Build system refactor (#64)

* Experimental change to build system. Allows IDE to parse dependencies. Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Remove commented code Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Refactoring to workspace layout. Does not compile. Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Revert change to workspace, general CMake tweaks Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Initial re-make of build system Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Fixing warnings within rosidl_generator Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Make sure cargo builds within the correct directory Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Add in checks for ROS 2 version to change the compilation syntax Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Properly query environment variable Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Only bind rcl, rmw, and rcutils Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Re-write to move most of `rclrs_common` to `rclrs` Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Updating/fixing package XML to comply with format 3 schema Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Missed a schema update Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Missed another schema... Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com> * Remove manual crate paths in toml files Distro A, OPSEC #4584. You may have additional rights; please see https://rosmilitary.org/faq/?category=ros-2-license Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>
ros2-rust · Nov 22, 2021 · 38ae32f · 38ae32f
1 parent 77ae3c1
commit 38ae32f
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Showing 31 changed files with 1,393 additions and 1,282 deletions.
diff --git a/.gitignore b/.gitignore
@@ -220,4 +220,7 @@ Cargo.lock
 # These are backup files generated by rustfmt
 **/*.rs.bk
 
+# Ignore generated .cargo/config.toml files
+**/.cargo/config.toml
+
 # End of https://www.toptal.com/developers/gitignore/api/cmake,rust,python,cpp,c
diff --git a/ament_cmake_export_crates/package.xml b/ament_cmake_export_crates/package.xml
@@ -1,11 +1,14 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>ament_cmake_export_crates</name>
   <version>0.0.3</version>
   <description>The ability to export Rust crates to downstream packages in the ament buildsystem in CMake.</description>
-  <author email="esteve@apache.org">Esteve Fernandez</author>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <license>Apache License 2.0</license>
+  <author email="esteve@apache.org">Esteve Fernandez</author>
 
   <buildtool_depend>ament_cmake_core</buildtool_depend>
 

diff --git a/rclrs/CMakeLists.txt b/rclrs/CMakeLists.txt
@@ -3,30 +3,25 @@ project(rclrs NONE)
 
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_export_crates REQUIRED)
-find_package(rclrs_common REQUIRED)
+find_package(rclrs_crate_config_generator REQUIRED)
+find_package(rclrs_msg_utilities REQUIRED)
 
-set(_crates_dependencies "")
-set(_found_dependencies "")
-foreach(_crate_dependency ${rclrs_common_CRATES})
-    if(NOT _crate_dependency IN_LIST _found_dependencies)
-        list(APPEND _found_dependencies ${_crate_dependency})
-        set(_crates_dependencies "${_crates_dependencies}\n[dependencies.rclrs_common]\npath = '${_crate_dependency}'\n")
-    endif()
-endforeach()
+ament_export_crates(${CMAKE_SOURCE_DIR})
 
-file(COPY "${CMAKE_SOURCE_DIR}/Cargo.toml" DESTINATION "${CMAKE_BINARY_DIR}/")
-file(APPEND "${CMAKE_BINARY_DIR}/Cargo.toml" "${_crates_dependencies}")
+set(ROS_CRATES rclrs_msg_utilities)
+rclrs_gen_crate_config(${ROS_CRATES})
 
-install(
-  FILES ${CMAKE_BINARY_DIR}/Cargo.toml build.rs src/rcl_wrapper.h
-  DESTINATION share/${PROJECT_NAME}/rust/
+# Build library
+add_custom_target(
+    build_crate ALL
+    COMMAND cargo build $<$<NOT:$<CONFIG:Debug>>:--release>
+    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
 )
 
-install(
-  DIRECTORY src/
-  DESTINATION  share/${PROJECT_NAME}/rust/src
+install(FILES
+    ${CMAKE_SOURCE_DIR}/target/$<$<NOT:$<CONFIG:Debug>>:release>$<$<CONFIG:Debug>:debug>/librclrs.rlib
+    PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE
+    DESTINATION lib/${PROJECT_NAME}
 )
 
-ament_export_crates("share/${PROJECT_NAME}/rust")
-
-ament_package()
+ament_package()
diff --git a/rclrs/Cargo.toml b/rclrs/Cargo.toml
@@ -4,6 +4,9 @@ version = "0.1.0"
 authors = ["Esteve Fernandez <esteve@apache.org>"]
 edition = "2018"
 
+[lib]
+path = "src/lib.rs"
+
 [dependencies]
 libc = "0.2.43"
 lock_api = "0.4.5"
@@ -12,6 +15,10 @@ cty = "0.2"
 core-error = "0.0.0"
 parking_lot = {version = "0.11.2", optional = true}
 spin = "0.9.2"
+downcast = "0.10.0"
+
+[dependencies.rclrs_msg_utilities]
+version = "*"
 
 [build-dependencies]
 bindgen = "0.59.1"

diff --git a/rclrs/build.rs b/rclrs/build.rs
@@ -9,6 +9,16 @@ fn main() {
         .use_core()
         .ctypes_prefix("cty")
         .derive_copy(false)
+        .allowlist_recursively(true)
+        .allowlist_type("rcl_.*")
+        .allowlist_type("rmw_.*")
+        .allowlist_type("rcutils_.*")
+        .allowlist_function("rcl_.*")
+        .allowlist_function("rmw_.*")
+        .allowlist_function("rcutils_.*")
+        .allowlist_var("rcl_.*")
+        .allowlist_var("rcl_.*")
+        .allowlist_var("rcutils_.*")
         .size_t_is_usize(true)
         .default_enum_style(bindgen::EnumVariation::Rust {
             non_exhaustive: false,

diff --git a/rclrs/package.xml b/rclrs/package.xml
@@ -1,19 +1,22 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>rclrs</name>
   <version>0.0.3</version>
   <description>Package containing the Rust client.</description>
-  <author email="esteve@apache.org">Esteve Fernandez</author>
   <maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
   <license>Apache License 2.0</license>
+  <author email="esteve@apache.org">Esteve Fernandez</author>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_export_crates</buildtool_depend>
+  <buildtool_depend>rclrs_crate_config_generator</buildtool_depend>
 
-  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rclrs_msg_utilities</build_depend>
   <build_depend>rcl</build_depend>
   <build_depend>rcl_interfaces</build_depend>
-  <build_depend>rclrs_common</build_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/rclrs/src/context.rs b/rclrs/src/context.rs
@@ -1,10 +1,9 @@
-use crate::error::ToResult;
+use crate::error::{RclReturnCode, ToResult};
 use crate::rcl_bindings::*;
 use crate::Node;
 use alloc::sync::Arc;
 use alloc::vec::Vec;
 use cstr_core::{c_char, CString};
-use rclrs_common::error::RclReturnCode;
 
 #[cfg(not(feature = "std"))]
 use spin::{Mutex, MutexGuard};