Update bindings to include actions -- added script for automating the binding generation

Signed-off-by: Michael X. Grey <[email protected]>

Author: mxgrey

Cargo.toml

@@ -1,5 +1,6 @@
 [workspace]
 members = [
   "rclrs",
+  "generate_bindings",
 ]
 resolver = "2"

README.md

@@ -74,3 +74,8 @@ ros2 launch examples_rclrs_minimal_pub_sub minimal_pub_sub.launch.xml
 Further documentation articles:
 - [Tutorial on writing your first node with `rclrs`](docs/writing-your-first-rclrs-node.md)
 - [Contributor's guide](docs/CONTRIBUTING.md)
+
+> [!TIP]
+> For maintainers: To (re-)generate bindings for a certain ROS distro, source that distro
+> and then run `cargo run --bin rclrs_generate_bindings` from this root directory of the repo.
+> Remember to commit the new or changed binding file.

generate_bindings/Cargo.toml

@@ -0,0 +1,20 @@
+[package]
+name = "rclrs_generate_bindings"
+version = "0.5.1"
+# This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
+authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
+edition = "2021"
+license = "Apache-2.0"
+description = "A ROS 2 client library for developing robotics applications in Rust"
+rust-version = "1.75"
+
+[[bin]]
+name = "rclrs_generate_bindings"
+path = "src/main.rs"
+
+[dependencies]
+# Needed to generate the bindings
+bindgen  = "0.70"
+
+# Needed to ensure the generator is being called from the correct workspace directory
+cargo-manifest = "0.17"

generate_bindings/src/main.rs

@@ -0,0 +1,95 @@
+use cargo_manifest::Manifest;
+use std::path::Path;
+use std::fs::read_dir;
+
+const AMENT_PREFIX_PATH: &str = "AMENT_PREFIX_PATH";
+const ROS_DISTRO: &str = "ROS_DISTRO";
+const BINDGEN_WRAPPER: &str = "rclrs/src/rcl_wrapper.h";
+
+fn get_env_var_or_abort(env_var: &'static str) -> String {
+    if let Ok(value) = std::env::var(env_var) {
+        value
+    } else {
+        panic!(
+            "{} environment variable not set - please source ROS 2 installation first.",
+            env_var
+        );
+    }
+}
+
+fn main() {
+    let ros_distro = get_env_var_or_abort(ROS_DISTRO);
+    let ament_prefix_paths = get_env_var_or_abort(AMENT_PREFIX_PATH);
+
+    let Ok(workspace) = Manifest::from_path("Cargo.toml")
+        .map_err(|_| ())
+        .and_then(|manifest| manifest.workspace.ok_or(())) else
+    {
+        panic!(" > ERROR: Run the generate_bindings script from the root Cargo workspace of ros2_rust");
+    };
+
+    let has_rclrs = workspace.members.iter().find(|member | *member == "rclrs").is_some();
+    if !has_rclrs {
+        panic!(
+            " > ERROR: Run the generate_bindings script from the root Cargo workspace of ros2_rust. \
+            Could not find rclrs in this workspace. Members include {:?}",
+            workspace.members,
+        );
+    }
+
+    let mut builder = bindgen::Builder::default()
+        .header(BINDGEN_WRAPPER)
+        .derive_copy(false)
+        .allowlist_type("rcl_.*")
+        .allowlist_type("rmw_.*")
+        .allowlist_type("rcutils_.*")
+        .allowlist_type("rosidl_.*")
+        .allowlist_function("rcl_.*")
+        .allowlist_function("rmw_.*")
+        .allowlist_function("rcutils_.*")
+        .allowlist_function("rosidl_.*")
+        .allowlist_var("rcl_.*")
+        .allowlist_var("rmw_.*")
+        .allowlist_var("rcutils_.*")
+        .allowlist_var("rosidl_.*")
+        .layout_tests(false)
+        .default_enum_style(bindgen::EnumVariation::Rust {
+            non_exhaustive: false,
+        });
+
+    for ament_prefix_path in ament_prefix_paths.split(':').map(Path::new) {
+        // Locate the ament index
+        let ament_index = ament_prefix_path.join("share/ament_index/resource_index/packages");
+        if !ament_index.is_dir() {
+            continue;
+        }
+
+        // Old-style include directory
+        let include_dir = ament_prefix_path.join("include");
+
+        // Including the old-style packages
+        builder = builder.clang_arg(format!("-isystem{}", include_dir.display()));
+
+        // Search for and include new-style-converted package paths
+        for dir_entry in read_dir(&ament_index).unwrap().filter_map(|p| p.ok()) {
+            let package = dir_entry.file_name();
+            let package_include_dir = include_dir.join(&package);
+
+            if package_include_dir.is_dir() {
+                let new_style_include_dir = package_include_dir.join(&package);
+
+                // CycloneDDS is a special case - it needs to be included as if it were a new-style path, but
+                // doesn't actually have a secondary folder within it called "CycloneDDS"
+                // TODO(jhdcs): if this changes in future, remove this check
+                if package == "CycloneDDS" || new_style_include_dir.is_dir() {
+                    builder =
+                        builder.clang_arg(format!("-isystem{}", package_include_dir.display()));
+                }
+            }
+        }
+    }
+
+    let bindings = builder.generate().expect("Unable to generate bindings");
+    let bindings_path = format!("rclrs/src/rcl_bindings_generated_{ros_distro}.rs");
+    bindings.write_to_file(bindings_path).expect("Failed to generate bindings");
+}

rclrs/generate_bindings.py

@@ -229,7 +229,7 @@ fn empty_goal_status_array() -> DropGuard<rcl_action_goal_status_array_t> {
 #[cfg(test)]
 mod tests {
     use crate::*;
-    use example_interfaces::action::{Fibonacci, Fibonacci_Goal, Fibonacci_Result, Fibonacci_Feedback};
+    use crate::vendor::example_interfaces::action::{Fibonacci, Fibonacci_Goal, Fibonacci_Result, Fibonacci_Feedback};
     use tokio::sync::mpsc::unbounded_channel;
     use futures::StreamExt;
     use std::time::Duration;