Merge in origin/master and resolve conflicts

.github/pull_request_template.md

@@ -2,7 +2,7 @@
 `Insert description`
 
 ## Fixes
-Issue Number: `number`
+Closes: `number`
 
 ## Checklist
 - [ ] Update CHANGELOG.md

.github/workflows/galactic.yml

@@ -8,6 +8,8 @@ on:
 
 env:
   HOME: /root
+  # Coupled with our use of the test_log crate this should give us good CI output on failure
+  RUST_LOG: debug
 
 jobs:
   galactic:
@@ -22,6 +24,8 @@ jobs:
         uses: actions/checkout@v3
         with:
           submodules: 'true'
+      - name: Verify rust version
+        run: source /root/.cargo/env; rustc --version
       - name: Lint
         run: source /root/.cargo/env; cargo fmt --all -- --check
       - name: Build Main Lib

.github/workflows/humble.yml

@@ -8,6 +8,8 @@ on:
 
 env:
   HOME: /root
+  # Coupled with our use of the test_log crate this should give us good CI output on failure
+  RUST_LOG: debug
 
 jobs:
   humble:
@@ -22,6 +24,8 @@ jobs:
         uses: actions/checkout@v3
         with:
           submodules: 'true'
+      - name: Verify rust version
+        run: source /root/.cargo/env; rustc --version
       - name: Lint
         run: source /root/.cargo/env; cargo fmt --all -- --check
       - name: Build Main Lib

.github/workflows/iron.yml

@@ -0,0 +1,39 @@
+name: Iron
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  HOME: /root
+  # Coupled with our use of the test_log crate this should give us good CI output on failure
+  RUST_LOG: debug
+
+jobs:
+  humble:
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        shell: bash
+    container: carter12s/roslibrust-ci-iron:latest
+    timeout-minutes: 20
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v3
+        with:
+          submodules: 'true'
+      - name: Lint
+        run: source /root/.cargo/env; cargo fmt --all -- --check
+      - name: Build Main Lib
+        run: source /root/.cargo/env; cargo build
+        # This step is required to confirm feature combinations work, the main workspace build does all features
+      - name: Build Proc Macro
+        run: source /root/.cargo/env; cargo build -p roslibrust_codegen_macro
+      - name: Unit Tests
+        run: source /root/.cargo/env; cargo test
+      - name: Start rosbridge
+        run: source /opt/ros/iron/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml & disown; ros2 run rosapi rosapi_node & sleep 1
+      - name: Integration Tests
+        run: source /root/.cargo/env; cargo test --features ros2_test -- --test-threads 1

.github/workflows/noetic.yml

@@ -9,6 +9,8 @@ on:
 env:
   HOME: /root
   ROS_PACKAGE_PATH: /opt/ros/noetic/share
+  # Coupled with our use of the test_log crate this should give us good CI output on failure
+  RUST_LOG: debug
 
 jobs:
   noetic:
@@ -23,6 +25,8 @@ jobs:
         uses: actions/checkout@v3
         with:
           submodules: 'true'
+      - name: Verify rust version
+        run: source /root/.cargo/env; rustc --version
       - name: Lint
         run: source /root/.cargo/env; cargo fmt --all -- --check
       - name: Build Main Lib

.github/workflows/noetic_gencpp.yml

@@ -8,6 +8,8 @@ on:
 
 env:
   HOME: /root
+  # Coupled with our use of the test_log crate this should give us good CI output on failure
+  RUST_LOG: debug
 
 jobs:
   noetic_gencpp:

CHANGELOG.md

@@ -36,6 +36,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
  - The function interface for top level generation functions in `roslibrust_codegen` have been changed to include the list of dependent
 filesystem paths that should trigger re-running code generation. Note: new files added to the search paths will not be automatically detected.
 - [Breaking Change] Codegen now generates fixed sized arrays as arrays [T; N] instead of Vec<T>
+ - Removed `find_and_generate_ros_messages_relative_to_manifest_dir!` this proc_macro was changing the current working directory of the compilation job resulting in a variety of strange compilation behaviors. Build.rs scripts are recommended for use cases requiring fine grained control of message generation.
+ - The function interface for top level generation functions in `roslibrust_codegen` have been changed to include the list of dependent filesystem paths that should trigger re-running code generation. Note: new files added to the search paths will not be automatically detected.
+ - Refactor the `ros1::node` module into separate smaller pieces. This should be invisible externally (and no changes to examples were required).
 
