Crystal and more

README.md

@@ -19,27 +19,31 @@ What's missing?
 ---------------
 
 Lots of things!
-- Nested types
 - An ament build type for Cargo. The current examples use CMake to install and build the binaries... and it's really ugly.
 - Component nodes
 - Clients and services
 - Tests
 - Documentation
 
+### Limitations
+
+- messages are deep-copied and this can be terribly inefficient for big messages like images; the current solution leverages C typesupport implementations and might benefits from a direct serialization/deserialization
+- the current solution for crates export with CMake is not very robust
+- `rclrs` interface is very limited for now and might not be so much idiomatic yet, any help and suggestion on the interface would be greatly appreciated
+- due to the current ROS2 support of non-default clients, packages containing definitions of messages used in Rust crates must be present in the current workspace; otherwise message crates generation won't be triggered
+
 Sounds great, how can I try this out?
 -------------------------------------
 
 The following steps show how to build the examples:
 
 ```
-mkdir -p ~/ros2_rust_ws/src
-cd ~/ros2_rust_ws
-wget https://raw.githubusercontent.com/esteve/ros2_rust/master/ros2_rust.repos
-vcs import ~/ros2_rust_ws/src < ros2_rust.repos
-cd ~/ros2_rust_ws/src/ros2/rosidl_typesupport
-patch -p1 < ../../ros2_rust/ros2_rust/rosidl_typesupport_ros2_rust.patch
-cd ~/ros2_rust_ws
-src/ament/ament_tools/scripts/ament.py build --isolated
+mkdir -p ros2_rust_ws/src
+cd ros2_rust_ws
+git clone https://github.com/esteve/ros2_rust.git src/ros2_rust
+vcs import src < ./src/ros2_rust/ros2_rust.repos
+source /opt/ros/crystal/setup.sh
+colcon build
 ```
 
 Now you can just run a bunch of examples.
@@ -49,15 +53,15 @@ Now you can just run a bunch of examples.
 Publisher:
 
 ```
-. ~/ros2_rust_ws/install_isolated/local_setup.sh
+. ./install/setup.sh
 
 ros2 run rclrs_examples rclrs_publisher
 ```
 
 Subscriber:
 
 ```
-. ~/ros2_rust_ws/install_isolated/local_setup.sh
+. ./install/setup.sh
 
 ros2 run rclrs_examples rclrs_subscriber
 ```

rclrs/CMakeLists.txt

@@ -1,72 +1,27 @@
 cmake_minimum_required(VERSION 3.5)
+project(rclrs NONE)
 
-project(rclrs C)
-
-find_package(ament_cmake_ros REQUIRED)
+find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_export_crates REQUIRED)
-find_package(rcl REQUIRED)
-find_package(rcl_interfaces REQUIRED)
 find_package(rclrs_common REQUIRED)
-find_package(rmw REQUIRED)
-find_package(rmw_implementation REQUIRED)
-find_package(rmw_implementation_cmake REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
-
-set(${PROJECT_NAME}_SRCS
-  "src/c/rclrs.c"
-)
-
-set(CMAKE_C_STANDARD 11)
 
-add_library(${PROJECT_NAME}
-  ${${PROJECT_NAME}_SRCS})
+foreach(_crate_dependency ${rclrs_common_CRATES})
+    set(_crates_dependencies "${_crates_dependencies}\n[dependencies.rclrs_common]\npath = '${_crate_dependency}'\n")
+endforeach()
 
-ament_target_dependencies(${PROJECT_NAME}
-  "builtin_interfaces"
-  "rcl"
-  "rosidl_generator_c"
-  "rosidl_typesupport_c")
+file(COPY "${CMAKE_SOURCE_DIR}/Cargo.toml" DESTINATION "${CMAKE_BINARY_DIR}/")
+file(APPEND "${CMAKE_BINARY_DIR}/Cargo.toml" "${_crates_dependencies}")
 
 install(
-  TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION bin
-)
-
-configure_file(
-  "src/rust/Cargo.toml.in"
-  "share/${PROJECT_NAME}/rust/Cargo.toml"
-  @ONLY
-)
-
-install(
-  FILES "${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/rust/Cargo.toml"
+  FILES ${CMAKE_BINARY_DIR}/Cargo.toml build.rs src/rcl_wrapper.h
   DESTINATION share/${PROJECT_NAME}/rust/
 )
 
 install(
-  DIRECTORY src/rust/src/
+  DIRECTORY src/
   DESTINATION  share/${PROJECT_NAME}/rust/src
 )
 
