ros2-rust · Guelakais · Apr 18, 2024 · Apr 18, 2024 · Apr 18, 2024 · Apr 18, 2024
diff --git a/.dockerignore b/.dockerignore
diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
diff --git a/.gitignore b/.gitignore
diff --git a/.rustfmt.toml b/.rustfmt.toml
diff --git a/Dockerfile b/Dockerfile
diff --git a/LICENSE b/LICENSE
diff --git a/NOTICE b/NOTICE
diff --git a/README.md b/README.md
diff --git a/docs/CONTRIBUTING.md b/docs/CONTRIBUTING.md
diff --git a/docs/building.md b/docs/building.md
diff --git a/docs/writing-your-first-rclrs-node.md b/docs/writing-your-first-rclrs-node.md
diff --git a/examples/message_demo/Cargo.toml b/examples/message_demo/Cargo.toml
diff --git a/examples/message_demo/package.xml b/examples/message_demo/package.xml
diff --git a/examples/message_demo/src/message_demo.rs b/examples/message_demo/src/message_demo.rs
diff --git a/examples/minimal_client_service/Cargo.toml b/examples/minimal_client_service/Cargo.toml
diff --git a/examples/minimal_client_service/package.xml b/examples/minimal_client_service/package.xml
diff --git a/examples/minimal_client_service/src/minimal_client.rs b/examples/minimal_client_service/src/minimal_client.rs
diff --git a/examples/minimal_client_service/src/minimal_client_async.rs b/examples/minimal_client_service/src/minimal_client_async.rs
diff --git a/examples/minimal_client_service/src/minimal_service.rs b/examples/minimal_client_service/src/minimal_service.rs
diff --git a/examples/minimal_pub_sub/Cargo.toml b/examples/minimal_pub_sub/Cargo.toml
diff --git a/examples/minimal_pub_sub/launch/minimal_pub_sub.launch.xml b/examples/minimal_pub_sub/launch/minimal_pub_sub.launch.xml
diff --git a/examples/minimal_pub_sub/package.xml b/examples/minimal_pub_sub/package.xml
diff --git a/examples/minimal_pub_sub/src/minimal_publisher.rs b/examples/minimal_pub_sub/src/minimal_publisher.rs
diff --git a/examples/minimal_pub_sub/src/minimal_subscriber.rs b/examples/minimal_pub_sub/src/minimal_subscriber.rs
diff --git a/examples/minimal_pub_sub/src/minimal_two_nodes.rs b/examples/minimal_pub_sub/src/minimal_two_nodes.rs
diff --git a/examples/minimal_pub_sub/src/zero_copy_publisher.rs b/examples/minimal_pub_sub/src/zero_copy_publisher.rs
diff --git a/examples/minimal_pub_sub/src/zero_copy_subscriber.rs b/examples/minimal_pub_sub/src/zero_copy_subscriber.rs
diff --git a/examples/rclrs_example_msgs/CMakeLists.txt b/examples/rclrs_example_msgs/CMakeLists.txt
diff --git a/examples/rclrs_example_msgs/msg/MyMessage.idl b/examples/rclrs_example_msgs/msg/MyMessage.idl
diff --git a/examples/rclrs_example_msgs/msg/NestedType.msg b/examples/rclrs_example_msgs/msg/NestedType.msg
diff --git a/examples/rclrs_example_msgs/msg/VariousTypes.msg b/examples/rclrs_example_msgs/msg/VariousTypes.msg
diff --git a/examples/rclrs_example_msgs/package.xml b/examples/rclrs_example_msgs/package.xml
diff --git a/rclrs/CHANGELOG.rst b/rclrs/CHANGELOG.rst
diff --git a/rclrs/Cargo.toml b/rclrs/Cargo.toml
diff --git a/rclrs/README.md b/rclrs/README.md
diff --git a/rclrs/build.rs b/rclrs/build.rs
diff --git a/rclrs/package.xml b/rclrs/package.xml
diff --git a/rclrs/src/arguments.rs b/rclrs/src/arguments.rs
diff --git a/rclrs/src/client.rs b/rclrs/src/client.rs
diff --git a/rclrs/src/clock.rs b/rclrs/src/clock.rs
diff --git a/rclrs/src/context.rs b/rclrs/src/context.rs
diff --git a/rclrs/src/dynamic_message.rs b/rclrs/src/dynamic_message.rs
diff --git a/rclrs/src/dynamic_message/error.rs b/rclrs/src/dynamic_message/error.rs
diff --git a/rclrs/src/error.rs b/rclrs/src/error.rs
diff --git a/rclrs/src/executor.rs b/rclrs/src/executor.rs
