_idiomatic.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/msg_rmw.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/msg.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/srv.rs.em" ${rosidl_generate_interfaces_ABS_IDL_FILES} - ${_idl_file_without_actions} + ${_idl_files} ${_dependency_files}) foreach(dep ${target_dependencies}) if(NOT EXISTS "${dep}") @@ -99,7 +100,7 @@ rosidl_write_generator_arguments( "${generator_arguments_file}" PACKAGE_NAME "${PROJECT_NAME}" IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}" - ROS_INTERFACE_FILES "${_idl_file_without_actions}" + ROS_INTERFACE_FILES "${_idl_files}" ROS_INTERFACE_DEPENDENCIES "${_dependencies}" OUTPUT_DIR "${_output_path}" TEMPLATE_DIR "${rosidl_generator_rs_TEMPLATE_DIR}" diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em new file mode 100644 index 000000000..bb74ad772 --- /dev/null +++ b/rosidl_generator_rs/resource/action.rs.em @@ -0,0 +1,9 @@ +@{ +TEMPLATE( + 'msg_idiomatic.rs.em', + package_name=package_name, interface_path=interface_path, + msg_specs=msg_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) +}@ From 047c8f1569c8f7cdeb39d742f24e5cf0b6535b5a Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 28 Nov 2022 17:47:22 +0100 Subject: [PATCH 02/27] Added action generation --- rosidl_generator_rs/resource/action.rs.em | 30 ++++++++++++++++++- .../rosidl_generator_rs/__init__.py | 27 +++++++++++++++++ 2 files changed, 56 insertions(+), 1 deletion(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index bb74ad772..ff76ff092 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -1,8 +1,36 @@ +@{ +action_msg_specs = [] + +for subfolder, action in action_specs: + action_msg_specs.append((subfolder, action.goal)) + action_msg_specs.append((subfolder, action.result)) + action_msg_specs.append((subfolder, action.feedback)) + action_msg_specs.append((subfolder, action.feedback_message)) + +action_srv_specs = [] + +for subfolder, action in action_specs: + action_srv_specs.append((subfolder, action.send_goal_service)) + action_srv_specs.append((subfolder, action.get_result_service)) +}@ + +pub mod rmw { +@{ +TEMPLATE( + 'msg_rmw.rs.em', + package_name=package_name, interface_path=interface_path, + msg_specs=action_msg_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) +}@ +} // mod rmw + @{ TEMPLATE( 'msg_idiomatic.rs.em', package_name=package_name, interface_path=interface_path, - msg_specs=msg_specs, + msg_specs=action_msg_specs, get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) diff --git a/rosidl_generator_rs/rosidl_generator_rs/__init__.py b/rosidl_generator_rs/rosidl_generator_rs/__init__.py index 502d1d34d..b7850a6d8 100644 --- a/rosidl_generator_rs/rosidl_generator_rs/__init__.py +++ b/rosidl_generator_rs/rosidl_generator_rs/__init__.py @@ -23,6 +23,11 @@ import rosidl_pycommon from rosidl_parser.definition import AbstractGenericString +from rosidl_parser.definition import AbstractNestedType +from rosidl_parser.definition import AbstractSequence +from rosidl_parser.definition import AbstractString +from rosidl_parser.definition import AbstractWString +from rosidl_parser.definition import Action from rosidl_parser.definition import Array from rosidl_parser.definition import BasicType from rosidl_parser.definition import BoundedSequence @@ -86,6 +91,10 @@ def generate_rs(generator_arguments_file, typesupport_impls): os.path.join(template_dir, 'srv.rs.em'): ['rust/src/%s.rs'], } + mapping_actions = { + os.path.join(template_dir, 'action.rs.em'): ['rust/src/%s.rs'], + } + # Ensure the required templates exist for template_file in mapping_msgs.keys(): assert os.path.exists(template_file), \ @@ -93,6 +102,9 @@ def generate_rs(generator_arguments_file, typesupport_impls): for template_file in mapping_srvs.keys(): assert os.path.exists(template_file), \ 'Services template file %s not found' % template_file + for template_file in mapping_actions.keys(): + assert os.path.exists(template_file), \ + 'Actions template file %s not found' % template_file data = { 'pre_field_serde': pre_field_serde, @@ -107,6 +119,7 @@ def generate_rs(generator_arguments_file, typesupport_impls): convert_lower_case_underscore_to_camel_case, 'msg_specs': [], 'srv_specs': [], + 'action_specs': [], 'package_name': args['package_name'], 'typesupport_impls': typesupport_impls, 'interface_path': idl_rel_path, @@ -121,6 +134,9 @@ def generate_rs(generator_arguments_file, typesupport_impls): for service in idl_content.get_elements_of_type(Service): data['srv_specs'].append(('srv', service)) + for action in idl_content.get_elements_of_type(Action): + data['action_specs'].append(('action', action)) + if data['msg_specs']: for template_file, generated_filenames in mapping_msgs.items(): for generated_filename in generated_filenames: @@ -143,6 +159,17 @@ def generate_rs(generator_arguments_file, typesupport_impls): generated_file, minimum_timestamp=latest_target_timestamp) + if data['action_specs']: + for template_file, generated_filenames in mapping_actions.items(): + for generated_filename in generated_filenames: + generated_file = os.path.join(args['output_dir'], + generated_filename % 'action') + rosidl_pycommon.expand_template( + os.path.join(template_dir, template_file), + data.copy(), + generated_file, + minimum_timestamp=latest_target_timestamp) + rosidl_pycommon.expand_template( os.path.join(template_dir, 'lib.rs.em'), data.copy(), From 556a606a577e1c37e1f4460766ab47161ca91603 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 28 Nov 2022 18:21:03 +0100 Subject: [PATCH 03/27] Added basic create_action_client function --- rosidl_generator_rs/resource/action.rs.em | 17 +++++++++++++++++ rosidl_generator_rs/resource/lib.rs.em | 4 ++++ rosidl_runtime_rs/src/lib.rs | 2 +- rosidl_runtime_rs/src/traits.rs | 14 ++++++++++++++ 4 files changed, 36 insertions(+), 1 deletion(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index ff76ff092..40c5acd59 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -35,3 +35,20 @@ TEMPLATE( get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) }@ + +@[for subfolder, action_spec in action_specs] + +@{ +type_name = action_spec.namespaced_type.name +}@ + + // Corresponds to @(package_name)__@(subfolder)__@(type_name) + pub struct @(type_name); + + impl rosidl_runtime_rs::Action for @(type_name) { + type Goal = crate::@(subfolder)::rmw::@(type_name)_Goal; + type Result = crate::@(subfolder)::rmw::@(type_name)_Result; + type Feedback = crate::@(subfolder)::rmw::@(type_name)_Feedback; + } + +@[end for] diff --git a/rosidl_generator_rs/resource/lib.rs.em b/rosidl_generator_rs/resource/lib.rs.em index 51e4a5ba4..79a0e1def 100644 --- a/rosidl_generator_rs/resource/lib.rs.em +++ b/rosidl_generator_rs/resource/lib.rs.em @@ -7,3 +7,7 @@ pub mod msg; @[if len(srv_specs) > 0]@ pub mod srv; @[end if]@ + +@[if len(action_specs) > 0]@ +pub mod action; +@[end if]@ diff --git a/rosidl_runtime_rs/src/lib.rs b/rosidl_runtime_rs/src/lib.rs index 93f844192..01ad9f464 100644 --- a/rosidl_runtime_rs/src/lib.rs +++ b/rosidl_runtime_rs/src/lib.rs @@ -9,4 +9,4 @@ mod string; pub use string::{BoundedString, BoundedWString, String, StringExceedsBoundsError, WString}; mod traits; -pub use traits::{Message, RmwMessage, SequenceAlloc, Service}; +pub use traits::{Action, Message, RmwMessage, SequenceAlloc, Service}; diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 15f206108..dd29fb23e 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -159,3 +159,17 @@ pub trait Service: 'static { /// Get a pointer to the correct `rosidl_service_type_support_t` structure. fn get_type_support() -> *const std::os::raw::c_void; } + +/// Trait for actions. +/// +/// User code never needs to call this trait's method, much less implement this trait. +pub trait Action: 'static { + /// The goal message associated with this service. + type Goal: Message; + + /// The result message associated with this service. + type Result: Message; + + /// The feedback message associated with this service. + type Feedback: Message; +} From dfdcbd37f43c673f7e3a25ab3f7c28e5a07f1fc5 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Mon, 28 Nov 2022 17:47:22 +0100 Subject: [PATCH 04/27] dded action generation --- rosidl_generator_rs/resource/action.rs.em | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 40c5acd59..115186f7d 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -26,6 +26,17 @@ TEMPLATE( }@ } // mod rmw +@{ +TEMPLATE( + 'msg_idiomatic.rs.em', + package_name=package_name, interface_path=interface_path, + msg_specs=action_msg_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) +}@ +} // mod rmw + @{ TEMPLATE( 'msg_idiomatic.rs.em', From 67c3b8b208472048eaab3e33576ac30c9a7d9c85 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Fri, 17 Nov 2023 16:22:37 +0100 Subject: [PATCH 05/27] checkin --- rosidl_generator_rs/resource/action.rs.em | 2 ++ 1 file changed, 2 insertions(+) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 115186f7d..6b55f294f 