feat: vendorize messages so that cargo update works (#509)

* feat: vendorize messages so that cargo update works

Signed-off-by: Esteve Fernandez <[email protected]>

* fix: added extra vendorized messages

Signed-off-by: Esteve Fernandez <[email protected]>

* fix: use vendorized messages in doctests

Signed-off-by: Esteve Fernandez <[email protected]>

* fix: remove leftover line

Signed-off-by: Esteve Fernandez <[email protected]>

* fix: cleanups

Signed-off-by: Esteve Fernandez <[email protected]>

---------

Signed-off-by: Esteve Fernandez <[email protected]>

Author: esteve

rclrs/Cargo.toml

@@ -39,10 +39,6 @@ serde-big-array = { version = "0.5.1", optional = true }
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
-# Needed for publisher and subscriber tests
-test_msgs = {version = "*"}
-# Used in doctests
-example_interfaces = { version = "*" }
 # Needed for parameter service tests
 tokio = { version = "1", features = ["rt", "time", "macros"] }
 

rclrs/src/client.rs

@@ -159,17 +159,17 @@ where
     /// signatures and which returns a `()` (a.k.a. nothing).
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
-    /// use test_msgs::srv::{Empty, Empty_Request, Empty_Response};
     ///
-    /// async fn print_hello(_response: Empty_Response) {
+    /// async fn print_hello(_response: test_msgs::srv::Empty_Response) {
     ///     print!("Hello!");
     /// }
     ///
-    /// let client = node.create_client::<Empty>("my_service")?;
-    /// let request = Empty_Request::default();
+    /// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
+    /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(&request, print_hello)?;
     /// # Ok::<(), RclrsError>(())
     /// ```
@@ -187,21 +187,21 @@ where
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # use std::future::Future;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
-    /// use test_msgs::srv::{Empty, Empty_Request, Empty_Response};
     ///
-    /// fn print_greeting(_response: Empty_Response) -> impl Future<Output=()> {
+    /// fn print_greeting(_response: test_msgs::srv::Empty_Response) -> impl Future<Output=()> {
     ///     let greeting = "Hello!";
     ///     async move {
     ///         print!("Hello!");
     ///     }
     /// }
     ///
-    /// let client = node.create_client::<Empty>("my_service")?;
-    /// let request = Empty_Request::default();
+    /// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
+    /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(
     ///     &request,
     ///     print_greeting)?;
@@ -216,17 +216,17 @@ where
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
-    /// use test_msgs::srv::{Empty, Empty_Request, Empty_Response};
     ///
     /// let greeting = "Hello!";
-    /// let client = node.create_client::<Empty>("my_service")?;
-    /// let request = Empty_Request::default();
+    /// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
+    /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(
     ///     &request,
-    ///     move |response: Empty_Response| {
+    ///     move |response: test_msgs::srv::Empty_Response| {
     ///         async move {
     ///             print!("{greeting}");
     ///         }
@@ -568,12 +568,12 @@ unsafe impl Send for rcl_client_t {}
 mod tests {
     use super::*;
     use crate::test_helpers::*;
-    use test_msgs::srv;
+    use crate::vendor::test_msgs;
 
     #[test]
     fn traits() {
-        assert_send::<Client<srv::Arrays>>();
-        assert_sync::<Client<srv::Arrays>>();
+        assert_send::<Client<test_msgs::srv::Arrays>>();
+        assert_sync::<Client<test_msgs::srv::Arrays>>();
     }
 