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
diff --git a/rclrs/src/node.rs b/rclrs/src/node.rs
diff --git a/rclrs/src/node/builder.rs b/rclrs/src/node/builder.rs
diff --git a/rclrs/src/node/graph.rs b/rclrs/src/node/graph.rs
diff --git a/rclrs/src/parameter.rs b/rclrs/src/parameter.rs
diff --git a/rclrs/src/parameter/override_map.rs b/rclrs/src/parameter/override_map.rs
diff --git a/rclrs/src/parameter/service.rs b/rclrs/src/parameter/service.rs
diff --git a/rclrs/src/parameter/value.rs b/rclrs/src/parameter/value.rs
diff --git a/rclrs/src/publisher.rs b/rclrs/src/publisher.rs
diff --git a/rclrs/src/publisher/loaned_message.rs b/rclrs/src/publisher/loaned_message.rs
diff --git a/rclrs/src/qos.rs b/rclrs/src/qos.rs
diff --git a/rclrs/src/rcl_bindings.rs b/rclrs/src/rcl_bindings.rs
diff --git a/rclrs/src/rcl_wrapper.h b/rclrs/src/rcl_wrapper.h
diff --git a/rclrs/src/service.rs b/rclrs/src/service.rs
diff --git a/rclrs/src/subscription.rs b/rclrs/src/subscription.rs
diff --git a/rclrs/src/subscription/callback.rs b/rclrs/src/subscription/callback.rs
diff --git a/rclrs/src/subscription/message_info.rs b/rclrs/src/subscription/message_info.rs
diff --git a/rclrs/src/subscription/readonly_loaned_message.rs b/rclrs/src/subscription/readonly_loaned_message.rs
diff --git a/rclrs/src/test_helpers/graph_helpers.rs b/rclrs/src/test_helpers/graph_helpers.rs
diff --git a/rclrs/src/test_helpers/mod.rs b/rclrs/src/test_helpers/mod.rs
diff --git a/rclrs/src/time.rs b/rclrs/src/time.rs
diff --git a/rclrs/src/time_source.rs b/rclrs/src/time_source.rs
diff --git a/rclrs/src/vendor/builtin_interfaces/mod.rs b/rclrs/src/vendor/builtin_interfaces/mod.rs
diff --git a/rclrs/src/vendor/builtin_interfaces/msg.rs b/rclrs/src/vendor/builtin_interfaces/msg.rs
diff --git a/rclrs/src/vendor/mod.rs b/rclrs/src/vendor/mod.rs
diff --git a/rclrs/src/vendor/rcl_interfaces/mod.rs b/rclrs/src/vendor/rcl_interfaces/mod.rs
diff --git a/rclrs/src/vendor/rcl_interfaces/msg.rs b/rclrs/src/vendor/rcl_interfaces/msg.rs
diff --git a/rclrs/src/vendor/rcl_interfaces/srv.rs b/rclrs/src/vendor/rcl_interfaces/srv.rs
diff --git a/rclrs/src/vendor/rosgraph_msgs/mod.rs b/rclrs/src/vendor/rosgraph_msgs/mod.rs
diff --git a/rclrs/src/vendor/rosgraph_msgs/msg.rs b/rclrs/src/vendor/rosgraph_msgs/msg.rs
diff --git a/rclrs/src/wait.rs b/rclrs/src/wait.rs
diff --git a/rclrs/src/wait/exclusivity_guard.rs b/rclrs/src/wait/exclusivity_guard.rs
diff --git a/rclrs/src/wait/guard_condition.rs b/rclrs/src/wait/guard_condition.rs
diff --git a/rclrs/vendor_interfaces.py b/rclrs/vendor_interfaces.py
diff --git a/ros2_rust_humble.repos b/ros2_rust_humble.repos
diff --git a/ros2_rust_iron.repos b/ros2_rust_iron.repos
diff --git a/ros2_rust_rolling.repos b/ros2_rust_rolling.repos
diff --git a/rosidl_generator_rs/CMakeLists.txt b/rosidl_generator_rs/CMakeLists.txt
diff --git a/rosidl_generator_rs/cmake/custom_command.cmake b/rosidl_generator_rs/cmake/custom_command.cmake
diff --git a/rosidl_generator_rs/cmake/register_rs.cmake b/rosidl_generator_rs/cmake/register_rs.cmake
diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
diff --git a/rosidl_generator_rs/package.xml b/rosidl_generator_rs/package.xml
diff --git a/rosidl_generator_rs/resource/Cargo.toml.em b/rosidl_generator_rs/resource/Cargo.toml.em
@@ -2,7 +2,9 @@
 name = "@(package_name)"
 version = "@(package_version)"
 edition = "2021"
-
+description = "@(package_name) ros2 rust generated dependencies"
+license = "@(license)"
+authors= @(authors)
 [dependencies]
 rosidl_runtime_rs = "0.4"
 serde = { version = "1", optional = true, features = ["derive"] }