 ## 0.8.0 - October 4th, 2023
 

README.md

@@ -2,6 +2,7 @@
 [![Noetic](https://github.com/Carter12s/roslibrust/actions/workflows/noetic.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/noetic.yml)
 [![Galactic](https://github.com/Carter12s/roslibrust/actions/workflows/galactic.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/galactic.yml)
 [![Humble](https://github.com/Carter12s/roslibrust/actions/workflows/humble.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/humble.yml)
+[![Iron](https://github.com/Carter12s/roslibrust/actions/workflows/iron.yml/badge.svg)](https://github.com/Carter12s/roslibrust/actions/workflows/iron.yml)
 [![License:MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 This package aims to provide a convenient intermediary between ROS1's rosbridge and Rust similar to roslibpy and roslibjs.

docker/galactic/Dockerfile

@@ -4,18 +4,13 @@ LABEL maintainer="Carter Schultz <[email protected]>"
 # Required by github CI for submodule support
 RUN apt update && apt install -y git
 
-# Adapted from https://github.com/JoaquinGimenez1/docker-noetic-rosbridge/blob/main/Dockerfile
 RUN apt update && apt install -y ros-galactic-rosbridge-suite
 
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so wierd https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

docker/humble/Dockerfile

@@ -4,18 +4,13 @@ LABEL maintainer="Carter Schultz <[email protected]>"
 # Required by github CI for submodule support
 RUN apt update && apt install -y git
 
-# Adapted from https://github.com/JoaquinGimenez1/docker-noetic-rosbridge/blob/main/Dockerfile
 RUN apt update && apt install -y ros-humble-rosbridge-suite
 
 # Curl required to install rust, build-essential required to build quote & proc-macro2
 RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so wierd https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

docker/humble/README.md

@@ -1,10 +1,10 @@
-# Galactic CI Docker Image
-Produces a docker image including both galactic rosbridge and needed rust.
+# Humble CI Docker Image
+Produces a docker image including both humble rosbridge and needed rust.
 
 # Building / Publishing (currently only carter has access, need to fix)
-- docker build -t carter12s/roslibrust-ci-galactic:latest .
+- docker build -t carter12s/roslibrust-ci-humble:latest .
 - Maybe needed: docker login
-- docker push carter12s/roslibrust-ci-galactic:latest
+- docker push carter12s/roslibrust-ci-humble:latest
 
 For debug:
-docker run -it carter12s/roslibrust-ci-galactic /bin/bash
+docker run -it carter12s/roslibrust-ci-humble /bin/bash

docker/iron/Dockerfile

@@ -0,0 +1,17 @@
+FROM ros:iron-ros-core
+LABEL maintainer="Carter Schultz <[email protected]>"
+
+# Required by github CI for submodule support
+RUN apt update && apt install -y git
+
+RUN apt update && apt install -y ros-iron-rosbridge-suite
+
+# Curl required to install rust, build-essential required to build quote & proc-macro2
+RUN apt update && apt install -y --fix-missing curl build-essential
+# Install latest stable rust
+RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
+
+WORKDIR /
+COPY entrypoint.sh .
+RUN chmod +x entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

docker/iron/README.md

@@ -0,0 +1,10 @@
+# Iron CI Docker Image
+Produces a docker image including both iron rosbridge and needed rust.
+
+# Building / Publishing (currently only carter has access, need to fix)
+- docker build -t carter12s/roslibrust-ci-iron:latest .
+- Maybe needed: docker login
+- docker push carter12s/roslibrust-ci-iron:latest
+
+For debug:
+docker run -it carter12s/roslibrust-ci-iron /bin/bash

docker/iron/entrypoint.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+exec "$@"

docker/iron_compose.yaml

@@ -0,0 +1,7 @@
+version: "3.9"
+services:
+  rosbridge:
+    image: carter12s/roslibrust-ci-iron:latest
+    ports:
+      - "9090:9090"
+    command: bash -c "source /opt/ros/humble/setup.bash; ros2 launch rosbridge_server rosbridge_websocket_launch.xml & disown; ros2 run rosapi rosapi_node --ros-args --log-level debug"

docker/noetic/Dockerfile

@@ -9,10 +9,6 @@ RUN apt update && apt install -y --fix-missing curl build-essential
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so wierd https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

docker/noetic_cpp/Dockerfile

@@ -16,10 +16,6 @@ RUN apt update && apt install -y ros-noetic-ros-base
 # Install latest stable rust
 RUN curl https://sh.rustup.rs -sSf | sh -s -- -y
 