     #[test]
@@ -582,7 +582,7 @@ mod tests {
         let graph = construct_test_graph(namespace)?;
         let _node_2_empty_client = graph
             .node2
-            .create_client::<srv::Empty>("graph_test_topic_4")?;
+            .create_client::<test_msgs::srv::Empty>("graph_test_topic_4")?;
 
         std::thread::sleep(std::time::Duration::from_millis(200));
 

rclrs/src/lib.rs

@@ -32,6 +32,7 @@
 //!
 //! ```no_run
 //! use rclrs::*;
+//! # use crate::rclrs::vendor::example_interfaces;
 //!
 //! let context = Context::default_from_env()?;
 //! let mut executor = context.create_basic_executor();
@@ -58,6 +59,7 @@
 //! # let context = Context::default_from_env()?;
 //! # let mut executor = context.create_basic_executor();
 //! # let node = executor.create_node("example_node")?;
+//! # use crate::rclrs::vendor::example_interfaces;
 //! #
 //! // This worker will manage the data for us.
 //! // The worker's data is called its payload.
@@ -97,6 +99,7 @@
 //! The following is a simple example of using a mandatory parameter:
 //! ```no_run
 //! use rclrs::*;
+//! # use crate::rclrs::vendor::example_interfaces;
 //! use std::sync::Arc;
 //!
 //! let mut executor = Context::default_from_env()?.create_basic_executor();
@@ -126,6 +129,7 @@
 //!
 //! ```no_run
 //! use rclrs::*;
+//! # use crate::rclrs::vendor::example_interfaces;
 //! use std::time::Duration;
 //!
 //! let mut executor = Context::default_from_env()?.create_basic_executor();
@@ -189,7 +193,7 @@ mod service;
 mod subscription;
 mod time;
 mod time_source;
-mod vendor;
+pub mod vendor;
 mod wait_set;
 mod worker;
 

rclrs/src/node.rs

@@ -244,6 +244,7 @@ impl NodeState {
     /// In some cases the payload type can be inferred by Rust:
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// let executor = Context::default().create_basic_executor();
     /// let node = executor.create_node("my_node").unwrap();
     ///
@@ -269,6 +270,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let worker = node.create_worker::<String>(String::new());
@@ -277,6 +279,7 @@ impl NodeState {
     /// The data given to the worker can be any custom data type:
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     ///
@@ -312,6 +315,7 @@ impl NodeState {
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
+    /// # use crate::rclrs::vendor::test_msgs;
     /// let client = node.create_client::<test_msgs::srv::Empty>(
     ///     "my_service"
     /// )
@@ -325,6 +329,7 @@ impl NodeState {
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
+    /// # use crate::rclrs::vendor::test_msgs;
     /// let client = node.create_client::<test_msgs::srv::Empty>(
     ///     "my_service"
     ///     .keep_all()
@@ -357,6 +362,7 @@ impl NodeState {
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
+    /// # use crate::rclrs::vendor::test_msgs;
     /// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
     ///     "my_topic"
     /// )
@@ -368,6 +374,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
@@ -414,6 +421,7 @@ impl NodeState {
     /// Pass in only the service name for the `options` argument to use all default service options:
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let service = node.create_service::<test_msgs::srv::Empty, _>(
@@ -430,6 +438,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let service = node.create_service::<test_msgs::srv::Empty, _>(
@@ -468,19 +477,19 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::Mutex;
-    /// use example_interfaces::srv::*;
     ///
     /// let counter = Mutex::new(0usize);
-    /// let service = node.create_service::<Trigger, _>(
+    /// let service = node.create_service::<example_interfaces::srv::Trigger, _>(
     ///     "trigger_counter",
-    ///     move |_request: Trigger_Request| {
+    ///     move |_request: example_interfaces::srv::Trigger_Request| {
     ///         let mut counter = counter.lock().unwrap();
     ///         *counter += 1;
     ///         println!("Triggered {} times", *counter);
-    ///         Trigger_Response {
+    ///         example_interfaces::srv::Trigger_Response {
     ///             success: true,
     ///             message: "no problems here".to_string(),
     ///         }
@@ -494,21 +503,21 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::{Arc, Mutex};
-    /// use example_interfaces::srv::*;
     ///
     /// let counter = Arc::new(Mutex::new(0usize));
     ///
     /// let counter_in_service = Arc::clone(&counter);
-    /// let service = node.create_service::<Trigger, _>(
+    /// let service = node.create_service::<example_interfaces::srv::Trigger, _>(
     ///     "trigger_counter",
-    ///     move |_request: Trigger_Request| {
+    ///     move |_request: example_interfaces::srv::Trigger_Request| {
     ///         let mut counter = counter_in_service.lock().unwrap();
     ///         *counter += 1;
     ///         println!("Triggered {} times", *counter);
-    ///         Trigger_Response {
+    ///         example_interfaces::srv::Trigger_Response {
     ///             success: true,
     ///             message: "no problems here".to_string(),
     ///         }
@@ -588,17 +597,17 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node")?;
     /// use std::sync::Arc;
-    /// use example_interfaces::srv::*;
     ///
     /// let worker_a = node.create_worker(0_i64);
     /// let worker_b = node.create_worker(0_i64);
     ///
-    /// let service = node.create_async_service::<AddTwoInts, _>(
+    /// let service = node.create_async_service::<example_interfaces::srv::AddTwoInts, _>(
     ///     "add",
-    ///     move |request: AddTwoInts_Request| {
+    ///     move |request: example_interfaces::srv::AddTwoInts_Request| {
     ///         // Clone the workers so they can be captured into the async block
     ///         let worker_a = Arc::clone(&worker_a);
     ///         let worker_b = Arc::clone(&worker_b);
@@ -617,7 +626,7 @@ impl NodeState {
     ///             // Awaiting above ensures that each number from the
     ///             // request is saved in its respective worker before
     ///             // we give back a response.
-    ///             AddTwoInts_Response { sum: a + b }
+    ///             example_interfaces::srv::AddTwoInts_Response { sum: a + b }
     ///        }
     ///     }
     /// )?;
@@ -660,6 +669,7 @@ impl NodeState {
     /// Pass in only the topic name for the `options` argument to use all default subscription options:
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let subscription = node.create_subscription(
@@ -675,6 +685,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let subscription = node.create_subscription(
@@ -717,6 +728,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::Mutex;
@@ -739,6 +751,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::{Arc, Mutex};
@@ -839,8 +852,10 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
+    ///
     /// use std::sync::Arc;
     ///
     /// let count_worker = node.create_worker(0_usize);
@@ -1094,7 +1109,7 @@ mod tests {
 