diff --git a/rosidl_generator_rs/resource/build.rs.em b/rosidl_generator_rs/resource/build.rs.em
diff --git a/rosidl_generator_rs/resource/lib.rs.em b/rosidl_generator_rs/resource/lib.rs.em
diff --git a/rosidl_generator_rs/resource/msg.rs.em b/rosidl_generator_rs/resource/msg.rs.em
diff --git a/rosidl_generator_rs/resource/msg_idiomatic.rs.em b/rosidl_generator_rs/resource/msg_idiomatic.rs.em
diff --git a/rosidl_generator_rs/resource/msg_rmw.rs.em b/rosidl_generator_rs/resource/msg_rmw.rs.em
diff --git a/rosidl_generator_rs/resource/srv.rs.em b/rosidl_generator_rs/resource/srv.rs.em
diff --git a/rosidl_generator_rs/rosidl_generator_rs-extras.cmake.in b/rosidl_generator_rs/rosidl_generator_rs-extras.cmake.in
diff --git a/rosidl_generator_rs/rosidl_generator_rs/__init__.py b/rosidl_generator_rs/rosidl_generator_rs/__init__.py
@@ -14,28 +14,29 @@
 
 import os
 import pathlib
-
 from pathlib import Path
 
 if os.environ['ROS_DISTRO'] <= 'humble':
-    import rosidl_cmake as rosidl_pycommon
-else:
+    import rosidl_cmake as rosidl_pycommon  
+else: 
     import rosidl_pycommon
 
-from rosidl_parser.definition import AbstractGenericString
-from rosidl_parser.definition import Array
-from rosidl_parser.definition import BasicType
-from rosidl_parser.definition import BoundedSequence
-from rosidl_parser.definition import BoundedString
-from rosidl_parser.definition import BoundedWString
-from rosidl_parser.definition import IdlContent
-from rosidl_parser.definition import IdlLocator
-from rosidl_parser.definition import Message
-from rosidl_parser.definition import NamespacedType
-from rosidl_parser.definition import Service
-from rosidl_parser.definition import UnboundedSequence
-from rosidl_parser.definition import UnboundedString
-from rosidl_parser.definition import UnboundedWString
+from rosidl_parser.definition import (
+    AbstractGenericString,
+    Array,
+    BasicType,
+    BoundedSequence,
+    BoundedString,
+    BoundedWString,
+    IdlContent,
+    IdlLocator,
+    Message,
+    NamespacedType,
+    Service,
+    UnboundedSequence,
+    UnboundedString,
+    UnboundedWString,
+)
 
 from rosidl_parser.parser import parse_idl_file
 
@@ -88,11 +89,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
 
     # Ensure the required templates exist
     for template_file in mapping_msgs.keys():
-        assert os.path.exists(template_file), \
-            'Messages template file %s not found' % template_file
+        assert os.path.exists(template_file), f'Messages template file {template_file} not found'
     for template_file in mapping_srvs.keys():
-        assert os.path.exists(template_file), \
-            'Services template file %s not found' % template_file
+        assert os.path.exists(template_file), f'Services template file {template_file} not found' 
 
     data = {
         'pre_field_serde': pre_field_serde,
@@ -105,8 +104,8 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         rosidl_pycommon.convert_camel_case_to_lower_case_underscore,
         'convert_lower_case_underscore_to_camel_case':
         convert_lower_case_underscore_to_camel_case,
-        'msg_specs': [],
-        'srv_specs': [],
+        'msg_specs': [('msg', message) for message in idl_content.get_elements_of_type(Message)],
+        'srv_specs': [('srv', service) for service in idl_content.get_elements_of_type(Service)],
         'package_name': args['package_name'],
         'typesupport_impls': typesupport_impls,
         'interface_path': idl_rel_path,
@@ -115,12 +114,6 @@ def generate_rs(generator_arguments_file, typesupport_impls):
     latest_target_timestamp = rosidl_pycommon.get_newest_modification_time(
         args['target_dependencies'])
 
