Vendorize rosgraph msgs (#345)

* Revert "Version 0.4.0 (#343)"

This reverts commit e7065a7.

* Vendorize rosgraph_msgs

Signed-off-by: Esteve Fernandez <[email protected]>

* Fix module path

* Fix format

---------

Signed-off-by: Esteve Fernandez <[email protected]>

rclrs/Cargo.toml

@@ -20,8 +20,6 @@ ament_rs = { version = "0.2", optional = true }
 futures = "0.3"
 # Needed for dynamic messages
 libloading = { version = "0.8", optional = true }
-# Needed for /clock topic subscription when using simulation time
-rosgraph_msgs = "*"
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.3"
 

rclrs/src/time_source.rs

@@ -1,6 +1,6 @@
 use crate::clock::{Clock, ClockSource, ClockType};
+use crate::vendor::rosgraph_msgs::msg::Clock as ClockMsg;
 use crate::{MandatoryParameter, Node, QoSProfile, Subscription, QOS_PROFILE_CLOCK};
-use rosgraph_msgs::msg::Clock as ClockMsg;
 use std::sync::{Arc, Mutex, RwLock, Weak};
 
 /// Time source for a node that drives the attached clock.

rclrs/src/vendor/mod.rs

@@ -4,3 +4,4 @@
 
 pub mod builtin_interfaces;
 pub mod rcl_interfaces;
+pub mod rosgraph_msgs;

rclrs/src/vendor/rosgraph_msgs/mod.rs

@@ -0,0 +1,3 @@
+#![allow(non_camel_case_types)]
+
+pub mod msg;

rclrs/src/vendor/rosgraph_msgs/msg.rs

@@ -0,0 +1,131 @@
+pub mod rmw {
+    #[cfg(feature = "serde")]
+    use serde::{Deserialize, Serialize};
+
+    #[link(name = "rosgraph_msgs__rosidl_typesupport_c")]
+    extern "C" {
+        fn rosidl_typesupport_c__get_message_type_support_handle__rosgraph_msgs__msg__Clock(
+        ) -> *const std::os::raw::c_void;
+    }
+
+    #[link(name = "rosgraph_msgs__rosidl_generator_c")]
+    extern "C" {
+        fn rosgraph_msgs__msg__Clock__init(msg: *mut Clock) -> bool;
+        fn rosgraph_msgs__msg__Clock__Sequence__init(
+            seq: *mut rosidl_runtime_rs::Sequence<Clock>,
+            size: usize,
+        ) -> bool;
+        fn rosgraph_msgs__msg__Clock__Sequence__fini(seq: *mut rosidl_runtime_rs::Sequence<Clock>);
+        fn rosgraph_msgs__msg__Clock__Sequence__copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Clock>,
+            out_seq: *mut rosidl_runtime_rs::Sequence<Clock>,
+        ) -> bool;
+    }
+
+    // Corresponds to rosgraph_msgs__msg__Clock
+    #[repr(C)]
+    #[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+    #[derive(Clone, Debug, PartialEq, PartialOrd)]
+    pub struct Clock {
+        pub clock: crate::vendor::builtin_interfaces::msg::rmw::Time,
+    }
+
+    impl Default for Clock {
+        fn default() -> Self {
+            unsafe {
+                let mut msg = std::mem::zeroed();
+                if !rosgraph_msgs__msg__Clock__init(&mut msg as *mut _) {
+                    panic!("Call to rosgraph_msgs__msg__Clock__init() failed");
+                }
+                msg
+            }
+        }
+    }
+
+    impl rosidl_runtime_rs::SequenceAlloc for Clock {
+        fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { rosgraph_msgs__msg__Clock__Sequence__init(seq as *mut _, size) }
+        }
+        fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { rosgraph_msgs__msg__Clock__Sequence__fini(seq as *mut _) }
+        }
+        fn sequence_copy(
+            in_seq: &rosidl_runtime_rs::Sequence<Self>,
+            out_seq: &mut rosidl_runtime_rs::Sequence<Self>,
+        ) -> bool {
+            // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+            unsafe { rosgraph_msgs__msg__Clock__Sequence__copy(in_seq, out_seq as *mut _) }
+        }
+    }
+
+    impl rosidl_runtime_rs::Message for Clock {
+        type RmwMsg = Self;
+        fn into_rmw_message(
+            msg_cow: std::borrow::Cow<'_, Self>,
+        ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+            msg_cow
+        }
+        fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+            msg
+        }
+    }
+
+    impl rosidl_runtime_rs::RmwMessage for Clock
+    where
+        Self: Sized,
+    {
+        const TYPE_NAME: &'static str = "rosgraph_msgs/msg/Clock";
+        fn get_type_support() -> *const std::os::raw::c_void {
+            // SAFETY: No preconditions for this function.
+            unsafe {
+                rosidl_typesupport_c__get_message_type_support_handle__rosgraph_msgs__msg__Clock()
+            }
+        }
+    }
+} // mod rmw
+
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg_attr(feature = "serde", derive(Deserialize, Serialize))]
+#[derive(Clone, Debug, PartialEq, PartialOrd)]
+pub struct Clock {
+    pub clock: crate::vendor::builtin_interfaces::msg::Time,
+}
+
+impl Default for Clock {
+    fn default() -> Self {
+        <Self as rosidl_runtime_rs::Message>::from_rmw_message(
+            crate::vendor::rosgraph_msgs::msg::rmw::Clock::default(),
+        )
+    }
+}
+
+impl rosidl_runtime_rs::Message for Clock {
+    type RmwMsg = crate::vendor::rosgraph_msgs::msg::rmw::Clock;
+
+    fn into_rmw_message(msg_cow: std::borrow::Cow<'_, Self>) -> std::borrow::Cow<'_, Self::RmwMsg> {
+        match msg_cow {
+            std::borrow::Cow::Owned(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                clock: crate::vendor::builtin_interfaces::msg::Time::into_rmw_message(
+                    std::borrow::Cow::Owned(msg.clock),
+                )
+                .into_owned(),
+            }),
+            std::borrow::Cow::Borrowed(msg) => std::borrow::Cow::Owned(Self::RmwMsg {
+                clock: crate::vendor::builtin_interfaces::msg::Time::into_rmw_message(
+                    std::borrow::Cow::Borrowed(&msg.clock),
+                )
+                .into_owned(),
+            }),
+        }
+    }
+
+    fn from_rmw_message(msg: Self::RmwMsg) -> Self {
+        Self {
+            clock: crate::vendor::builtin_interfaces::msg::Time::from_rmw_message(msg.clock),
+        }
+    }
+}

