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// Based on https://github.com/rclrust/rclrust/tree/3a48dbb8f23a3d67d3031351da3ed236a354f039/rclrust-msg-gen
#![warn(
rust_2018_idioms,
elided_lifetimes_in_paths,
clippy::all,
clippy::nursery
)]
use std::path::Path;
use quote::quote;
pub mod parser;
pub mod types;
pub use crate::parser::get_packages;
pub fn gen<P>(paths: &[P], create_cxx_bridge: bool) -> proc_macro2::TokenStream
where
P: AsRef<Path>,
{
let packages = get_packages(paths).unwrap();
let mut shared_type_defs = Vec::new();
let mut message_struct_impls = Vec::new();
let mut message_topic_defs = Vec::new();
let mut message_topic_impls = Vec::new();
let mut service_defs = Vec::new();
let mut service_impls = Vec::new();
let mut service_creation_defs = Vec::new();
let mut service_creation_impls = Vec::new();
let mut aliases = Vec::new();
for package in &packages {
for message in &package.messages {
let (def, imp) = message.struct_token_stream(&package.name, create_cxx_bridge);
shared_type_defs.push(def);
message_struct_impls.push(imp);
if create_cxx_bridge {
let (topic_def, topic_impl) = message.topic_def(&package.name);
message_topic_defs.push(topic_def);
message_topic_impls.push(topic_impl);
}
}
for service in &package.services {
let (def, imp) = service.struct_token_stream(&package.name, create_cxx_bridge);
service_defs.push(def);
service_impls.push(imp);
if create_cxx_bridge {
let (service_creation_def, service_creation_impl) =
service.cxx_service_creation_functions(&package.name);
service_creation_defs.push(service_creation_def);
service_creation_impls.push(service_creation_impl);
}
}
aliases.push(package.aliases_token_stream());
}
let (attributes, imports_and_functions, cxx_bridge_impls) = if create_cxx_bridge {
(
quote! { #[cxx::bridge] },
quote! {
#[allow(dead_code)]
extern "C++" {
type CombinedEvents = crate::ffi::CombinedEvents;
type CombinedEvent = crate::ffi::CombinedEvent;
}
extern "Rust" {
type Ros2Context;
type Ros2Node;
fn init_ros2_context() -> Result<Box<Ros2Context>>;
fn new_node(self: &Ros2Context, name_space: &str, base_name: &str) -> Result<Box<Ros2Node>>;
fn qos_default() -> Ros2QosPolicies;
#(#message_topic_defs)*
#(#service_creation_defs)*
}
#[derive(Debug, Clone)]
pub struct Ros2QosPolicies {
pub durability: Ros2Durability,
pub liveliness: Ros2Liveliness,
pub lease_duration: f64,
pub reliable: bool,
pub max_blocking_time: f64,
pub keep_all: bool,
pub keep_last: i32,
}
/// DDS 2.2.3.4 DURABILITY
#[derive(Copy, Clone, Debug, PartialEq, Eq, PartialOrd, Ord, Hash)]
pub enum Ros2Durability {
Volatile,
TransientLocal,
Transient,
Persistent,
}
/// DDS 2.2.3.11 LIVELINESS
#[derive(Copy, Clone, Debug, PartialEq)]
pub enum Ros2Liveliness {
Automatic,
ManualByParticipant,
ManualByTopic,
}
},
quote! {
struct Ros2Context{
context: ros2_client::Context,
executor: std::sync::Arc<futures::executor::ThreadPool>,
}
fn init_ros2_context() -> eyre::Result<Box<Ros2Context>> {
Ok(Box::new(Ros2Context{
context: ros2_client::Context::new()?,
executor: std::sync::Arc::new(futures::executor::ThreadPool::new()?),
}))
}
impl Ros2Context {
fn new_node(&self, name_space: &str, base_name: &str) -> eyre::Result<Box<Ros2Node>> {
use futures::task::SpawnExt as _;
use eyre::WrapErr as _;
let name = ros2_client::NodeName::new(name_space, base_name).map_err(|e| eyre::eyre!(e))?;
let options = ros2_client::NodeOptions::new().enable_rosout(true);
let mut node = self.context.new_node(name, options)
.map_err(|e| eyre::eyre!("failed to create ROS2 node: {e:?}"))?;
let spinner = node.spinner().context("failed to create spinner")?;