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -21,6 +21,7 @@ TEMPLATE( package_name=package_name, interface_path=interface_path, msg_specs=action_msg_specs, get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) }@ @@ -32,6 +33,7 @@ TEMPLATE( package_name=package_name, interface_path=interface_path, msg_specs=action_msg_specs, get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) }@ From b197155009a1ce63f6873d10cbcc68d8dfed5ebc Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 17 Jan 2024 15:58:56 +0100 Subject: [PATCH 06/27] Fix missing exported pre_field_serde field --- rosidl_generator_rs/resource/action.rs.em | 1 + 1 file changed, 1 insertion(+) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 6b55f294f..f9adb0b6c 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -45,6 +45,7 @@ TEMPLATE( package_name=package_name, interface_path=interface_path, msg_specs=action_msg_specs, get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) }@ From 13474d108b53c678ff2507b62815a18543d26da7 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 17 Jan 2024 16:16:26 +0100 Subject: [PATCH 07/27] Removed extra code --- rosidl_generator_rs/resource/action.rs.em | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index f9adb0b6c..b37919dc3 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -27,18 +27,6 @@ TEMPLATE( }@ } // mod rmw -@{ -TEMPLATE( - 'msg_idiomatic.rs.em', - package_name=package_name, interface_path=interface_path, - msg_specs=action_msg_specs, - get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, - pre_field_serde=pre_field_serde, - get_idiomatic_rs_type=get_idiomatic_rs_type, - constant_value_to_rs=constant_value_to_rs) -}@ -} // mod rmw - @{ TEMPLATE( 'msg_idiomatic.rs.em', From 3e70087c96fd4ea197943c5a6e8686a5063d4c30 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Thu, 6 Jun 2024 15:33:38 -0400 Subject: [PATCH 08/27] Sketch out action server construction and destruction This follows generally the same pattern as the service server. It required adding a typesupport function to the Action trait and pulling in some more rcl_action bindings. --- rosidl_generator_rs/resource/action.rs.em | 5 +++++ rosidl_runtime_rs/src/traits.rs | 3 +++ 2 files changed, 8 insertions(+) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index b37919dc3..b4abf3a02 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -51,6 +51,11 @@ type_name = action_spec.namespaced_type.name type Goal = crate::@(subfolder)::rmw::@(type_name)_Goal; type Result = crate::@(subfolder)::rmw::@(type_name)_Result; type Feedback = crate::@(subfolder)::rmw::@(type_name)_Feedback; + + fn get_type_support() -> *const std::os::raw::c_void { + // SAFETY: No preconditions for this function. + unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } + } } @[end for] diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index dd29fb23e..a8ae0586a 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -172,4 +172,7 @@ pub trait Action: 'static { /// The feedback message associated with this service. type Feedback: Message; + + /// Get a pointer to the correct `rosidl_action_type_support_t` structure. + fn get_type_support() -> *const std::os::raw::c_void; } From 17cd98053ef199194b45aa674611ff53d7dfc3f5 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Tue, 11 Jun 2024 12:21:17 -0400 Subject: [PATCH 09/27] Fix action typesupport function --- rosidl_generator_rs/resource/action.rs.em | 29 +++++++++++++---------- 1 file changed, 17 insertions(+), 12 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index b4abf3a02..8927355ac 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -44,18 +44,23 @@ TEMPLATE( type_name = action_spec.namespaced_type.name }@ - // Corresponds to @(package_name)__@(subfolder)__@(type_name) - pub struct @(type_name); - - impl rosidl_runtime_rs::Action for @(type_name) { - type Goal = crate::@(subfolder)::rmw::@(type_name)_Goal; - type Result = crate::@(subfolder)::rmw::@(type_name)_Result; - type Feedback = crate::@(subfolder)::rmw::@(type_name)_Feedback; - - fn get_type_support() -> *const std::os::raw::c_void { - // SAFETY: No preconditions for this function. - unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } - } +#[link(name = "@(package_name)__rosidl_typesupport_c")] +extern "C" { + fn rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; +} + +// Corresponds to @(package_name)__@(subfolder)__@(type_name) +pub struct @(type_name); + +impl rosidl_runtime_rs::Action for @(type_name) { + type Goal = crate::@(subfolder)::rmw::@(type_name)_Goal; + type Result = crate::@(subfolder)::rmw::@(type_name)_Result; + type Feedback = crate::@(subfolder)::rmw::@(type_name)_Feedback; + + fn get_type_support() -> *const std::os::raw::c_void { + // SAFETY: No preconditions for this function. + unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } } +} @[end for] From fb9b0e471b2799131c9c4760df79d291c0800061 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 13 Jul 2024 19:11:56 -0400 Subject: [PATCH 10/27] Add ActionImpl trait with internal messages and services This is incomplete, since the service types aren't yet being generated. --- rosidl_generator_rs/resource/action.rs.em | 24 ++++++++++++++++--- rosidl_runtime_rs/src/traits.rs | 28 +++++++++++++++++++---- 2 files changed, 45 insertions(+), 7 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 8927355ac..d8dc56ec2 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -1,4 +1,13 @@ @{ +from rosidl_parser.definition import ( + ACTION_FEEDBACK_MESSAGE_SUFFIX, + ACTION_FEEDBACK_SUFFIX, + ACTION_GOAL_SERVICE_SUFFIX, + ACTION_GOAL_SUFFIX, + ACTION_RESULT_SERVICE_SUFFIX, + ACTION_RESULT_SUFFIX, +) + action_msg_specs = [] for subfolder, action in action_specs: @@ -53,9 +62,9 @@ extern "C" { pub struct @(type_name); impl rosidl_runtime_rs::Action for @(type_name) { - type Goal = crate::@(subfolder)::rmw::@(type_name)_Goal; - type Result = crate::@(subfolder)::rmw::@(type_name)_Result; - type Feedback = crate::@(subfolder)::rmw::@(type_name)_Feedback; + type Goal = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX); + type Result = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX); + type Feedback = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX); fn get_type_support() -> *const std::os::raw::c_void { // SAFETY: No preconditions for this function. @@ -63,4 +72,13 @@ impl rosidl_runtime_rs::Action for @(type_name) { } } +impl rosidl_runtime_rs::ActionImpl for @(type_name) { + type GoalStatusMessage = action_msgs::msg::rmw::GoalStatusArray; + type FeedbackMessage = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX); + + type SendGoalService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX); + type CancelGoalService = action_msgs::srv::rmw::CancelGoal; + type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX); +} + @[end for] diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index a8ae0586a..6bd4da1f4 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -163,16 +163,36 @@ pub trait Service: 'static { /// Trait for actions. /// /// User code never needs to call this trait's method, much less implement this trait. -pub trait Action: 'static { - /// The goal message associated with this service. +pub trait Action: 'static + ActionImpl { + /// The goal message associated with this action. type Goal: Message; - /// The result message associated with this service. + /// The result message associated with this action. type Result: Message; - /// The feedback message associated with this service. + /// The feedback message associated with this action. type Feedback: Message; /// Get a pointer to the correct `rosidl_action_type_support_t` structure. fn get_type_support() -> *const std::os::raw::c_void; } + +/// Trait for action implementation details. +/// +/// User code never needs to implement this trait, nor use its associated types. +pub trait ActionImpl: 'static { + /// The goal_status message associated with this action. + type GoalStatusMessage: Message; + + /// The feedback message associated with this action. + type FeedbackMessage: Message; + + /// The send_goal service associated with this action. + type SendGoalService: Service; + + /// The cancel_goal service associated with this action. + type CancelGoalService: Service; + + /// The get_result service associated with this action. + type GetResultService: Service; +} From 5f3373fbd4a94f4a1de8cdfc4842de25fa48d962 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 20 Jul 2024 11:35:26 -0400 Subject: [PATCH 11/27] Split srv.rs.em into idiomatic and rmw template files This results in the exact same file being produced for services, except for some whitespace changes. However, it enables actions to invoke the respective service template for its generation, similar to how the it works for services and their underlying messages. --- rosidl_generator_rs/resource/srv.rs.em | 69 ++----------------- .../resource/srv_idiomatic.rs.em | 44 ++++++++++++ rosidl_generator_rs/resource/srv_rmw.rs.em | 44 ++++++++++++ 3 files changed, 92 insertions(+), 65 deletions(-) create mode 100644 rosidl_generator_rs/resource/srv_idiomatic.rs.em create mode 100644 rosidl_generator_rs/resource/srv_rmw.rs.em diff --git a/rosidl_generator_rs/resource/srv.rs.em b/rosidl_generator_rs/resource/srv.rs.em index 369696ff7..dd99e8e76 100644 --- a/rosidl_generator_rs/resource/srv.rs.em +++ b/rosidl_generator_rs/resource/srv.rs.em @@ -1,84 +1,23 @@ -@{ -req_res_specs = [] - -for subfolder, service in srv_specs: - req_res_specs.append((subfolder, service.request_message)) - req_res_specs.append((subfolder, service.response_message)) -}@ - @{ TEMPLATE( - 'msg_idiomatic.rs.em', + 'srv_idiomatic.rs.em', package_name=package_name, interface_path=interface_path, - msg_specs=req_res_specs, + srv_specs=srv_specs, get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, pre_field_serde=pre_field_serde, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) -}@ - -@[for subfolder, srv_spec in srv_specs] - -@{ -type_name = srv_spec.namespaced_type.name -}@ - -#[link(name = "@(package_name)__rosidl_typesupport_c")] -extern "C" { - fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; } -// Corresponds to @(package_name)__@(subfolder)__@(type_name) -pub struct @(type_name); - -impl rosidl_runtime_rs::Service for @(type_name) { - type Request = crate::@(subfolder)::@(type_name)_Request; - type Response = crate::@(subfolder)::@(type_name)_Response; - - fn get_type_support() -> *const std::os::raw::c_void { - // SAFETY: No preconditions for this function. - unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } - } -} - -@[end for] - pub mod rmw { @{ TEMPLATE( - 'msg_rmw.rs.em', + 'srv_rmw.rs.em', package_name=package_name, interface_path=interface_path, - msg_specs=req_res_specs, + srv_specs=srv_specs, get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, pre_field_serde=pre_field_serde, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) }@ - -@[for subfolder, srv_spec in srv_specs] - -@{ -type_name = srv_spec.namespaced_type.name -}@ - - #[link(name = "@(package_name)__rosidl_typesupport_c")] - extern "C" { - fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; - } - - // Corresponds to @(package_name)__@(subfolder)__@(type_name) - pub struct @(type_name); - - impl rosidl_runtime_rs::Service for @(type_name) { - type Request = crate::@(subfolder)::rmw::@(type_name)_Request; - type Response = crate::@(subfolder)::rmw::@(type_name)_Response; - - fn get_type_support() -> *const std::os::raw::c_void { - // SAFETY: No preconditions for this function. - unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } - } - } - -@[end for] - } // mod rmw diff --git a/rosidl_generator_rs/resource/srv_idiomatic.rs.em b/rosidl_generator_rs/resource/srv_idiomatic.rs.em new file mode 100644 index 000000000..cf202ca01 --- /dev/null +++ b/rosidl_generator_rs/resource/srv_idiomatic.rs.em @@ -0,0 +1,44 @@ +@{ +req_res_specs = [] + +for subfolder, service in srv_specs: + req_res_specs.append((subfolder, service.request_message)) + req_res_specs.append((subfolder, service.response_message)) +}@ + +@{ +TEMPLATE( + 'msg_idiomatic.rs.em', + package_name=package_name, interface_path=interface_path, + msg_specs=req_res_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) +}@ + +@[for subfolder, srv_spec in srv_specs] + +@{ +type_name = srv_spec.namespaced_type.name +}@ + +#[link(name = "@(package_name)__rosidl_typesupport_c")] +extern "C" { + fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; +} + +// Corresponds to @(package_name)__@(subfolder)__@(type_name) +pub struct @(type_name); + +impl rosidl_runtime_rs::Service for @(type_name) { + type Request = crate::@(subfolder)::@(type_name)_Request; + type Response = crate::@(subfolder)::@(type_name)_Response; + + fn get_type_support() -> *const std::os::raw::c_void { + // SAFETY: No preconditions for this function. + unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } + } +} + +@[end for] diff --git a/rosidl_generator_rs/resource/srv_rmw.rs.em b/rosidl_generator_rs/resource/srv_rmw.rs.em new file mode 100644 index 000000000..c7c04c2ad --- /dev/null +++ b/rosidl_generator_rs/resource/srv_rmw.rs.em @@ -0,0 +1,44 @@ +@{ +req_res_specs = [] + +for subfolder, service in srv_specs: + req_res_specs.append((subfolder, service.request_message)) + req_res_specs.append((subfolder, service.response_message)) +}@ + +@{ +TEMPLATE( + 'msg_rmw.rs.em', + package_name=package_name, interface_path=interface_path, + msg_specs=req_res_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) +}@ + +@[for subfolder, srv_spec in srv_specs] + +@{ +type_name = srv_spec.namespaced_type.name +}@ + + #[link(name = "@(package_name)__rosidl_typesupport_c")] + extern "C" { + fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; + } + + // Corresponds to @(package_name)__@(subfolder)__@(type_name) + pub struct @(type_name); + + impl rosidl_runtime_rs::Service for @(type_name) { + type Request = crate::@(subfolder)::rmw::@(type_name)_Request; + type Response = crate::@(subfolder)::rmw::@(type_name)_Response; + + fn get_type_support() -> *const std::os::raw::c_void { + // SAFETY: No preconditions for this function. + unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } + } + } + +@[end for] From 562132bd72d8426710c9900e698a871d0cb70b4a Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 20 Jul 2024 12:12:43 -0400 Subject: [PATCH 12/27] Generate underlying service definitions for actions Not tested --- rosidl_generator_rs/resource/action.rs.em | 20 ++++++++++++++++++++ 1 file changed, 20 insertions(+) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index d8dc56ec2..26182249f 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -33,6 +33,15 @@ TEMPLATE( pre_field_serde=pre_field_serde, get_idiomatic_rs_type=get_idiomatic_rs_type, constant_value_to_rs=constant_value_to_rs) + +TEMPLATE( + 'srv_rmw.rs.em', + package_name=package_name, interface_path=interface_path, + srv_specs=action_srv_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) }@ } // mod rmw @@ -47,6 +56,17 @@ TEMPLATE( constant_value_to_rs=constant_value_to_rs) }@ +@{ +TEMPLATE( + 'srv_idiomatic.rs.em', + package_name=package_name, interface_path=interface_path, + srv_specs=action_srv_specs, + get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type, + pre_field_serde=pre_field_serde, + get_idiomatic_rs_type=get_idiomatic_rs_type, + constant_value_to_rs=constant_value_to_rs) +}@ + @[for subfolder, action_spec in action_specs] @{ From dc90b212e5fa9e71669bf5f6652803e392cfa64f Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 20 Jul 2024 17:54:54 -0400 Subject: [PATCH 13/27] Add runtime trait to get the UUID from a goal request C++ uses duck typing for this, knowing that for any `Action`, the type `Action::Impl::SendGoalService::Request` will always have a `goal_id` field of type `unique_identifier_msgs::msg::UUID` without having to prove this to the compiler. Rust's generics are more strict, requiring that this be proven using type bounds. The `Request` type is also action-specific as it contains a `goal` field containing the `Goal` message type of the action. We therefore cannot enforce that all `Request`s are a specific type in `rclrs`. This seems most easily represented using associated type bounds on the `SendGoalService` associated type within `ActionImpl`. To avoid introducing to `rosidl_runtime_rs` a circular dependency on message packages like `unique_identifier_msgs`, the `ExtractUuid` trait only operates on a byte array rather than a more nicely typed `UUID` message type. I'll likely revisit this as we introduce more similar bounds on the generated types. --- rosidl_runtime_rs/src/lib.rs | 2 +- rosidl_runtime_rs/src/traits.rs | 10 +++++++++- 2 files changed, 10 insertions(+), 2 deletions(-) diff --git a/rosidl_runtime_rs/src/lib.rs b/rosidl_runtime_rs/src/lib.rs index 01ad9f464..7e06b7369 100644 --- a/rosidl_runtime_rs/src/lib.rs +++ b/rosidl_runtime_rs/src/lib.rs @@ -9,4 +9,4 @@ mod string; pub use string::{BoundedString, BoundedWString, String, StringExceedsBoundsError, WString}; mod traits; -pub use traits::{Action, Message, RmwMessage, SequenceAlloc, Service}; +pub use traits::{Action, ActionImpl, ExtractUuid, Message, RmwMessage, SequenceAlloc, Service}; diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 6bd4da1f4..adb65e626 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -188,7 +188,7 @@ pub trait ActionImpl: 'static { type FeedbackMessage: Message; /// The send_goal service associated with this action. - type SendGoalService: Service; + type SendGoalService: Service>; /// The cancel_goal service associated with this action. type CancelGoalService: Service; @@ -196,3 +196,11 @@ pub trait ActionImpl: 'static { /// The get_result service associated with this action. type GetResultService: Service; } + +/// Trait for types containing a special UUID field. +/// +/// User code never needs to implement this trait, nor