Update rclrs vendor_interfaces.py script

This updates the vendor_interfaces.py script to also vendor in the
action_msgs and unique_identifier_msgs packages. The script is modified
to always use a list of package names rather than hard-coding the
package names everywhere.

Author: nwn

rclrs/vendor_interfaces.py

@@ -1,65 +1,71 @@
-# This script produces the `vendor` module inside `rclrs` by copying
-# the generated code for the `rosgraph_msgs` and `rcl_interfaces` packages and
-# its dependency `builtin_interfaces` and adjusting the submodule paths in the
-# code.
+#!/usr/bin/env python3
+# This script produces the `vendor` module inside `rclrs` by copying the
+# generated code for the `rosgraph_msgs`, `rcl_interfaces`, and `action_msgs`
+# packages and their dependencies `builtin_interfaces` and
+# `unique_identifier_msgs` and adjusting the submodule paths in the code.
 # If these packages, or the `rosidl_generator_rs`, get changed, you can
 # update the `vendor` module by running this script.
-# The purpose is to avoid an external dependency on `rcl_interfaces`, which
-# is not published on crates.io.
+# The purpose is to avoid an external dependency on these message packages,
+# which are not published on crates.io.
 
 import argparse
 from pathlib import Path
 import shutil
 import subprocess
 
+vendored_packages = [
+  "action_msgs",
+  "builtin_interfaces",
+  "rcl_interfaces",
+  "rosgraph_msgs",
+  "unique_identifier_msgs",
+]
+
 def get_args():
-  parser = argparse.ArgumentParser(description='Vendor the rcl_interfaces, builtin_interfaces and rosgraph_msgs packages into rclrs')
+  parser = argparse.ArgumentParser(description='Vendor message packages into rclrs')
   parser.add_argument('install_base', metavar='install_base', type=Path,
                       help='the install base (must have non-merged layout)')
   return parser.parse_args()
 
-def adjust(pkg, text):
-  text = text.replace('builtin_interfaces::', 'crate::vendor::builtin_interfaces::')
-  text = text.replace('rcl_interfaces::', 'crate::vendor::rcl_interfaces::')
-  text = text.replace('rosgraph_msgs::', 'crate::vendor::rosgraph_msgs::')
-  text = text.replace('crate::msg', f'crate::vendor::{pkg}::msg')
-  text = text.replace('crate::srv', f'crate::vendor::{pkg}::srv')
+def adjust(current_package, text):
+  for pkg in vendored_packages:
+    text = text.replace(f'{pkg}::', f'crate::vendor::{pkg}::')
+  text = text.replace('crate::msg', f'crate::vendor::{current_package}::msg')
+  text = text.replace('crate::srv', f'crate::vendor::{current_package}::srv')
+  text = text.replace('crate::action', f'crate::vendor::{current_package}::action')
   return text
 
 def copy_adjusted(pkg, src, dst):
   dst.write_text(adjust(pkg, src.read_text()))
   subprocess.check_call(['rustfmt', str(dst)])
 
-mod_contents = """//! Created by {}
-#![allow(dead_code)]
-#![allow(clippy::derive_partial_eq_without_eq)]
-
-pub mod builtin_interfaces;
-pub mod rcl_interfaces;
-pub mod rosgraph_msgs;
-""".format(Path(__file__).name)
-
 def main():
   args = get_args()
   assert args.install_base.is_dir(), "Install base does not exist"
-  assert (args.install_base / 'builtin_interfaces').is_dir(), "Install base does not contain builtin_interfaces"
-  assert (args.install_base / 'rcl_interfaces').is_dir(), "Install base does not contain rcl_interfaces"
-  assert (args.install_base / 'rosgraph_msgs').is_dir(), "Install base does not contain rosgraph_msgs"
+  for pkg in vendored_packages:
+    assert (args.install_base / pkg).is_dir(), f"Install base does not contain {pkg}"
   rclrs_root = Path(__file__).parent
   vendor_dir = rclrs_root / 'src' / 'vendor'
   if vendor_dir.exists():
     shutil.rmtree(vendor_dir)
-  for pkg in ['builtin_interfaces', 'rcl_interfaces', 'rosgraph_msgs']:
+  for pkg in vendored_packages:
     src = args.install_base / pkg / 'share' / pkg / 'rust' / 'src'
     dst = vendor_dir / pkg
     dst.mkdir(parents=True)
     copy_adjusted(pkg, src / 'msg.rs', dst / 'msg.rs')
     if (src / 'srv.rs').is_file():
       copy_adjusted(pkg, src / 'srv.rs', dst / 'srv.rs')
+    if (src / 'action.rs').is_file():
+      copy_adjusted(pkg, src / 'action.rs', dst / 'action.rs')
     copy_adjusted(pkg, src / 'lib.rs', dst / 'mod.rs')  # Rename lib.rs to mod.rs
-  (vendor_dir / 'mod.rs').write_text(mod_contents)
-    
 
+  mod_contents = "//! Created by {}\n".format(Path(__file__).name)
+  mod_contents += "#![allow(dead_code)]\n"
+  mod_contents += "#![allow(clippy::derive_partial_eq_without_eq)]\n"
+  mod_contents += "\n"
+  for pkg in vendored_packages:
+    mod_contents += f"pub mod {pkg};\n"
+  (vendor_dir / 'mod.rs').write_text(mod_contents)
 
 if __name__ == '__main__':
   main()