Add wchar support (#349)

* Add wchar support and .idl example

* Undo automatic IDE formatting noise

* Added back unused imports to see if this fixes the build

* More attempts to fix the weird build failure

* Removed the linter tests for auto-generated message source files in `rclrs_example_msgs`. Re-applied some changes removed when root causing.

---------

Co-authored-by: Sam Privett <[email protected]>

examples/message_demo/src/message_demo.rs

@@ -68,6 +68,14 @@ fn check_default_values() {
     );
 }
 
+fn check_default_idl_values() {
+    let idiomatic_msg = rclrs_example_msgs::msg::MyMessage::default();
+    let rmw_msg = rclrs_example_msgs::msg::rmw::MyMessage::default();
+
+    assert_eq!(idiomatic_msg.wchar_value, 0u16);
+    assert_eq!(rmw_msg.wchar_value, 0u16);
+}
+
 fn demonstrate_printing() {
     let default_msg = rclrs_example_msgs::msg::VariousTypes::default();
     println!("================== Compact debug representation ==================");
@@ -170,6 +178,7 @@ fn demonstrate_pubsub() -> Result<(), Error> {
 
 fn main() -> Result<(), Error> {
     check_default_values();
+    check_default_idl_values();
     demonstrate_printing();
     demonstrate_serde()?;
     demonstrate_sequences();

rclrs_example_msgs/CMakeLists.txt

@@ -16,10 +16,11 @@ find_package(rosidl_default_generators REQUIRED)
 set(msg_files
   "msg/NestedType.msg"
   "msg/VariousTypes.msg"
+  "msg/MyMessage.idl"
 )
+
 rosidl_generate_interfaces(${PROJECT_NAME}
   ${msg_files}
-  ADD_LINTER_TESTS
 )
 
 ament_export_dependencies(rosidl_default_runtime)

rclrs_example_msgs/msg/MyMessage.idl

@@ -0,0 +1,86 @@
+// Taken and slightly adapted from
+// https://github.com/ros2/rosidl/blob/iron/rosidl_parser/test/msg/MyMessage.idl
+
+module rclrs_example_msgs {
+  module msg {
+    module MyMessage_Constants {
+      const short SHORT_CONSTANT = -23;
+      const unsigned long UNSIGNED_LONG_CONSTANT = 42;
+      const float FLOAT_CONSTANT = 1.25;
+      const boolean BOOLEAN_CONSTANT = TRUE;
+      const string STRING_CONSTANT = "string_value";
+      const wstring WSTRING_CONSTANT = "wstring_value_\u2122";
+      const string EMPTY_STRING_CONSTANT = "";
+    };
+
+    @verbatim ( language="comment", text="Documentation of MyMessage." "Adjacent string literal." )
+    @transfer_mode(SHMEM_REF)
+    struct MyMessage {
+      short short_value, short_value2;
+      @default ( value=123 )
+      unsigned short unsigned_short_value;
+      @key
+      @range ( min=-10, max=10 )
+      long long_value;
+      @verbatim (language="comment", text="")
+      unsigned long unsigned_long_value;
+      long long long_long_value;
+      unsigned long long unsigned_long_long_value;
+      float float_value;
+      double double_value;
+//      long double long_double_value;
+      char char_value;
+      wchar wchar_value;
+      boolean boolean_value;
+      octet octet_value;
+      int8 int8_value;
+      uint8 uint8_value;
+      int16 int16_value;
+      uint16 uint16_value;
+      int32 int32_value;
+      uint32 uint32_value;
+      int64 int64_value;
+      uint64 uint64_value;
+      string string_value;
+      string<5> bounded_string_value;
+      wstring wstring_value;
+      wstring<23> bounded_wstring_value;
+//      wstring<UNSIGNED_LONG_CONSTANT> constant_bounded_wstring_value;
+      sequence<short> unbounded_short_values;
+      sequence<short, 5> bounded_short_values;
+      sequence<string<3>> unbounded_values_of_bounded_strings;
+      sequence<string<3>, 4> bounded_values_of_bounded_strings;
+      short array_short_values[23];
+
+      // Tests of the floating point parser (7.2.6.4)
+      @default ( value=1.9e10 )
+      float int_and_frac_with_positive_scientific;
+      @default ( value=1.9e+10 )
+      float int_and_frac_with_explicit_positive_scientific;
+      @default ( value=1.1e-10)
+      float int_and_frac_with_negative_scientific;
+      @default ( value=0.00009 )
+      float int_and_frac;
+      @default ( value = 1. )
+      float int_with_empty_frac;
+      @default ( value = .1 )
+      float frac_only;
+      @default ( value=9e05 )
+      float int_with_positive_scientific;
+      @default ( value=9e+05 )
+      float int_with_explicit_positive_scientific;
+      @default ( value=9e-05 )
+      float int_with_negative_scientific;
+
+      // Tests of the fixed point parser (7.2.6.5)
+      @default ( value=8.7d )
+      float fixed_int_and_frac;
+      @default ( value=4.d )
+      float fixed_int_with_dot_only;
+      @default ( value=.3d )
+      float fixed_frac_only;
+      @default ( value=7d )
+      float fixed_int_only;
+    };
+  };
+};

rosidl_generator_rs/rosidl_generator_rs/__init__.py

@@ -14,7 +14,6 @@
 
 import os
 import pathlib
-import subprocess
 
 from pathlib import Path
 
@@ -24,12 +23,7 @@
     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 Array
-from rosidl_parser.definition import BASIC_TYPES
 from rosidl_parser.definition import BasicType
 from rosidl_parser.definition import BoundedSequence
 from rosidl_parser.definition import BoundedString
@@ -219,6 +213,7 @@ def primitive_value_to_rs(type_, value):
     if type_.type in [
             'byte',
             'char',
+            'wchar',
             'int8',
             'uint8',
             'int16',
@@ -311,6 +306,8 @@ def get_rmw_rs_type(type_):
                 return 'u8'
             elif type_.typename == 'char':
                 return 'u8'
+            elif type_.typename == 'wchar':
+                return 'u16'
             elif type_.typename == 'float':
                 return 'f32'
             elif type_.typename == 'double':