call its method. +pub trait ExtractUuid: 'static { + /// Copies the UUID field from `self` into the provided buffer. + fn extract_uuid(&self, bytes: &mut [u8; 16]); +} From 1ed29811337ca29a6589fe838a6301edf2b8cb48 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Wed, 7 Aug 2024 18:45:30 -0400 Subject: [PATCH 14/27] Integrate RMW message methods into ActionImpl Rather than having a bunch of standalone traits implementing various message functions like `ExtractUuid` and `SetAccepted`, with the trait bounds on each associated type in `ActionImpl`, we'll instead add these functions directly to the `ActionImpl` trait. This is simpler on both the rosidl_runtime_rs and the rclrs side. --- rosidl_runtime_rs/src/lib.rs | 2 +- rosidl_runtime_rs/src/traits.rs | 14 ++++++-------- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/rosidl_runtime_rs/src/lib.rs b/rosidl_runtime_rs/src/lib.rs index 7e06b7369..7c5bad461 100644 --- a/rosidl_runtime_rs/src/lib.rs +++ b/rosidl_runtime_rs/src/lib.rs @@ -9,4 +9,4 @@ mod string; pub use string::{BoundedString, BoundedWString, String, StringExceedsBoundsError, WString}; mod traits; -pub use traits::{Action, ActionImpl, ExtractUuid, Message, RmwMessage, SequenceAlloc, Service}; +pub use traits::{Action, ActionImpl, Message, RmwMessage, SequenceAlloc, Service}; diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index adb65e626..f40c42f7c 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -188,19 +188,17 @@ pub trait ActionImpl: 'static { type FeedbackMessage: Message; /// The send_goal service associated with this action. - type SendGoalService: Service>; + type SendGoalService: Service; /// The cancel_goal service associated with this action. type CancelGoalService: Service; /// The get_result service associated with this action. type GetResultService: Service; -} -/// Trait for types containing a special UUID field. -/// -/// User code never needs to implement this trait, nor call its method. -pub trait ExtractUuid: 'static { - /// Copies the UUID field from `self` into the provided buffer. - fn extract_uuid(&self, bytes: &mut [u8; 16]); + /// Get the UUID of a goal request. + fn get_goal_request_uuid(request: &<::Request as Message>::RmwMsg) -> [u8; 16]; + + /// Sets the `accepted` field of a goal response. + fn set_goal_response_accepted(response: &mut <::Response as Message>::RmwMsg, accepted: bool); } From 568bb7ca061a0b26d8e10a04ec5eb20bb717df8d Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Fri, 9 Aug 2024 17:11:02 -0400 Subject: [PATCH 15/27] Add rosidl_runtime_rs::ActionImpl::create_feedback_message() Adds a trait method to create a feedback message given the goal ID and the user-facing feedback message type. Depending on how many times we do this, it may end up valuable to define a GoalUuid type in rosidl_runtime_rs itself. We wouldn't be able to utilize the `RCL_ACTION_UUID_SIZE` constant imported from `rcl_action`, but this is pretty much guaranteed to be 16 forever. Defining this method signature also required inverting the super-trait relationship between Action and ActionImpl. Now ActionImpl is the sub-trait as this gives it access to all of Action's associated types. Action doesn't need to care about anything from ActionImpl (hopefully). --- rosidl_runtime_rs/src/traits.rs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index f40c42f7c..7377dbba9 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -163,7 +163,7 @@ pub trait Service: 'static { /// Trait for actions. /// /// User code never needs to call this trait's method, much less implement this trait. -pub trait Action: 'static + ActionImpl { +pub trait Action: 'static { /// The goal message associated with this action. type Goal: Message; @@ -180,7 +180,7 @@ pub trait Action: 'static + ActionImpl { /// Trait for action implementation details. /// /// User code never needs to implement this trait, nor use its associated types. -pub trait ActionImpl: 'static { +pub trait ActionImpl: 'static + Action { /// The goal_status message associated with this action. type GoalStatusMessage: Message; @@ -201,4 +201,7 @@ pub trait ActionImpl: 'static { /// Sets the `accepted` field of a goal response. fn set_goal_response_accepted(response: &mut <::Response as Message>::RmwMsg, accepted: bool); + + /// Create a feedback message with the given goal ID and contents. + fn create_feedback_message(goal_id: &[u8; 16], feedback: &<::Feedback as Message>::RmwMsg) -> ::RmwMsg; } From 23e9c94a67e9e638b3e89cfaf3f8efebf06bc346 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Fri, 16 Aug 2024 18:04:03 -0400 Subject: [PATCH 16/27] Add GetResultService methods to ActionImpl --- rosidl_runtime_rs/src/traits.rs | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 7377dbba9..344a7fa5e 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -204,4 +204,10 @@ pub trait ActionImpl: 'static + Action { /// Create a feedback message with the given goal ID and contents. fn create_feedback_message(goal_id: &[u8; 16], feedback: &<::Feedback as Message>::RmwMsg) -> ::RmwMsg; + + /// Get the UUID of a result request. + fn get_result_request_uuid(request: &<::Request as Message>::RmwMsg) -> [u8; 16]; + + /// Sets the `status` field of a result response. + fn set_result_response_status(response: &mut <::Response as Message>::RmwMsg, status: i8); } From 6d7021ab32bbe0ace6f80fba22cd66ba0b51b985 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Fri, 16 Aug 2024 19:15:36 -0400 Subject: [PATCH 17/27] Implement ActionImpl trait methods in generator These still don't build without errors, but it's close. --- rosidl_generator_rs/resource/action.rs.em | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 26182249f..130d88732 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -99,6 +99,29 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) { type SendGoalService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX); type CancelGoalService = action_msgs::srv::rmw::CancelGoal; type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX); + + fn get_goal_request_uuid(request: &<::Request as rosidl_runtime_rs::Message>::RmwMsg) -> [u8; 16] { + request.goal_id.uuid + } + + fn set_goal_response_accepted(response: &mut <::Response as rosidl_runtime_rs::Message>::RmwMsg, accepted: bool) { + response.accepted = accepted; + } + + fn create_feedback_message(goal_id: &[u8; 16], feedback: &<::Feedback as rosidl_runtime_rs::Message>::RmwMsg) -> ::RmwMsg { + let mut message = ::RmwMsg::default(); + message.goal_id.uuid = *goal_id; + message.feedback = feedback.clone(); + message + } + + fn get_result_request_uuid(request: &<::Request as rosidl_runtime_rs::Message>::RmwMsg) -> [u8; 16] { + request.goal_id.uuid + } + + fn set_result_response_status(response: &mut <::Response as rosidl_runtime_rs::Message>::RmwMsg, status: i8) { + response.status = status; + } } @[end for] From 7a39794424bc05d8ed3f485ffd66909434cce856 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Fri, 23 Aug 2024 18:32:15 -0400 Subject: [PATCH 18/27] Replace set_result_response_status with create_result_response rclrs needs to be able to generically construct result responses, including the user-defined result field. --- rosidl_generator_rs/resource/action.rs.em | 7 +++++-- rosidl_runtime_rs/src/traits.rs | 4 ++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 130d88732..3257d44b5 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -119,8 +119,11 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) { request.goal_id.uuid } - fn set_result_response_status(response: &mut <::Response as rosidl_runtime_rs::Message>::RmwMsg, status: i8) { - response.status = status; + fn create_result_response(status: i8, result: <::Result as Message>::RmwMsg) -> <::Response as Message>::RmwMsg { + <::Response as rosidl_runtime_rs::Message>::RmwMsg { + status, + result, + } } } diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 344a7fa5e..4ac60e515 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -208,6 +208,6 @@ pub trait ActionImpl: 'static + Action { /// Get the UUID of a result request. fn get_result_request_uuid(request: &<::Request as Message>::RmwMsg) -> [u8; 16]; - /// Sets the `status` field of a result response. - fn set_result_response_status(response: &mut <::Response as Message>::RmwMsg, status: i8); + /// Create a result response message with the given status and contents. + fn create_result_response(status: i8, result: <::Result as Message>::RmwMsg) -> <::Response as Message>::RmwMsg; } From c5bd258a3557d8362ec3450b837830b2a24982b5 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 28 Sep 2024 15:02:03 -0400 Subject: [PATCH 19/27] Implement client-side trait methods for action messages This adds methods to ActionImpl for creating and accessing action-specific message types. These are needed by the rclrs ActionClient to generically read and write RMW messages. Due to issues with qualified paths in certain places (https://github.com/rust-lang/rust/issues/86935), the