rclrs/vendor_interfaces.py

@@ -1,6 +1,7 @@
 # This script produces the `vendor` module inside `rclrs` by copying
-# the generated code for the `rcl_interfaces` package and its dependency
-# `builtin_interfaces` and adjusting the submodule paths in the code.
+# the generated code for the `rosgraph_msgs` and `rcl_interfaces` packages and
+# its dependency `builtin_interfaces` and adjusting the submodule paths in the
+# code.
 # If these packages, or the `rosidl_generator_rs`, get changed, you can
 # update the `vendor` module by running this script.
 # The purpose is to avoid an external dependency on `rcl_interfaces`, which
@@ -12,14 +13,15 @@
 import subprocess
 
 def get_args():
-  parser = argparse.ArgumentParser(description='Vendor the rcl_interfaces and builtin_interfaces packages into rclrs')
+  parser = argparse.ArgumentParser(description='Vendor the rcl_interfaces, builtin_interfaces and rosgraph_msgs packages into rclrs')
   parser.add_argument('install_base', metavar='install_base', type=Path,
                       help='the install base (must have non-merged layout)')
   return parser.parse_args()
 
 def adjust(pkg, text):
   text = text.replace('builtin_interfaces::', 'crate::vendor::builtin_interfaces::')
   text = text.replace('rcl_interfaces::', 'crate::vendor::rcl_interfaces::')
+  text = text.replace('rosgraph_msgs::', 'crate::vendor::rosgraph_msgs::')
   text = text.replace('crate::msg', f'crate::vendor::{pkg}::msg')
   text = text.replace('crate::srv', f'crate::vendor::{pkg}::srv')
   return text
@@ -34,18 +36,20 @@ def copy_adjusted(pkg, src, dst):
 
 pub mod builtin_interfaces;
 pub mod rcl_interfaces;
+pub mod rosgraph_msgs;
 """.format(Path(__file__).name)
 
 def main():
   args = get_args()
   assert args.install_base.is_dir(), "Install base does not exist"
   assert (args.install_base / 'builtin_interfaces').is_dir(), "Install base does not contain builtin_interfaces"
   assert (args.install_base / 'rcl_interfaces').is_dir(), "Install base does not contain rcl_interfaces"
+  assert (args.install_base / 'rosgraph_msgs').is_dir(), "Install base does not contain rosgraph_msgs"
   rclrs_root = Path(__file__).parent
   vendor_dir = rclrs_root / 'src' / 'vendor'
   if vendor_dir.exists():
     shutil.rmtree(vendor_dir)
-  for pkg in ['builtin_interfaces', 'rcl_interfaces']:
+  for pkg in ['builtin_interfaces', 'rcl_interfaces', 'rosgraph_msgs']:
     src = args.install_base / pkg / 'share' / pkg / 'rust' / 'src'
     dst = vendor_dir / pkg
     dst.mkdir(parents=True)