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Add 'rosidl_generator_rs/' from commit 'ba3f6b039a546fb34317ff83d18eee1466bd4003'
git-subtree-dir: rosidl_generator_rs git-subtree-mainline: b7711bd git-subtree-split: ba3f6b0
2 parents b7711bd + ba3f6b0 commit 9ce13e4

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+1479
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lines changed

‎rosidl_generator_rs/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(rosidl_generator_rs)
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rosidl_generator_c REQUIRED)
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find_package(rosidl_typesupport_interface REQUIRED)
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find_package(rosidl_typesupport_introspection_c REQUIRED)
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if("$ENV{ROS_DISTRO}" STRLESS_EQUAL "humble")
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find_package(rosidl_cmake REQUIRED)
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ament_export_dependencies(rosidl_cmake)
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endif()
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ament_export_dependencies(rmw)
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ament_export_dependencies(rosidl_generator_c)
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ament_index_register_resource("rosidl_generator_packages")
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ament_index_register_resource("rosidl_runtime_packages")
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ament_python_install_package(${PROJECT_NAME})
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ament_package(
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CONFIG_EXTRAS
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"rosidl_generator_rs-extras.cmake.in"
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"cmake/register_rs.cmake"
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)
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install(DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME})
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ament_register_extension(
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"rosidl_generate_idl_interfaces"
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"rosidl_generator_rs"
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"${PROJECT_SOURCE_DIR}/cmake/rosidl_generator_rs_generate_interfaces.cmake")
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install(
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PROGRAMS bin/rosidl_generator_rs
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DESTINATION lib/rosidl_generator_rs
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)
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install(
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DIRECTORY cmake resource
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DESTINATION share/${PROJECT_NAME}
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)

‎rosidl_generator_rs/bin/rosidl_generator_rs‎

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#!/usr/bin/env python3
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import argparse
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import os
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import sys
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try:
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from rosidl_generator_rs import generate_rs
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except ImportError:
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# modifying sys.path and importing the Rust package with the same
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# name as this script does not work on Windows
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rosidl_generator_rs_root = os.path.dirname(os.path.dirname(__file__))
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rosidl_generator_rs_module = os.path.join(
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rosidl_generator_rs_root, 'rosidl_generator_rs', '__init__.py')
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if not os.path.exists(rosidl_generator_rs_module):
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raise
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from importlib.machinery import SourceFileLoader
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loader = SourceFileLoader('rosidl_generator_rs', rosidl_generator_rs_module)
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rosidl_generator_rs = loader.load_module()
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generate_rs = rosidl_generator_rs.generate_rs
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def main(argv=sys.argv[1:]):
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parser = argparse.ArgumentParser(description='Generate the Rust ROS interfaces.')
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parser.add_argument(
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'--generator-arguments-file',
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required=True,
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help='The location of the file containing the generator arguments')
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parser.add_argument(
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'--typesupport-impls',
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required=True,
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help='All the available typesupport implementations')
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args = parser.parse_args(argv)
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return generate_rs(
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args.generator_arguments_file,
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args.typesupport_impls,
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)
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if __name__ == '__main__':
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sys.exit(main())

‎rosidl_generator_rs/cmake/custom_command.cmake‎

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# Copyright 2017 Esteve Fernandez <esteve@apache.org>
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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add_custom_command(
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OUTPUT
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${_generated_common_rs_files}
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${_generated_msg_rs_files}
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${_generated_srv_rs_files}
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${_generated_action_rs_files}
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COMMAND ${PYTHON_EXECUTABLE} ${rosidl_generator_rs_BIN}
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--generator-arguments-file "${generator_arguments_file}"
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--typesupport-impls "${_typesupport_impls}"
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DEPENDS ${target_dependencies}
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COMMENT "Generating Rust code for ROS interfaces"
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VERBATIM
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)
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if(TARGET ${rosidl_generate_interfaces_TARGET}${_target_suffix})
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message(WARNING "Custom target ${rosidl_generate_interfaces_TARGET}${_target_suffix} already exists")
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else()
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add_custom_target(
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${rosidl_generate_interfaces_TARGET}${_target_suffix} ALL
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DEPENDS
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${_generated_common_rs_files}
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${_generated_msg_rs_files}
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${_generated_srv_rs_files}
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${_generated_action_rs_files}
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)
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endif()