self.executor.spawn(async {
if let Err(err) = spinner.spin().await {
eprintln!("ros2 spinner failed: {err:?}");
}
})
.context("failed to spawn ros2 spinner")?;
Ok(Box::new(Ros2Node{ node, executor: self.executor.clone(), }))
}
}
struct Ros2Node {
node : ros2_client::Node,
executor: std::sync::Arc<futures::executor::ThreadPool>,
}
fn qos_default() -> ffi::Ros2QosPolicies {
ffi::Ros2QosPolicies::new(None, None, None, None, None, None, None)
}
impl ffi::Ros2QosPolicies {
pub fn new(
durability: Option<ffi::Ros2Durability>,
liveliness: Option<ffi::Ros2Liveliness>,
reliable: Option<bool>,
keep_all: Option<bool>,
lease_duration: Option<f64>,
max_blocking_time: Option<f64>,
keep_last: Option<i32>,
) -> Self {
Self {
durability: durability.unwrap_or(ffi::Ros2Durability::Volatile),
liveliness: liveliness.unwrap_or(ffi::Ros2Liveliness::Automatic),
lease_duration: lease_duration.unwrap_or(f64::INFINITY),
reliable: reliable.unwrap_or(false),
max_blocking_time: max_blocking_time.unwrap_or(0.0),
keep_all: keep_all.unwrap_or(false),
keep_last: keep_last.unwrap_or(1),
}
}
}
impl From<ffi::Ros2QosPolicies> for rustdds::QosPolicies {
fn from(value: ffi::Ros2QosPolicies) -> Self {
rustdds::QosPolicyBuilder::new()
.durability(value.durability.into())
.liveliness(value.liveliness.convert(value.lease_duration))
.reliability(if value.reliable {
rustdds::policy::Reliability::Reliable {
max_blocking_time: rustdds::Duration::from_frac_seconds(
value.max_blocking_time,
),
}
} else {
rustdds::policy::Reliability::BestEffort
})
.history(if value.keep_all {
rustdds::policy::History::KeepAll
} else {
rustdds::policy::History::KeepLast {
depth: value.keep_last,
}
})
.build()
}
}
impl From<ffi::Ros2Durability> for rustdds::policy::Durability {
fn from(value: ffi::Ros2Durability) -> Self {
match value {
ffi::Ros2Durability::Volatile => rustdds::policy::Durability::Volatile,
ffi::Ros2Durability::TransientLocal => rustdds::policy::Durability::TransientLocal,
ffi::Ros2Durability::Transient => rustdds::policy::Durability::Transient,
ffi::Ros2Durability::Persistent => rustdds::policy::Durability::Persistent,
_ => unreachable!(), // required because enums are represented as integers in bridge
}
}
}
impl ffi::Ros2Liveliness {
fn convert(self, lease_duration: f64) -> rustdds::policy::Liveliness {
let lease_duration = if lease_duration.is_infinite() {
rustdds::Duration::INFINITE
} else {
rustdds::Duration::from_frac_seconds(lease_duration)
};
match self {
ffi::Ros2Liveliness::Automatic => rustdds::policy::Liveliness::Automatic { lease_duration },
ffi::Ros2Liveliness::ManualByParticipant => {
rustdds::policy::Liveliness::ManualByParticipant { lease_duration }
}
ffi::Ros2Liveliness::ManualByTopic => rustdds::policy::Liveliness::ManualByTopic { lease_duration },
_ => unreachable!(), // required because enums are represented as integers in bridge
}
}
}
},
)
} else {
(
quote! {},
quote! {
use serde::{Serialize, Deserialize};
},
quote! {},
)
};
quote! {
#attributes
mod ffi {
#imports_and_functions
#[derive(Debug, Default, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct U16String {
pub chars: Vec<u16>,
}
#(#shared_type_defs)*
#(#service_defs)*
}
impl crate::_core::InternalDefault for ffi::U16String {
fn _default() -> Self {
Default::default()
}
}
impl ffi::U16String {
fn from_str(arg: &str) -> Self {
Self { chars: crate::_core::widestring::U16String::from_str(arg).into_vec()}
}
}
#(#message_struct_impls)*
#cxx_bridge_impls
#(#message_topic_impls)*
#(#service_creation_impls)*
#(#service_impls)*
#(#aliases)*
}
}
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