generator now refers directly to its service and message types rather than going through associated types of the various traits. This also makes the generated code a little easier to read, with the trait method signatures from rosidl_runtime_rs still enforcing type-safety. --- rosidl_generator_rs/resource/action.rs.em | 67 +++++++++++++++++++---- rosidl_runtime_rs/src/traits.rs | 34 ++++++++++-- 2 files changed, 85 insertions(+), 16 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 3257d44b5..4c72b90b8 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -6,6 +6,8 @@ from rosidl_parser.definition import ( ACTION_GOAL_SUFFIX, ACTION_RESULT_SERVICE_SUFFIX, ACTION_RESULT_SUFFIX, + SERVICE_REQUEST_MESSAGE_SUFFIX, + SERVICE_RESPONSE_MESSAGE_SUFFIX, ) action_msg_specs = [] @@ -100,31 +102,74 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) { type CancelGoalService = action_msgs::srv::rmw::CancelGoal; type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX); - fn get_goal_request_uuid(request: &<::Request as rosidl_runtime_rs::Message>::RmwMsg) -> [u8; 16] { - request.goal_id.uuid + fn create_goal_request(goal_id: &[u8; 16], goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { + crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { + goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id }, + goal, + } + } + + fn get_goal_request_uuid(request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX)) -> &[u8; 16] { + &request.goal_id.uuid + } + + fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { + crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { + accepted, + stamp: builtin_interfaces::msg::rmw::Time { + sec: stamp.0, + nanosec: stamp.1, + }, + } + } + + fn get_goal_response_accepted(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> bool { + response.accepted } - fn set_goal_response_accepted(response: &mut <::Response as rosidl_runtime_rs::Message>::RmwMsg, accepted: bool) { - response.accepted = accepted; + fn get_goal_response_stamp(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> (i32, u32) { + (response.stamp.sec, response.stamp.nanosec) } - fn create_feedback_message(goal_id: &[u8; 16], feedback: &<::Feedback as rosidl_runtime_rs::Message>::RmwMsg) -> ::RmwMsg { - let mut message = ::RmwMsg::default(); + fn create_feedback_message(goal_id: &[u8; 16], feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) { + let mut message = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)::default(); message.goal_id.uuid = *goal_id; - message.feedback = feedback.clone(); + message.feedback = feedback; message } - fn get_result_request_uuid(request: &<::Request as rosidl_runtime_rs::Message>::RmwMsg) -> [u8; 16] { - request.goal_id.uuid + fn get_feedback_message_uuid(feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)) -> &[u8; 16] { + &feedback.goal_id.uuid + } + + fn get_feedback_message_feedback(feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX) { + &feedback.feedback } - fn create_result_response(status: i8, result: <::Result as Message>::RmwMsg) -> <::Response as Message>::RmwMsg { - <::Response as rosidl_runtime_rs::Message>::RmwMsg { + fn create_result_request(goal_id: &[u8; 16]) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { + crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { + goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id }, + } + } + + fn get_result_request_uuid(request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX)) -> &[u8; 16] { + &request.goal_id.uuid + } + + fn create_result_response(status: i8, result: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { + crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { status, result, } } + + fn get_result_response_result(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX) { + &response.result + } + + fn get_result_response_status(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> i8 { + response.status + } } @[end for] diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 4ac60e515..d0402dd5f 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -196,18 +196,42 @@ pub trait ActionImpl: 'static + Action { /// The get_result service associated with this action. type GetResultService: Service; + /// Create a goal request message with the given UUID and goal. + fn create_goal_request(goal_id: &[u8; 16], goal: <::Goal as Message>::RmwMsg) -> <::Request as Message>::RmwMsg; + /// Get the UUID of a goal request. - fn get_goal_request_uuid(request: &<::Request as Message>::RmwMsg) -> [u8; 16]; + fn get_goal_request_uuid(request: &<::Request as Message>::RmwMsg) -> &[u8; 16]; + + /// Create a goal response message with the given acceptance and timestamp. + fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> <::Response as Message>::RmwMsg; - /// Sets the `accepted` field of a goal response. - fn set_goal_response_accepted(response: &mut <::Response as Message>::RmwMsg, accepted: bool); + /// Get the `accepted` field of a goal response. + fn get_goal_response_accepted(response: &<::Response as Message>::RmwMsg) -> bool; + + /// Get the `stamp` field of a goal response. + fn get_goal_response_stamp(response: &<::Response as Message>::RmwMsg) -> (i32, u32); /// Create a feedback message with the given goal ID and contents. - fn create_feedback_message(goal_id: &[u8; 16], feedback: &<::Feedback as Message>::RmwMsg) -> ::RmwMsg; + fn create_feedback_message(goal_id: &[u8; 16], feedback: <::Feedback as Message>::RmwMsg) -> ::RmwMsg; + + /// Get the UUID of a feedback message. + fn get_feedback_message_uuid(feedback: &::RmwMsg) -> &[u8; 16]; + + /// Get the feedback of a feedback message. + fn get_feedback_message_feedback(feedback: &::RmwMsg) -> &<::Feedback as Message>::RmwMsg; + + /// Create a result request message with the given goal ID. + fn create_result_request(goal_id: &[u8; 16]) -> <::Request as Message>::RmwMsg; /// Get the UUID of a result request. - fn get_result_request_uuid(request: &<::Request as Message>::RmwMsg) -> [u8; 16]; + fn get_result_request_uuid(request: &<::Request as Message>::RmwMsg) -> &[u8; 16]; /// Create a result response message with the given status and contents. fn create_result_response(status: i8, result: <::Result as Message>::RmwMsg) -> <::Response as Message>::RmwMsg; + + /// Get the result of a result response. + fn get_result_response_result(response: &<::Response as Message>::RmwMsg) -> &<::Result as Message>::RmwMsg; + + /// Get the status of a result response. + fn get_result_response_status(response: &<::Response as Message>::RmwMsg) -> i8; } From 2748b5f3cc82383982c27312c5e7b0fc9cb0ce55 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Mon, 30 Sep 2024 08:08:42 -0400 Subject: [PATCH 20/27] Format the rosidl_runtime_rs::ActionImpl trait --- rosidl_runtime_rs/src/traits.rs | 56 +++++++++++++++++++++++++-------- 1 file changed, 43 insertions(+), 13 deletions(-) diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index d0402dd5f..716053249 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -197,41 +197,71 @@ pub trait ActionImpl: 'static + Action { type GetResultService: Service; /// Create a goal request message with the given UUID and goal. - fn create_goal_request(goal_id: &[u8; 16], goal: <::Goal as Message>::RmwMsg) -> <::Request as Message>::RmwMsg; + fn create_goal_request( + goal_id: &[u8; 16], + goal: <::Goal as Message>::RmwMsg, + ) -> <::Request as Message>::RmwMsg; /// Get the UUID of a goal request. - fn get_goal_request_uuid(request: &<::Request as Message>::RmwMsg) -> &[u8; 16]; + fn get_goal_request_uuid( + request: &<::Request as Message>::RmwMsg, + ) -> &[u8; 16]; /// Create a goal response message with the given acceptance and timestamp. - fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> <::Response as Message>::RmwMsg; + fn create_goal_response( + accepted: bool, + stamp: (i32, u32), + ) -> <::Response as Message>::RmwMsg; /// Get the `accepted` field of a goal response. - fn get_goal_response_accepted(response: &<::Response as Message>::RmwMsg) -> bool; + fn get_goal_response_accepted( + response: &<::Response as Message>::RmwMsg, + ) -> bool; /// Get the `stamp` field of a goal response. - fn get_goal_response_stamp(response: &<::Response as Message>::RmwMsg) -> (i32, u32); + fn get_goal_response_stamp( + response: &<::Response as Message>::RmwMsg, + ) -> (i32, u32); /// Create a feedback message with the given goal ID and contents. - fn create_feedback_message(goal_id: &[u8; 16], feedback: <::Feedback as Message>::RmwMsg) -> ::RmwMsg; + fn create_feedback_message( + goal_id: &[u8; 16], + feedback: <::Feedback as Message>::RmwMsg, + ) -> ::RmwMsg; /// Get the UUID of a feedback message. - fn get_feedback_message_uuid(feedback: &::RmwMsg) -> &[u8; 16]; + fn get_feedback_message_uuid( + feedback: &::RmwMsg, + ) -> &[u8; 16]; /// Get the feedback of a feedback message. - fn get_feedback_message_feedback(feedback: &::RmwMsg) -> &<::Feedback as Message>::RmwMsg; + fn get_feedback_message_feedback( + feedback: &::RmwMsg, + ) -> &<::Feedback as Message>::RmwMsg; /// Create a result request message with the given goal ID. - fn create_result_request(goal_id: &[u8; 16]) -> <::Request as Message>::RmwMsg; + fn create_result_request( + goal_id: &[u8; 16], + ) -> <::Request as Message>::RmwMsg; /// Get the UUID of a result request. - fn get_result_request_uuid(request: &<::Request as Message>::RmwMsg) -> &[u8; 16]; + fn get_result_request_uuid( + request: &<::Request as Message>::RmwMsg, + ) -> &[u8; 16]; /// Create a result response message with the given status and contents. - fn create_result_response(status: i8, result: <::Result as Message>::RmwMsg) -> <::Response as Message>::RmwMsg; + fn create_result_response( + status: i8, + result: <::Result as Message>::RmwMsg, + ) -> <::Response as Message>::RmwMsg; /// Get the result of a result response. - fn get_result_response_result(response: &<::Response as Message>::RmwMsg) -> &<::Result as Message>::RmwMsg; + fn get_result_response_result( + response: &<::Response as Message>::RmwMsg, + ) -> &<::Result as Message>::RmwMsg; /// Get the status of a result response. - fn get_result_response_status(response: &<::Response as Message>::RmwMsg) -> i8; + fn get_result_response_status( + response: &<::Response as Message>::RmwMsg, + ) -> i8; } From 507a7af10ffaf962c420b25118efe5ac43bd082d Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Tue, 1 Oct 2024 18:24:59 -0400 Subject: [PATCH 21/27] Wrap longs lines in rosidl_generator_rs action.rs This at least makes the template easier to read, but also helps with the generated code. In general, the generated code could actually fit on one line for the function signatures, but it's not a big deal to split it across multiple. --- rosidl_generator_rs/resource/action.rs.em | 56 +++++++++++++++++------ 1 file changed, 43 insertions(+), 13 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 4c72b90b8..3703e5bc1 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -102,18 +102,26 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) { type CancelGoalService = action_msgs::srv::rmw::CancelGoal; type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX); - fn create_goal_request(goal_id: &[u8; 16], goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { + fn create_goal_request( + goal_id: &[u8; 16], + goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX), + ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id }, goal, } } - fn get_goal_request_uuid(request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX)) -> &[u8; 16] { + fn get_goal_request_uuid( + request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX), + ) -> &[u8; 16] { &request.goal_id.uuid } - fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { + fn create_goal_response( + accepted: bool, + stamp: (i32, u32), + ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { accepted, stamp: builtin_interfaces::msg::rmw::Time { @@ -123,51 +131,73 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) { } } - fn get_goal_response_accepted(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> bool { + fn get_goal_response_accepted( + response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX), + ) -> bool { response.accepted } - fn get_goal_response_stamp(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> (i32, u32) { + fn get_goal_response_stamp( + response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX), + ) -> (i32, u32) { (response.stamp.sec, response.stamp.nanosec) } - fn create_feedback_message(goal_id: &[u8; 16], feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) { + fn create_feedback_message( + goal_id: &[u8; 16], + feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX), + ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) { let mut message = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)::default(); message.goal_id.uuid = *goal_id; message.feedback = feedback; message } - fn get_feedback_message_uuid(feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)) -> &[u8; 16] { + fn get_feedback_message_uuid( + feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX), + ) -> &[u8; 16] { &feedback.goal_id.uuid } - fn get_feedback_message_feedback(feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX) { + fn get_feedback_message_feedback( + feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX), + ) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX) { &feedback.feedback } - fn create_result_request(goal_id: &[u8; 16]) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { + fn create_result_request( + goal_id: &[u8; 16], + ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) { goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id }, } } - fn get_result_request_uuid(request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX)) -> &[u8; 16] { + fn get_result_request_uuid( + request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX), + ) -> &[u8; 16] { &request.goal_id.uuid } - fn create_result_response(status: i8, result: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { + fn create_result_response( + status: i8, + result: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX), + ) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) { status, result, } } - fn get_result_response_result(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX) { + fn get_result_response_result( + response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX), + ) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX) { &response.result } - fn get_result_response_status(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> i8 { + fn get_result_response_status( + response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX), + ) -> i8 { response.status } } From 7d30fb11986d1249a62cdf3d0048e24a712074f9 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Fri, 11 Oct 2024 01:06:50 -0400 Subject: [PATCH 22/27] Use idiomatic message types in Action trait This is user-facing and so should use the friendly message types. --- rosidl_generator_rs/resource/action.rs.em | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index 3703e5bc1..b29fae166 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -84,9 +84,9 @@ extern "C" { pub struct @(type_name); impl rosidl_runtime_rs::Action for @(type_name) { - type Goal = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX); - type Result = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX); - type Feedback = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX); + type Goal = crate::@(subfolder)::@(type_name)@(ACTION_GOAL_SUFFIX); + type Result = crate::@(subfolder)::@(type_name)@(ACTION_RESULT_SUFFIX); + type Feedback = crate::@(subfolder)::@(type_name)@(ACTION_FEEDBACK_SUFFIX); fn get_type_support() -> *const std::os::raw::c_void { // SAFETY: No preconditions for this function. From 3c1663fa2ac86ec4b214a845471848f26491d264 Mon Sep 17 00:00:00 2001 From: "Michael X. Grey" Date: Thu, 3 Oct 2024 16:58:15 +0800 Subject: [PATCH 23/27] Cleanup ActionImpl using type aliases Signed-off-by: Michael X. Grey --- rosidl_runtime_rs/src/traits.rs | 48 ++++++++++++++++++++------------- 1 file changed, 30 insertions(+), 18 deletions(-) diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 716053249..8a703bc3e 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -199,69 +199,81 @@ pub trait ActionImpl: 'static + Action { /// Create a goal request message with the given UUID and goal. fn create_goal_request( goal_id: &[u8; 16], - goal: <::Goal as Message>::RmwMsg, - ) -> <::Request as Message>::RmwMsg; + goal: RmwGoalData, + ) -> RmwGoalRequest; /// Get the UUID of a goal request. fn get_goal_request_uuid( - request: &<::Request as Message>::RmwMsg, + request: &RmwGoalRequest, ) -> &[u8; 16]; /// Create a goal response message with the given acceptance and timestamp. fn create_goal_response( accepted: bool, stamp: (i32, u32), - ) -> <::Response as Message>::RmwMsg; + ) -> RmwGoalResponse; /// Get the `accepted` field of a goal response. fn get_goal_response_accepted( - response: &<::Response as Message>::RmwMsg, + response: &RmwGoalResponse, ) -> bool; /// Get the `stamp` field of a goal response. fn get_goal_response_stamp( - response: &<::Response as Message>::RmwMsg, + response: &RmwGoalResponse, ) -> (i32, u32); /// Create a feedback message with the given goal ID and contents. fn create_feedback_message( goal_id: &[u8; 16], - feedback: <::Feedback as Message>::RmwMsg, - ) -> ::RmwMsg; + feedback: RmwFeedback, + ) -> RmwFeedbackMessage; /// Get the UUID of a feedback message. fn get_feedback_message_uuid( - feedback: &::RmwMsg, + feedback: &RmwFeedbackMessage, ) -> &[u8; 16]; /// Get the feedback of a feedback message. fn get_feedback_message_feedback( - feedback: &::RmwMsg, - ) -> &<::Feedback as Message>::RmwMsg; + feedback: &RmwFeedbackMessage, + ) -> &RmwFeedback; /// Create a result request message with the given goal ID. fn create_result_request( goal_id: &[u8; 