Add rosout logging to rclrs

.github/workflows/rust.yml → .github/workflows/rust-minimal.yml

@@ -1,12 +1,15 @@
-name: Rust
+name: Rust Minimal
 
 on:
   push:
     branches: [ main ]
   pull_request:
     branches: [ main ]
   schedule:
-    - cron: '0 0 * * *'
+    # Run the CI at 02:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 2 * * 2'
 
 env:
   CARGO_TERM_COLOR: always
@@ -51,7 +54,7 @@ jobs:
         use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
 
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.74.0
+      uses: dtolnay/rust-toolchain@1.75
       with:
         components: clippy, rustfmt
 

.github/workflows/rust-stable.yml

@@ -0,0 +1,130 @@
+name: Rust Stable
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  schedule:
+    # Run the CI at 02:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 2 * * 2'
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distribution:
+          - humble
+          - iron
+          - rolling
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          # Iron Irwini (May 2023 - November 2024)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-iron-ros-base-latest
+            ros_distribution: iron
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Search packages in this repository
+      id: list_packages
+      run: |
+        echo ::set-output name=package_list::$(colcon list --names-only)
+
+    - name: Setup ROS environment
+      uses: ros-tooling/[email protected]
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
+
+    - name: Setup Rust
+      uses: dtolnay/rust-toolchain@stable
+      with:
+        components: clippy, rustfmt
+
+    - name: Install colcon-cargo and colcon-ros-cargo
+      run: |
+        sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
+        sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
+
+    - name: Check formatting of Rust packages
+      run: |
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
+        cd $path
+        rustup toolchain install nightly
+        cargo +nightly fmt -- --check
+        cd -
+        done
+
+    - name: Install cargo-ament-build
+      run: |
+        cargo install --debug cargo-ament-build
+
+    - name: Build and test
+      id: build
+      uses: ros-tooling/[email protected]
+      with:
+        package-name: ${{ steps.list_packages.outputs.package_list }}
+        target-ros2-distro: ${{ matrix.ros_distribution }}
+        vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
+
+    - name: Run clippy on Rust packages
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
+        cd $path
+        echo "Running clippy in $path"
+        # Run clippy for all features except generate_docs (needed for docs.rs)
+        if [ "$(basename $path)" = "rclrs" ]; then
+          cargo clippy --all-targets -F default,dyn_msg -- -D warnings
+        else
+          cargo clippy --all-targets --all-features -- -D warnings
+        fi
+        cd -
+        done
+
+    - name: Run cargo test on Rust packages
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . install/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
+        cd $path
+        echo "Running cargo test in $path"
+        # Run cargo test for all features except generate_docs (needed for docs.rs)
+        if [ "$(basename $path)" = "rclrs" ]; then
+          cargo test -F default,dyn_msg
+        elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
+          cargo test -F default
+        else
+          cargo test --all-features
+        fi
+        cd -
+        done
+
+    - name: Rustdoc check
+      run: |
+        cd ${{ steps.build.outputs.ros-workspace-directory-name }}
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
+        cd $path
+        echo "Running rustdoc check in $path"
+        cargo rustdoc -- -D warnings
+        cd -
+        done

rclrs/Cargo.toml

@@ -6,7 +6,7 @@ authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <nnmmgit@gmail
 edition = "2021"
 license = "Apache-2.0"
 description = "A ROS 2 client library for developing robotics applications in Rust"
-rust-version = "1.63"
+rust-version = "1.75"
 
 [lib]
 path = "src/lib.rs"
@@ -29,6 +29,10 @@ libloading = { version = "0.8", optional = true }
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.4"
 
+# Needed for serliazation and deserialization of vendored messages
+serde = { version = "1", optional = true, features = ["derive"] }
+serde-big-array = { version = "0.5.1", optional = true }
+
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
@@ -46,6 +50,7 @@ cfg-if = "1.0.0"
 [features]
 default = []
 dyn_msg = ["ament_rs", "libloading"]
+serde = ["dep:serde", "dep:serde-big-array", "rosidl_runtime_rs/serde"]
 # This feature is solely for the purpose of being able to generate documetation without a ROS installation
 # The only intended usage of this feature is for docs.rs builders to work, and is not intended to be used by end users
 generate_docs = ["rosidl_runtime_rs/generate_docs"]

rclrs/build.rs

@@ -35,6 +35,7 @@ fn main() {
         }
     };
 
+    println!("cargo:rustc-check-cfg=cfg(ros_distro, values(\"humble\", \"iron\", \"jazzy\", \"rolling\"))");
     println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
 
     let mut builder = bindgen::Builder::default()

rclrs/src/context.rs

@@ -6,7 +6,7 @@ use std::{
     vec::Vec,
 };
 
-use crate::{rcl_bindings::*, RclrsError, ToResult};
+use crate::{rcl_bindings::*, LoggingLifecycle, RclrsError, ToResult};
 
 /// This is locked whenever initializing or dropping any middleware entity
 /// because we have found issues in RCL and some RMW implementations that
@@ -56,6 +56,10 @@ unsafe impl Send for rcl_context_t {}
 /// - middleware-specific data, e.g. the domain participant in DDS
 /// - the allocator used (left as the default by `rclrs`)
 ///
+/// The context also configures the rcl_logging_* layer to allow publication to /rosout
+/// (as well as the terminal).  TODO: This behaviour should be configurable using an
+/// "auto logging initialise" flag as per rclcpp and rclpy.
+///
 pub struct Context {
     pub(crate) handle: Arc<ContextHandle>,
 }
@@ -68,6 +72,10 @@ pub struct Context {
 /// bindings in this library.
 pub(crate) struct ContextHandle {
     pub(crate) rcl_context: Mutex<rcl_context_t>,
+    /// This ensures that logging does not get cleaned up until after this ContextHandle
+    /// has dropped.
+    #[allow(unused)]
+    logging: Arc<LoggingLifecycle>,
 }
 
 impl Context {
@@ -143,9 +151,16 @@ impl Context {
             // Move the check after the last fini()
             ret?;
         }
+
+        // TODO: "Auto set-up logging" is forced but should be configurable as per rclcpp and rclpy
+        // SAFETY: We created this context a moment ago and verified that it is valid.
+        // No other conditions are needed.
+        let logging = unsafe { LoggingLifecycle::configure(&rcl_context)? };
+
         Ok(Self {
             handle: Arc::new(ContextHandle {
                 rcl_context: Mutex::new(rcl_context),
+                logging,
             }),
         })
     }

rclrs/src/lib.rs

@@ -11,6 +11,7 @@ mod clock;
 mod context;
 mod error;
 mod executor;
+mod logging;
 mod node;
 mod parameter;
 mod publisher;
@@ -38,6 +39,7 @@ pub use clock::*;
 pub use context::*;
 pub use error::*;
 pub use executor::*;
+pub use logging::*;
 pub use node::*;
 pub use parameter::*;
 pub use publisher::*;