‎rosidl_generator_rs/cmake/register_rs.cmake‎

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# Copyright 2016-2017 Esteve Fernandez <esteve@apache.org>
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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macro(rosidl_generator_rs_extras BIN GENERATOR_FILES TEMPLATE_DIR)
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find_package(ament_cmake_core QUIET REQUIRED)
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ament_register_extension(
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"rosidl_generate_idl_interfaces"
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"rosidl_generator_rs"
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"rosidl_generator_rs_generate_interfaces.cmake")
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normalize_path(BIN "${BIN}")
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set(rosidl_generator_rs_BIN "${BIN}")
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normalize_path(GENERATOR_FILES "${GENERATOR_FILES}")
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set(rosidl_generator_rs_GENERATOR_FILES "${GENERATOR_FILES}")
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normalize_path(TEMPLATE_DIR "${TEMPLATE_DIR}")
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set(rosidl_generator_rs_TEMPLATE_DIR "${TEMPLATE_DIR}")
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endmacro()

‎rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake‎

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# Copyright 2016-2017 Esteve Fernandez <esteve@apache.org>
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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if(NOT WIN32)
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined")
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elseif(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-undefined,error")
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endif()
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endif()
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set(_output_path
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"${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_rs/${PROJECT_NAME}")
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set(_generated_common_rs_files "")
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set(_generated_msg_rs_files "")
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set(_generated_srv_rs_files "")
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set(_generated_action_rs_files "")
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set(_has_msg FALSE)
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set(_has_srv FALSE)
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set(_has_action FALSE)
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foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
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get_filename_component(_parent_folder "${_idl_file}" DIRECTORY)
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get_filename_component(_parent_folder "${_parent_folder}" NAME)
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get_filename_component(_module_name "${_idl_file}" NAME_WE)
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if(_parent_folder STREQUAL "msg")
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set(_has_msg TRUE)
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set(_idl_files ${_idl_files} ${_idl_file})
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elseif(_parent_folder STREQUAL "srv")
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set(_has_srv TRUE)
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set(_idl_files ${_idl_files} ${_idl_file})
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elseif(_parent_folder STREQUAL "action")
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set(_has_action TRUE)
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set(_idl_files ${_idl_files} ${_idl_file})
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else()
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message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
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endif()
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endforeach()
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list(APPEND _generated_common_rs_files
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"${_output_path}/rust/src/lib.rs"
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"${_output_path}/rust/build.rs"
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"${_output_path}/rust/Cargo.toml"
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)
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if(${_has_msg})
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list(APPEND _generated_msg_rs_files
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"${_output_path}/rust/src/msg.rs"
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)
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endif()
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if(${_has_srv})
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list(APPEND _generated_srv_rs_files
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"${_output_path}/rust/src/srv.rs"
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)
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endif()
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if(${_has_action})
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list(APPEND _generated_action_rs_files
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"${_output_path}/rust/src/action.rs"
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)
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endif()
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set(_dependency_files "")
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set(_dependencies "")
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foreach(_pkg_name ${rosidl_generate_interfaces_DEPENDENCY_PACKAGE_NAMES})
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foreach(_idl_file ${${_pkg_name}_IDL_FILES})
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set(_abs_idl_file "${${_pkg_name}_DIR}/../${_idl_file}")
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normalize_path(_abs_idl_file "${_abs_idl_file}")
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list(APPEND _dependency_files "${_abs_idl_file}")
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list(APPEND _dependencies "${_pkg_name}:${_abs_idl_file}")
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endforeach()
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endforeach()
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set(target_dependencies
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"${rosidl_generator_rs_BIN}"
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${rosidl_generator_rs_GENERATOR_FILES}
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"${rosidl_generator_rs_TEMPLATE_DIR}/action.rs.em"
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"${rosidl_generator_rs_TEMPLATE_DIR}/msg_idiomatic.rs.em"
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"${rosidl_generator_rs_TEMPLATE_DIR}/msg_rmw.rs.em"
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"${rosidl_generator_rs_TEMPLATE_DIR}/msg.rs.em"
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"${rosidl_generator_rs_TEMPLATE_DIR}/srv_idiomatic.rs.em"
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"${rosidl_generator_rs_TEMPLATE_DIR}/srv_rmw.rs.em"
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"${rosidl_generator_rs_TEMPLATE_DIR}/srv.rs.em"
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${rosidl_generate_interfaces_ABS_IDL_FILES}
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${_idl_files}
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${_dependency_files})
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foreach(dep ${target_dependencies})
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if(NOT EXISTS "${dep}")
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message(FATAL_ERROR "Target dependency '${dep}' does not exist")
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endif()
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endforeach()
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set(generator_arguments_file "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_rs__arguments.json")
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rosidl_write_generator_arguments(
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"${generator_arguments_file}"
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PACKAGE_NAME "${PROJECT_NAME}"
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IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
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ROS_INTERFACE_FILES "${_idl_files}"
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ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
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OUTPUT_DIR "${_output_path}"
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TEMPLATE_DIR "${rosidl_generator_rs_TEMPLATE_DIR}"
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TARGET_DEPENDENCIES ${target_dependencies}
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)
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file(READ ${generator_arguments_file} contents)
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string(REPLACE "\n}"
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",\n \"package_version\": \"${${PROJECT_NAME}_VERSION}\"\n}" contents ${contents})
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file(WRITE ${generator_arguments_file} ${contents})
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file(MAKE_DIRECTORY "${_output_path}")
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set(_target_suffix "__rs")
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# needed to avoid multiple calls to the Rust generator trick copied from
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# https://github.com/ros2/rosidl/blob/master/rosidl_generator_py/cmake/rosidl_generator_py_generate_interfaces.cmake
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set(_subdir "${CMAKE_CURRENT_BINARY_DIR}/${rosidl_generate_interfaces_TARGET}${_target_suffix}")
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file(MAKE_DIRECTORY "${_subdir}")
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file(READ "${rosidl_generator_rs_DIR}/custom_command.cmake" _custom_command)
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file(WRITE "${_subdir}/CMakeLists.txt" "${_custom_command}")
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add_subdirectory("${_subdir}" ${rosidl_generate_interfaces_TARGET}${_target_suffix})
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add_dependencies(${rosidl_generate_interfaces_TARGET} ${rosidl_generate_interfaces_TARGET}${_target_suffix})
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set_property(
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SOURCE
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${_generated_common_rs_files}
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${_generated_msg_rs_files}
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${_generated_srv_rs_files}
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${_generated_action_rs_files}
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PROPERTY GENERATED 1)
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set(_rsext_suffix "__rsext")
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if(NOT rosidl_generate_interfaces_SKIP_INSTALL)
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ament_index_register_resource("rust_packages")
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install(
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DIRECTORY "${_output_path}/rust"
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DESTINATION "share/${PROJECT_NAME}"
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)
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endif()
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if(BUILD_TESTING AND rosidl_generate_interfaces_ADD_LINTER_TESTS)
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if(
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NOT _generated_msg_rs_files STREQUAL "" OR
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NOT _generated_srv_rs_files STREQUAL "" OR
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NOT _generated_action_rs_files STREQUAL ""
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)
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# TODO(esteve): add linters for Rust files
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endif()
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endif()