16], - ) -> <::Request as Message>::RmwMsg; + ) -> RmwResultRequest; /// Get the UUID of a result request. fn get_result_request_uuid( - request: &<::Request as Message>::RmwMsg, + request: &RmwResultRequest, ) -> &[u8; 16]; /// Create a result response message with the given status and contents. fn create_result_response( status: i8, - result: <::Result as Message>::RmwMsg, - ) -> <::Response as Message>::RmwMsg; + result: RmwResultData, + ) -> RmwResultResponse; /// Get the result of a result response. fn get_result_response_result( - response: &<::Response as Message>::RmwMsg, - ) -> &<::Result as Message>::RmwMsg; + response: &RmwResultResponse, + ) -> &RmwResultData; /// Get the status of a result response. fn get_result_response_status( - response: &<::Response as Message>::RmwMsg, + response: &RmwResultResponse, ) -> i8; } + +// Type definitions to simplify the ActionImpl trait +pub type RmwServiceRequest = <::Request as Message>::RmwMsg; +pub type RmwServiceResponse = <::Response as Message>::RmwMsg; +pub type RmwGoalRequest = RmwServiceRequest<::SendGoalService>; +pub type RmwGoalResponse = RmwServiceResponse<::SendGoalService>; +pub type RmwGoalData = <::Goal as Message>::RmwMsg; +pub type RmwFeedback = <::Feedback as Message>::RmwMsg; +pub type RmwFeedbackMessage = <::FeedbackMessage as Message>::RmwMsg; +pub type RmwResultRequest = RmwServiceRequest<::GetResultService>; +pub type RmwResultResponse = RmwServiceResponse<::GetResultService>; +pub type RmwResultData = <::Result as Message>::RmwMsg; From 0493705ff1fb5314cdb46dd03a4ee1f555a14576 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Fri, 11 Oct 2024 12:32:36 -0400 Subject: [PATCH 24/27] Formatting --- rosidl_runtime_rs/src/traits.rs | 56 +++++++++------------------------ 1 file changed, 15 insertions(+), 41 deletions(-) diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 8a703bc3e..9078d7b49 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -197,73 +197,47 @@ pub trait ActionImpl: 'static + Action { type GetResultService: Service; /// Create a goal request message with the given UUID and goal. - fn create_goal_request( - goal_id: &[u8; 16], - goal: RmwGoalData, - ) -> RmwGoalRequest; + fn create_goal_request(goal_id: &[u8; 16], goal: RmwGoalData) -> RmwGoalRequest; /// Get the UUID of a goal request. - fn get_goal_request_uuid( - request: &RmwGoalRequest, - ) -> &[u8; 16]; + fn get_goal_request_uuid(request: &RmwGoalRequest) -> &[u8; 16]; /// Create a goal response message with the given acceptance and timestamp. - fn create_goal_response( - accepted: bool, - stamp: (i32, u32), - ) -> RmwGoalResponse; + fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> RmwGoalResponse; /// Get the `accepted` field of a goal response. - fn get_goal_response_accepted( - response: &RmwGoalResponse, - ) -> bool; + fn get_goal_response_accepted(response: &RmwGoalResponse) -> bool; /// Get the `stamp` field of a goal response. - fn get_goal_response_stamp( - response: &RmwGoalResponse, - ) -> (i32, u32); + fn get_goal_response_stamp(response: &RmwGoalResponse) -> (i32, u32); /// Create a feedback message with the given goal ID and contents. fn create_feedback_message( goal_id: &[u8; 16], - feedback: RmwFeedback, + feedback: RmwFeedbackData, ) -> RmwFeedbackMessage; /// Get the UUID of a feedback message. - fn get_feedback_message_uuid( - feedback: &RmwFeedbackMessage, - ) -> &[u8; 16]; + fn get_feedback_message_uuid(feedback: &RmwFeedbackMessage) -> &[u8; 16]; /// Get the feedback of a feedback message. - fn get_feedback_message_feedback( - feedback: &RmwFeedbackMessage, - ) -> &RmwFeedback; + fn get_feedback_message_feedback(feedback: &RmwFeedbackMessage) + -> &RmwFeedbackData; /// Create a result request message with the given goal ID. - fn create_result_request( - goal_id: &[u8; 16], - ) -> RmwResultRequest; + fn create_result_request(goal_id: &[u8; 16]) -> RmwResultRequest; /// Get the UUID of a result request. - fn get_result_request_uuid( - request: &RmwResultRequest, - ) -> &[u8; 16]; + fn get_result_request_uuid(request: &RmwResultRequest) -> &[u8; 16]; /// Create a result response message with the given status and contents. - fn create_result_response( - status: i8, - result: RmwResultData, - ) -> RmwResultResponse; + fn create_result_response(status: i8, result: RmwResultData) -> RmwResultResponse; /// Get the result of a result response. - fn get_result_response_result( - response: &RmwResultResponse, - ) -> &RmwResultData; + fn get_result_response_result(response: &RmwResultResponse) -> &RmwResultData; /// Get the status of a result response. - fn get_result_response_status( - response: &RmwResultResponse, - ) -> i8; + fn get_result_response_status(response: &RmwResultResponse) -> i8; } // Type definitions to simplify the ActionImpl trait @@ -272,7 +246,7 @@ pub type RmwServiceResponse = <::Response as Message>::RmwMsg; pub type RmwGoalRequest = RmwServiceRequest<::SendGoalService>; pub type RmwGoalResponse = RmwServiceResponse<::SendGoalService>; pub type RmwGoalData = <::Goal as Message>::RmwMsg; -pub type RmwFeedback = <::Feedback as Message>::RmwMsg; +pub type RmwFeedbackData = <::Feedback as Message>::RmwMsg; pub type RmwFeedbackMessage = <::FeedbackMessage as Message>::RmwMsg; pub type RmwResultRequest = RmwServiceRequest<::GetResultService>; pub type RmwResultResponse = RmwServiceResponse<::GetResultService>; From 8bedfe08b2e9119eb15b1b2a7d51e0282ea4cd6f Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 12 Oct 2024 18:33:25 -0400 Subject: [PATCH 25/27] Switch from std::os::raw::c_void to std::ffi::c_void While these are aliases of each other, we might as well use the more appropriate std::ffi version, as requested by reviewers. --- rosidl_generator_rs/resource/action.rs.em | 4 ++-- rosidl_generator_rs/resource/msg_rmw.rs.em | 4 ++-- rosidl_generator_rs/resource/srv_idiomatic.rs.em | 4 ++-- rosidl_generator_rs/resource/srv_rmw.rs.em | 4 ++-- rosidl_runtime_rs/src/traits.rs | 6 +++--- 5 files changed, 11 insertions(+), 11 deletions(-) diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em index b29fae166..5f463f318 100644 --- a/rosidl_generator_rs/resource/action.rs.em +++ b/rosidl_generator_rs/resource/action.rs.em @@ -77,7 +77,7 @@ type_name = action_spec.namespaced_type.name #[link(name = "@(package_name)__rosidl_typesupport_c")] extern "C" { - fn rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; + fn rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void; } // Corresponds to @(package_name)__@(subfolder)__@(type_name) @@ -88,7 +88,7 @@ impl rosidl_runtime_rs::Action for @(type_name) { type Result = crate::@(subfolder)::@(type_name)@(ACTION_RESULT_SUFFIX); type Feedback = crate::@(subfolder)::@(type_name)@(ACTION_FEEDBACK_SUFFIX); - fn get_type_support() -> *const std::os::raw::c_void { + fn get_type_support() -> *const std::ffi::c_void { // SAFETY: No preconditions for this function. unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } } diff --git a/rosidl_generator_rs/resource/msg_rmw.rs.em b/rosidl_generator_rs/resource/msg_rmw.rs.em index c4420a685..fbedd6d5f 100644 --- a/rosidl_generator_rs/resource/msg_rmw.rs.em +++ b/rosidl_generator_rs/resource/msg_rmw.rs.em @@ -19,7 +19,7 @@ type_name = msg_spec.structure.namespaced_type.name #[link(name = "@(package_name)__rosidl_typesupport_c")] extern "C" { - fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; + fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void; } #[link(name = "@(package_name)__rosidl_generator_c")] @@ -103,7 +103,7 @@ impl rosidl_runtime_rs::Message for @(type_name) { impl rosidl_runtime_rs::RmwMessage for @(type_name) where Self: Sized { const TYPE_NAME: &'static str = "@(package_name)/@(subfolder)/@(type_name)"; - fn get_type_support() -> *const std::os::raw::c_void { + fn get_type_support() -> *const std::ffi::c_void { // SAFETY: No preconditions for this function. unsafe { rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } } diff --git a/rosidl_generator_rs/resource/srv_idiomatic.rs.em b/rosidl_generator_rs/resource/srv_idiomatic.rs.em index cf202ca01..660f1a67c 100644 --- a/rosidl_generator_rs/resource/srv_idiomatic.rs.em +++ b/rosidl_generator_rs/resource/srv_idiomatic.rs.em @@ -25,7 +25,7 @@ type_name = srv_spec.namespaced_type.name #[link(name = "@(package_name)__rosidl_typesupport_c")] extern "C" { - fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; + fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void; } // Corresponds to @(package_name)__@(subfolder)__@(type_name) @@ -35,7 +35,7 @@ impl rosidl_runtime_rs::Service for @(type_name) { type Request = crate::@(subfolder)::@(type_name)_Request; type Response = crate::@(subfolder)::@(type_name)_Response; - fn get_type_support() -> *const std::os::raw::c_void { + fn get_type_support() -> *const std::ffi::c_void { // SAFETY: No preconditions for this function. unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } } diff --git a/rosidl_generator_rs/resource/srv_rmw.rs.em