-    for message in idl_content.get_elements_of_type(Message):
-        data['msg_specs'].append(('msg', message))
-
-    for service in idl_content.get_elements_of_type(Service):
-        data['srv_specs'].append(('srv', service))
-
     if data['msg_specs']:
         for template_file, generated_filenames in mapping_msgs.items():
             for generated_filename in generated_filenames:
@@ -153,6 +146,9 @@ def generate_rs(generator_arguments_file, typesupport_impls):
         'dependency_packages': dependency_packages,
         'package_name': args['package_name'],
         'package_version': args['package_version'],
+        'license':"Apache-2.0",
+        'authors':'["DefaultUser <[email protected]>"]'
+
     }
     rosidl_pycommon.expand_template(
         os.path.join(template_dir, 'Cargo.toml.em'),
@@ -184,23 +180,19 @@ def get_rs_name(name):
     return name if not name in keywords else name + '_'
 
 def escape_string(s):
-    s = s.replace('\\', '\\\\')
-    s = s.replace("'", "\\'")
-    return s
+    return s.replace('\\', '\\\\').replace("'", "\\'")
 
 
 def value_to_rs(type_, value):
     assert type_.is_primitive_type()
     assert value is not None
 
-    if not type_.is_array:
-        return primitive_value_to_rs(type_, value)
+    return primitive_value_to_rs(type_, value) if(
+        not type_.is_array
+    )else '{%s}' % ', '.join(
+        [primitive_value_to_rs(type_, single_value) for single_value in value]
+    )
 
-    rs_values = []
-    for single_value in value:
-        rs_value = primitive_value_to_rs(type_, single_value)
-        rs_values.append(rs_value)
-    return '{%s}' % ', '.join(rs_values)
 
 
 def primitive_value_to_rs(type_, value):
@@ -227,13 +219,12 @@ def primitive_value_to_rs(type_, value):
         return str(value)
 
     if type_.type == 'float32':
-        return '%sf' % value
+        return f'{value}f' 
 
     if type_.type == 'string':
-        return '"%s"' % escape_string(value)
-
-    assert False, "unknown primitive type '%s'" % type_
+        return f'"{escape_string(value)}"'
 
+    assert False, f"unknown primitive type '{type_}'" 
 
 def constant_value_to_rs(type_, value):
     assert value is not None
@@ -242,13 +233,13 @@ def constant_value_to_rs(type_, value):
         if type_.typename == 'boolean':
             return 'true' if value else 'false'
         elif type_.typename == 'float32':
-            return '%sf' % value
+            return f'{value}f'
         return str(value)
 
     if isinstance(type_, AbstractGenericString):
-        return '"%s"' % escape_string(value)
+        return f'"{escape_string(value)}"'
 
-    assert False, "unknown constant type '%s'" % type_
+    assert False, f"unknown constant type '{type_}'"
 
 # Type hierarchy:
 # 
@@ -272,10 +263,7 @@ def constant_value_to_rs(type_, value):
 
 
 def pre_field_serde(type_):
-    if isinstance(type_, Array) and type_.size > 32:
-        return '#[cfg_attr(feature = "serde", serde(with = "serde_big_array::BigArray"))]\n    '
-    else:
-        return ''
+    return '#[cfg_attr(feature = "serde", serde(with = "serde_big_array::BigArray"))]\n    'if isinstance(type_, Array) and type_.size > 32 else ''
 