-install(
-  DIRECTORY src/rust/src/
-  DESTINATION  share/${PROJECT_NAME}/rust/src
-)
-
-ament_export_dependencies(ament_cmake_ros)
-ament_export_dependencies(builtin_interfaces)
-ament_export_dependencies(rcl)
-ament_export_dependencies(rosidl_generator_c)
-ament_export_dependencies(rosidl_typesupport_c)
-
-ament_export_libraries(${PROJECT_NAME})
-ament_export_crates("share/${PROJECT_NAME}/rust/")
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-endif()
+ament_export_crates("share/${PROJECT_NAME}/rust")
 
-ament_package()
+ament_package()

rclrs/src/rust/Cargo.toml.in → rclrs/Cargo.toml

@@ -2,7 +2,11 @@
 name = "rclrs"
 version = "0.1.0"
 authors = ["Esteve Fernandez <[email protected]>"]
+edition = "2018"
 
 [dependencies]
-libc = "0.2"
-rclrs_common = { path = '@rclrs_common_CRATES@' }
+libc = "0.2.43"
+failure = "0.1.5"
+
+[build-dependencies]
+bindgen = "0.45.0"

rclrs/build.rs

@@ -0,0 +1,34 @@
+extern crate bindgen;
+
+use std::env;
+use std::path::PathBuf;
+
+fn main() {
+    let mut builder = bindgen::Builder::default()
+        .header("src/rcl_wrapper.h")
+        .derive_copy(false)
+        .default_enum_style(bindgen::EnumVariation::Rust);
+
+    let ament_prefix_var_name = "AMENT_PREFIX_PATH";
+    let ament_prefix_var = env::var(ament_prefix_var_name);
+
+    if let Ok(ament_prefix_paths) = ament_prefix_var {
+        for ament_prefix_path in ament_prefix_paths.split(":") {
+            builder = builder.clang_arg(format!("-I{}/include", ament_prefix_path));
+            println!("cargo:rustc-link-search=native={}/lib", ament_prefix_path);
+        }
+    }
+
+    println!("cargo:rustc-link-lib=dylib=rcl");
+    println!("cargo:rustc-link-lib=dylib=rcl_logging_noop");
+    println!("cargo:rustc-link-lib=dylib=rcutils");
+    println!("cargo:rustc-link-lib=dylib=rmw");
+    println!("cargo:rustc-link-lib=dylib=rmw_implementation");
+
+    let bindings = builder.generate().expect("Unable to generate bindings");
+
+    let out_path = PathBuf::from(env::var("OUT_DIR").unwrap());
+    bindings
+        .write_to_file(out_path.join("rcl_bindings.rs"))
+        .expect("Couldn't write bindings!");
+}

rclrs/package.xml

@@ -7,49 +7,12 @@
   <maintainer email="[email protected]">Esteve Fernandez</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_export_crates</buildtool_depend>
-  <buildtool_depend>rclrs_common</buildtool_depend>
 
-  <buildtool_export_depend>ament_cmake_ros</buildtool_export_depend>
-  <buildtool_export_depend>ament_cmake_export_crates</buildtool_export_depend>
-  <buildtool_export_depend>rclrs_common</buildtool_export_depend>
-
-  <build_depend>builtin_interfaces</build_depend>
-  <build_depend>rcl_interfaces</build_depend>
-  <build_depend>rcl</build_depend>
-  <build_depend>rmw_implementation_cmake</build_depend>
-  <build_depend>rmw</build_depend>
-  <build_depend>rosidl_generator_c</build_depend>
-  <build_depend>rosidl_typesupport_c</build_depend>
-  <build_depend>rosidl_typesupport_rs</build_depend>
-  <build_export_depend>builtin_interfaces</build_export_depend>
-  <build_export_depend>rcl_interfaces</build_export_depend>
-  <build_export_depend>rmw</build_export_depend>
-  <build_export_depend>rosidl_generator_c</build_export_depend>
-  <build_export_depend>rosidl_generator_rs</build_export_depend>
-  <build_export_depend>rosidl_typesupport_c</build_export_depend>
-
-  <exec_depend>builtin_interfaces</exec_depend>
-  <exec_depend>rcl_interfaces</exec_depend>
-  <exec_depend>rcl</exec_depend>
-  <exec_depend>rmw_implementation_cmake</exec_depend>
-  <exec_depend>rmw_implementation</exec_depend>
-  <exec_depend>rosidl_generator_c</exec_depend>
-  <exec_depend>rosidl_parser</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>builtin_interfaces</test_depend>
-  <test_depend>rcl_interfaces</test_depend>
-  <test_depend>rclrs_common</test_depend>
-  <test_depend>rmw_implementation_cmake</test_depend>
-  <test_depend>rmw</test_depend>
-  <test_depend>rosidl_generator_c</test_depend>
-  <test_depend>rosidl_generator_rs</test_depend>
-  <test_depend>std_msgs</test_depend>
+  <build_depend>rclrs_common</build_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>