b/rosidl_generator_rs/resource/srv_rmw.rs.em index c7c04c2ad..6ba55f1f5 100644 --- a/rosidl_generator_rs/resource/srv_rmw.rs.em +++ b/rosidl_generator_rs/resource/srv_rmw.rs.em @@ -25,7 +25,7 @@ type_name = srv_spec.namespaced_type.name #[link(name = "@(package_name)__rosidl_typesupport_c")] extern "C" { - fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void; + fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::ffi::c_void; } // Corresponds to @(package_name)__@(subfolder)__@(type_name) @@ -35,7 +35,7 @@ type_name = srv_spec.namespaced_type.name type Request = crate::@(subfolder)::rmw::@(type_name)_Request; type Response = crate::@(subfolder)::rmw::@(type_name)_Response; - fn get_type_support() -> *const std::os::raw::c_void { + fn get_type_support() -> *const std::ffi::c_void { // SAFETY: No preconditions for this function. unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() } } diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs index 9078d7b49..1e0908544 100644 --- a/rosidl_runtime_rs/src/traits.rs +++ b/rosidl_runtime_rs/src/traits.rs @@ -41,7 +41,7 @@ pub trait RmwMessage: Clone + Debug + Default + Send + Sync + Message { const TYPE_NAME: &'static str; /// Get a pointer to the correct `rosidl_message_type_support_t` structure. - fn get_type_support() -> *const std::os::raw::c_void; + fn get_type_support() -> *const std::ffi::c_void; } /// Trait for types that can be used in a `rclrs::Subscription` and a `rclrs::Publisher`. @@ -157,7 +157,7 @@ pub trait Service: 'static { type Response: Message; /// Get a pointer to the correct `rosidl_service_type_support_t` structure. - fn get_type_support() -> *const std::os::raw::c_void; + fn get_type_support() -> *const std::ffi::c_void; } /// Trait for actions. @@ -174,7 +174,7 @@ pub trait Action: 'static { type Feedback: Message; /// Get a pointer to the correct `rosidl_action_type_support_t` structure. - fn get_type_support() -> *const std::os::raw::c_void; + fn get_type_support() -> *const std::ffi::c_void; } /// Trait for action implementation details. From 5dece637ed223defae238708667147575ff6d2cf Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 12 Oct 2024 20:41:16 -0400 Subject: [PATCH 26/27] Clean up rosidl_generator_rs's cmake files Some of the variables are present but no longer used. Others were not updated with the action changes. --- rosidl_generator_rs/cmake/custom_command.cmake | 8 ++------ .../rosidl_generator_rs_generate_interfaces.cmake | 14 +++++++++++++- 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/rosidl_generator_rs/cmake/custom_command.cmake b/rosidl_generator_rs/cmake/custom_command.cmake index a3f3ff916..d16ccd863 100644 --- a/rosidl_generator_rs/cmake/custom_command.cmake +++ b/rosidl_generator_rs/cmake/custom_command.cmake @@ -14,12 +14,10 @@ add_custom_command( OUTPUT - ${_generated_extension_files} ${_generated_common_rs_files} ${_generated_msg_rs_files} - ${_generated_msg_c_files} ${_generated_srv_rs_files} - ${_generated_srv_c_files} + ${_generated_action_rs_files} COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_rs_BIN} --generator-arguments-file "${generator_arguments_file}" --typesupport-impls "${_typesupport_impls}" @@ -34,11 +32,9 @@ else() add_custom_target( ${rosidl_generate_interfaces_TARGET}${_target_suffix} ALL DEPENDS - ${_generated_extension_files} ${_generated_common_rs_files} ${_generated_msg_rs_files} - ${_generated_msg_c_files} ${_generated_srv_rs_files} - ${_generated_srv_c_files} + ${_generated_action_rs_files} ) endif() diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake index 1dc47514f..af4206161 100644 --- a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake +++ b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake @@ -26,9 +26,11 @@ set(_generated_common_rs_files "") set(_generated_msg_rs_files "") set(_generated_srv_rs_files "") +set(_generated_action_rs_files "") set(_has_msg FALSE) set(_has_srv FALSE) +set(_has_action FALSE) foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES}) get_filename_component(_parent_folder "${_idl_file}" DIRECTORY) @@ -67,6 +69,12 @@ if(${_has_srv}) ) endif() +if(${_has_action}) + list(APPEND _generated_action_rs_files + "${_output_path}/rust/src/action.rs" + ) +endif() + set(_dependency_files "") set(_dependencies "") foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES}) @@ -85,6 +93,8 @@ set(target_dependencies "${rosidl_generator_rs_TEMPLATE_DIR}/msg_idiomatic.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/msg_rmw.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/msg.rs.em" + "${rosidl_generator_rs_TEMPLATE_DIR}/srv_idiomatic.rs.em" + "${rosidl_generator_rs_TEMPLATE_DIR}/srv_rmw.rs.em" "${rosidl_generator_rs_TEMPLATE_DIR}/srv.rs.em" ${rosidl_generate_interfaces_ABS_IDL_FILES} ${_idl_files} @@ -131,6 +141,7 @@ set_property( ${_generated_common_rs_files} ${_generated_msg_rs_files} ${_generated_srv_rs_files} + ${_generated_action_rs_files} PROPERTY GENERATED 1) set(_rsext_suffix "__rsext") @@ -145,7 +156,8 @@ endif() if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS) if( NOT _generated_msg_rs_files STREQUAL "" OR - NOT _generated_srv_rs_files STREQUAL "" + NOT _generated_srv_rs_files STREQUAL "" OR + NOT _generated_action_rs_files STREQUAL "" ) # TODO(esteve): add linters for Rust files endif() From db575efa87ee162df7dbb14803a09f6097dcdd95 Mon Sep 17 00:00:00 2001 From: Nathan Wiebe Neufeldt Date: Sat, 12 Oct 2024 20:42:59 -0400 Subject: [PATCH 27/27] Add a short doc page on the message generation pipeline This should help newcomers orient themselves around the rosidl_*_rs packages. --- docs/message-generation.md | 49 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 49 insertions(+) create mode 100644 docs/message-generation.md diff --git a/docs/message-generation.md b/docs/message-generation.md new file mode 100644 index 000000000..ea28d57ed --- /dev/null +++ b/docs/message-generation.md @@ -0,0 +1,49 @@ +# `ros2_rust` Message Generation + +The `ros2_rust` project strives to maintain consistency with the upstream ROS 2 message generation +system. To this end, it provides two main packages: `rosidl_generator_rs` and `rosidl_runtime_rs`. +These packages provide the infrastructure required for defining and using ROS 2 messages, services, +and actions in Rust. + +At a high level, the `rosidl_generator_rs` package handles generation of interface crates from the +`.msg`, `.srv`, and `.action` files defined by a user. The `rosidl_runtime_rs` package provides +common functionality shared across message packages, such as support types and traits. Each of these +packages is described in more detail below. + +## `rosidl_generator_rs` + +`rosidl_generator_rs` follows a very similar pattern to the other message generation packages for +ROS 2. To tie into this pipeline, it registers itself as a `"rosidl_generate_idl_interfaces"` +extension with `ament`. Doing so ensures that message packages calling `rosidl_generate_interfaces` +will invoke the Rust language generator in addition to any others. This is accomplished using the +various CMake scripts under the `cmake` directory. When this happens, the input interface files will +be converted into IDL files which, along with additional metadata, are fed into the `generate_rs` +function of `rosidl_generator_rs/__init__.py`. + +From here, the IDL files are parsed into an internal representation using the upstream +[`rosidl_parser`](https://github.com/ros2/rosidl/tree/rolling/rosidl_parser) package. This abstract +representation is then used to instantiate the various template files under the `resource` +subdirectory, producing a full Rust crate for each package. + +For each input message type, two `struct`s are generated: + +- An ergonomic representation of the message, using more idiomatic `std` types like `Vec` and + `String` for sequence and string fields. These are placed directly in the `msg` submodule of the + crate. +- A FFI-suitable `struct` that is ABI-compatible with the layout expected by the RMW layer. While + less ergonomic, these avoid the conversion overhead when passed to RMW. These `struct`s are placed + under the `msg::rmw` submodule. + +All the produced `struct`s implement the standard traits from `std` when possible, such as `Clone`, +`PartialEq`, and `Debug`. Additionally, when the generated crate's `serde` feature is enabled, these +structs implement the `Serialize` and `Deserialize` traits. + +## `rosidl_runtime_rs` + +`rosidl_runtime_rs` is a runtime support package, providing `Message`, `Service`, and `Action` +traits that are implemented by the corresponding structs generated by `rosidl_generator_rs`. These +allow for generic interaction with these various interface types, both in client libraries like +`rclrs` and in user code. + +The package also provides a number of string and sequence types that are ABI-compatible with their +`rosidl_runtime_c` equivalents. This allows for more ergonomic use of the RMW-native message types.