 
 def make_get_idiomatic_rs_type(package_name):
@@ -284,11 +272,11 @@ def get_idiomatic_rs_type(type_):
         if isinstance(type_, UnboundedString) or isinstance(type_, UnboundedWString):
             return 'std::string::String'
         elif isinstance(type_, UnboundedSequence):
-            return 'Vec<{}>'.format(get_idiomatic_rs_type(type_.value_type))
+            return f'Vec<{get_idiomatic_rs_type(type_.value_type)}>'        
         elif isinstance(type_, NamespacedType):
             return '::'.join(type_.namespaced_name()).replace(package_name, 'crate')
         elif isinstance(type_, Array):
-            return '[{}; {}]'.format(get_idiomatic_rs_type(type_.value_type), type_.size)
+            return f'[{get_idiomatic_rs_type(type_.value_type)}; {type_.size}]'
         else:
             return get_rmw_rs_type(type_)
     return get_idiomatic_rs_type
@@ -333,15 +321,15 @@ def get_rmw_rs_type(type_):
         elif isinstance(type_, UnboundedWString):
             return 'rosidl_runtime_rs::WString'
         elif isinstance(type_, BoundedString):
-            return 'rosidl_runtime_rs::BoundedString<{}>'.format(type_.maximum_size)
+            return f'rosidl_runtime_rs::BoundedString<{type_.maximum_size}>'
         elif isinstance(type_, BoundedWString):
-            return 'rosidl_runtime_rs::BoundedWString<{}>'.format(type_.maximum_size)
+            return f'rosidl_runtime_rs::BoundedWString<{type_.maximum_size}>'
         elif isinstance(type_, Array):
-            return '[{}; {}]'.format(get_rmw_rs_type(type_.value_type), type_.size)
+                    return f"[{get_rmw_rs_type(type_.value_type)}; {type_.size}]"
         elif isinstance(type_, UnboundedSequence):
-            return 'rosidl_runtime_rs::Sequence<{}>'.format(get_rmw_rs_type(type_.value_type))
+            return f'rosidl_runtime_rs::Sequence<{get_rmw_rs_type(type_.value_type)}>'
         elif isinstance(type_, BoundedSequence):
-            return 'rosidl_runtime_rs::BoundedSequence<{}, {}>'.format(get_rmw_rs_type(type_.value_type), type_.maximum_size)
+            return f'rosidl_runtime_rs::BoundedSequence<{get_rmw_rs_type(type_.value_type)}, {type_.maximum_size}>'
 
-        assert False, "unknown type '%s'" % type_.typename
+        assert False, f"unknown type '{type_.typename}'"
     return get_rmw_rs_type
diff --git a/rosidl_runtime_rs/Cargo.toml b/rosidl_runtime_rs/Cargo.toml
diff --git a/rosidl_runtime_rs/README.md b/rosidl_runtime_rs/README.md
diff --git a/rosidl_runtime_rs/build.rs b/rosidl_runtime_rs/build.rs
diff --git a/rosidl_runtime_rs/package.xml b/rosidl_runtime_rs/package.xml
diff --git a/rosidl_runtime_rs/src/lib.rs b/rosidl_runtime_rs/src/lib.rs
diff --git a/rosidl_runtime_rs/src/sequence.rs b/rosidl_runtime_rs/src/sequence.rs
@@ -1,8 +1,10 @@
-use std::cmp::Ordering;
-use std::fmt::{self, Debug, Display};
-use std::hash::{Hash, Hasher};
-use std::iter::{Extend, FromIterator, FusedIterator};
-use std::ops::{Deref, DerefMut};
+use std::{
+    cmp::Ordering,
+    fmt::{self, Debug, Display},
+    hash::{Hash, Hasher},
+    iter::{Extend, FromIterator, FusedIterator},
+    ops::{Deref, DerefMut},
+};
 
 #[cfg(feature = "serde")]
 mod serde;

diff --git a/rosidl_runtime_rs/src/sequence/serde.rs b/rosidl_runtime_rs/src/sequence/serde.rs
diff --git a/rosidl_runtime_rs/src/string.rs b/rosidl_runtime_rs/src/string.rs
@@ -1,14 +1,15 @@
-use std::cmp::Ordering;
-use std::ffi::CStr;
-use std::fmt::{self, Debug, Display};
-use std::hash::{Hash, Hasher};
-use std::ops::{Deref, DerefMut};
+use std::{
+    cmp::Ordering,
+    ffi::CStr,
+    fmt::{self, Debug, Display},
+    hash::{Hash, Hasher},
+    ops::{Deref, DerefMut},
+};
 
 #[cfg(feature = "serde")]
 mod serde;
 
-use crate::sequence::Sequence;
-use crate::traits::SequenceAlloc;
+use crate::{sequence::Sequence, traits::SequenceAlloc};
 
 /// A zero-terminated string of 8-bit characters.
 ///

diff --git a/rosidl_runtime_rs/src/string/serde.rs b/rosidl_runtime_rs/src/string/serde.rs
diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs
@@ -15,8 +15,7 @@
 // DISTRIBUTION A. Approved for public release; distribution unlimited.
 // OPSEC #4584.
 //
-use std::borrow::Cow;
-use std::fmt::Debug;
+use std::{borrow::Cow, fmt::Debug};
 
 /// Internal trait that connects a particular `Sequence<T>` instance to generated C functions
 /// that allocate and deallocate memory.