     #[test]
     fn test_topic_names_and_types() -> Result<(), RclrsError> {
-        use test_msgs::msg;
+        use crate::vendor::test_msgs::msg;
 
         let graph = construct_test_graph("test_topics_graph")?;
 

rclrs/src/publisher.rs

@@ -337,14 +337,15 @@ mod tests {
 
     #[test]
     fn traits() {
+        use crate::vendor::test_msgs;
         assert_send::<Publisher<test_msgs::msg::BoundedSequences>>();
         assert_sync::<Publisher<test_msgs::msg::BoundedSequences>>();
     }
 
     #[test]
     fn test_publishers() -> Result<(), RclrsError> {
+        use crate::vendor::test_msgs::msg;
         use crate::TopicEndpointInfo;
-        use test_msgs::msg;
 
         let namespace = "/test_publishers_graph";
         let graph = construct_test_graph(namespace)?;

rclrs/src/publisher/loaned_message.rs

@@ -99,6 +99,7 @@ mod tests {
     #[test]
     fn traits() {
         use crate::test_helpers::*;
+        use crate::vendor::test_msgs;
 
         assert_send::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();
         assert_sync::<LoanedMessage<test_msgs::msg::rmw::BoundedSequences>>();

rclrs/src/service.rs

@@ -393,14 +393,15 @@ mod tests {
 
     #[test]
     fn traits() {
+        use crate::vendor::test_msgs;
         assert_send::<Service<test_msgs::srv::Arrays>>();
         assert_sync::<Service<test_msgs::srv::Arrays>>();
     }
 
     #[test]
     fn test_services() -> Result<(), RclrsError> {
+        use crate::vendor::test_msgs::srv;
         use crate::TopicNamesAndTypes;
-        use test_msgs::srv;
 
         let namespace = "/test_services_graph";
         let graph = construct_test_graph(namespace)?;