‎rosidl_generator_rs/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rosidl_generator_rs</name>
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<version>0.4.1</version>
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<description>Generate the ROS interfaces in Rust.</description>
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<maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
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<license>Apache License 2.0</license>
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<author email="esteve@apache.org">Esteve Fernandez</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>ros_environment</buildtool_depend>
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<buildtool_depend>rosidl_runtime_rs</buildtool_depend>
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<buildtool_export_depend>ament_cmake</buildtool_export_depend>
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<buildtool_export_depend>ros_environment</buildtool_export_depend>
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<buildtool_export_depend condition="humble >= $ROS_DISTRO">rosidl_cmake</buildtool_export_depend>
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<buildtool_export_depend condition="$ROS_DISTRO > humble">rosidl_pycommon</buildtool_export_depend>
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<buildtool_export_depend>rosidl_runtime_rs</buildtool_export_depend>
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<buildtool_export_depend>rosidl_typesupport_c</buildtool_export_depend>
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<buildtool_export_depend>rosidl_typesupport_interface</buildtool_export_depend>
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<!-- This is needed for the rosidl_message_type_support_t struct and visibility macros -->
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<build_export_depend>rosidl_generator_c</build_export_depend>
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<exec_depend>rosidl_parser</exec_depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend condition="humble >= $ROS_DISTRO">rosidl_cmake</test_depend>
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<test_depend condition="$ROS_DISTRO > humble">rosidl_pycommon</test_depend>
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<test_depend>rosidl_generator_c</test_depend>
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<member_of_group>rosidl_generator_packages</member_of_group>
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<member_of_group>rosidl_runtime_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎rosidl_generator_rs/resource/Cargo.toml.em‎

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[package]
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name = "@(package_name)"
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version = "@(package_version)"
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edition = "2021"
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[dependencies]
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rosidl_runtime_rs = "0.4"
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serde = { version = "1", optional = true, features = ["derive"] }
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serde-big-array = { version = "0.5.1", optional = true }
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@[for dep in dependency_packages]@
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@(dep) = "*"
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@[end for]@
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[features]
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@{
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serde_features = ["dep:serde", "dep:serde-big-array", "rosidl_runtime_rs/serde"]
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for dep in dependency_packages:
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serde_features.append("{}/serde".format(dep))
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}@
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serde = @(serde_features)

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