-# Update Cargo Registry
-# See this for why we do it so weird https://github.com/rust-lang/cargo/issues/3377
-RUN /root/.cargo/bin/cargo install lazy_static; exit 0
-
 WORKDIR /
 COPY entrypoint.sh .
 RUN chmod +x entrypoint.sh

roslibrust/Cargo.toml

@@ -54,10 +54,10 @@ serde-big-array = "0.5"
 
 [features]
 default = []
-# Provides a rosapi rust interface
-rosapi = []
 # Note: all does not include running_bridge as that is only intended for CI
 all = []
+# Provides a rosapi rust interface
+rosapi = []
 # Intended for use with tests, includes tests that rely on a locally running rosbridge
 running_bridge = []
 # For use with integration tests, indicating we are testing integration with a ros1 bridge

roslibrust/examples/native_ros1.rs

@@ -4,8 +4,8 @@
 
 #[cfg(feature = "ros1")]
 #[tokio::main]
-async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    use roslibrust::NodeHandle;
+async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
+    use roslibrust::ros1::NodeHandle;
 
     simple_logger::SimpleLogger::new()
         .with_level(log::LevelFilter::Debug)

roslibrust/examples/ros1_listener.rs

@@ -2,8 +2,8 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 
 #[cfg(feature = "ros1")]
 #[tokio::main]
-async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    use roslibrust::NodeHandle;
+async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
+    use roslibrust::ros1::NodeHandle;
 
     simple_logger::SimpleLogger::new()
         .with_level(log::LevelFilter::Debug)

roslibrust/examples/ros1_talker.rs

@@ -2,8 +2,8 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 
 #[cfg(feature = "ros1")]
 #[tokio::main]
-async fn main() -> Result<(), Box<dyn std::error::Error>> {
-    use roslibrust::NodeHandle;
+async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
+    use roslibrust::ros1::NodeHandle;
 
     simple_logger::SimpleLogger::new()
         .with_level(log::LevelFilter::Debug)

roslibrust/src/lib.rs

@@ -105,6 +105,33 @@ pub use rosbridge::*;
 pub mod rosapi;
 
 #[cfg(feature = "ros1")]
-mod ros1;
-#[cfg(feature = "ros1")]
-pub use ros1::*;
+pub mod ros1;
+
+/// For now starting with a central error type, may break this up more in future
+#[derive(thiserror::Error, Debug)]
+pub enum RosLibRustError {
+    #[error("Not currently connected to ros master / bridge")]
+    Disconnected,
+    // TODO we probably want to eliminate tungstenite from this and hide our
+    // underlying websocket implementation from the API
+    // currently we "technically" break the API when we change tungstenite verisons
+    #[error("Websocket communication error: {0}")]
+    CommFailure(#[from] tokio_tungstenite::tungstenite::Error),
+    #[error("Operation timed out: {0}")]
+    Timeout(#[from] tokio::time::error::Elapsed),
+    #[error("Failed to parse message from JSON: {0}")]
+    InvalidMessage(#[from] serde_json::Error),
+    #[error("Rosbridge server reported an error: {0}")]
+    ServerError(String),
+    #[error("Name does not meet ROS requirements: {0}")]
+    InvalidName(String),
+    // Generic catch-all error type for not-yet-handled errors
+    // TODO ultimately this type will be removed from API of library
+    #[error(transparent)]
+    Unexpected(#[from] anyhow::Error),
+}
+
+/// Generic result type used as standard throughout library.
+/// Note: many functions which currently return this will be updated to provide specific error
+/// types in the future instead of the generic error here.
+pub type RosLibRustResult<T> = Result<T, RosLibRustError>;

roslibrust/src/ros1/master_client.rs

@@ -254,6 +254,7 @@ impl MasterClient {
                 self.client_uri.clone().into(),
             ],
         )?;
+        log::trace!("Posting {body:?} to register publisher");
         self.post(body).await
     }
 
@@ -360,7 +361,7 @@ impl MasterClient {
 #[cfg(test)]
 mod test {
 
-    use crate::{MasterClient, RosMasterError};
+    use super::{MasterClient, RosMasterError};
 
     const TEST_NODE_ID: &str = "/native_ros1_test";
 

roslibrust/src/ros1/mod.rs

@@ -4,16 +4,14 @@
 mod master_client;
 pub use master_client::*;
 
-/// [xmlrpc_server] module contains the xmlrpc server that a node must host
-mod xmlrpc_server;
-pub(crate) use xmlrpc_server::*;
-
 mod names;
 
 /// [node] module contains the central Node and NodeHandle APIs
 mod node;
 pub use node::*;
 
 mod publisher;
+pub use publisher::Publisher;
 mod subscriber;
+pub use subscriber::Subscriber;
 mod tcpros;