Impl Rust msg serde (#382)

mvukov · Sep 29, 2024 · b599d6a · b599d6a
1 parent 859fb2a
commit b599d6a
Show file tree

Hide file tree

Showing 7 changed files with 286 additions and 3 deletions.
diff --git a/repositories/ros2_rust.BUILD.bazel b/repositories/ros2_rust.BUILD.bazel
@@ -12,8 +12,12 @@ load("@rules_rust//rust:defs.bzl", "rust_library")
 rust_library(
     name = "rosidl_runtime_rs",
     srcs = glob(["rosidl_runtime_rs/src/**/*.rs"]),
+    crate_features = ["serde"],
     edition = "2021",
     visibility = ["//visibility:public"],
+    deps = [
+        "@rules_ros2_crate_index//:serde",
+    ],
 )
 
 cc_library(

diff --git a/repositories/rust/Cargo.Bazel.lock b/repositories/rust/Cargo.Bazel.lock
@@ -1,5 +1,5 @@
 {
-  "checksum": "ceb872808bc19dea7e2bf3a800912471a769fb8aee7fbea69782a3c2d397541b",
+  "checksum": "b775f30e6fbf62d0a7d15de9feaf871608d6ca3f5c1520a3464f5af0e21a0aef",
   "crates": {
     "autocfg 1.3.0": {
       "name": "autocfg",
@@ -74,6 +74,14 @@
               "id": "serde 1.0.201",
               "target": "serde"
             },
+            {
+              "id": "serde-big-array 0.5.1",
+              "target": "serde_big_array"
+            },
+            {
+              "id": "serde_json 1.0.128",
+              "target": "serde_json"
+            },
             {
               "id": "signal-hook 0.3.17",
               "target": "signal_hook"
@@ -640,6 +648,45 @@
       ],
       "license_file": "LICENSE-APACHE"
     },
+    "itoa 1.0.11": {
+      "name": "itoa",
+      "version": "1.0.11",
+      "package_url": "https://github.com/dtolnay/itoa",
+      "repository": {
+        "Http": {
+          "url": "https://static.crates.io/crates/itoa/1.0.11/download",
+          "sha256": "49f1f14873335454500d59611f1cf4a4b0f786f9ac11f4312a78e4cf2566695b"
+        }
+      },
+      "targets": [
+        {
+          "Library": {
+            "crate_name": "itoa",
+            "crate_root": "src/lib.rs",
+            "srcs": {
+              "allow_empty": true,
+              "include": [
+                "**/*.rs"
+              ]
+            }
+          }
+        }
+      ],
+      "library_target_name": "itoa",
+      "common_attrs": {
+        "compile_data_glob": [
+          "**"
+        ],
+        "edition": "2018",
+        "version": "1.0.11"
+      },
+      "license": "MIT OR Apache-2.0",
+      "license_ids": [
+        "Apache-2.0",
+        "MIT"
+      ],
+      "license_file": "LICENSE-APACHE"
+    },
     "libc 0.2.155": {
       "name": "libc",
       "version": "0.2.155",
@@ -968,6 +1015,45 @@
       ],
       "license_file": "LICENSE-APACHE"
     },
+    "ryu 1.0.18": {
+      "name": "ryu",
+      "version": "1.0.18",
+      "package_url": "https://github.com/dtolnay/ryu",
+      "repository": {
+        "Http": {
+          "url": "https://static.crates.io/crates/ryu/1.0.18/download",
+          "sha256": "f3cb5ba0dc43242ce17de99c180e96db90b235b8a9fdc9543c96d2209116bd9f"
+        }
+      },
+      "targets": [
+        {
+          "Library": {
+            "crate_name": "ryu",
+            "crate_root": "src/lib.rs",
+            "srcs": {
+              "allow_empty": true,
+              "include": [
+                "**/*.rs"
+              ]
+            }
+          }
+        }
+      ],
+      "library_target_name": "ryu",
+      "common_attrs": {
+        "compile_data_glob": [
+          "**"
+        ],
+        "edition": "2018",
+        "version": "1.0.18"
+      },
+      "license": "Apache-2.0 OR BSL-1.0",
+      "license_ids": [
+        "Apache-2.0",
+        "BSL-1.0"
+      ],
+      "license_file": "LICENSE-APACHE"
+    },
     "serde 1.0.201": {
       "name": "serde",
       "version": "1.0.201",
@@ -1051,6 +1137,54 @@
       ],
       "license_file": "LICENSE-APACHE"
     },
+    "serde-big-array 0.5.1": {
+      "name": "serde-big-array",
+      "version": "0.5.1",
+      "package_url": "https://github.com/est31/serde-big-array",
+      "repository": {
+        "Http": {
+          "url": "https://static.crates.io/crates/serde-big-array/0.5.1/download",
+          "sha256": "11fc7cc2c76d73e0f27ee52abbd64eec84d46f370c88371120433196934e4b7f"
+        }
+      },
+      "targets": [
+        {
+          "Library": {
+            "crate_name": "serde_big_array",
+            "crate_root": "src/lib.rs",
+            "srcs": {
+              "allow_empty": true,
+              "include": [
+                "**/*.rs"
+              ]
+            }
+          }
+        }
+      ],
+      "library_target_name": "serde_big_array",
+      "common_attrs": {
+        "compile_data_glob": [
+          "**"
+        ],
+        "deps": {
+          "common": [
+            {
+              "id": "serde 1.0.201",
+              "target": "serde"
+            }
+          ],
+          "selects": {}
+        },
+        "edition": "2021",
+        "version": "0.5.1"
+      },
+      "license": "MIT OR Apache-2.0",
+      "license_ids": [
+        "Apache-2.0",
+        "MIT"
+      ],
+      "license_file": "LICENSE-APACHE"
+    },
     "serde_derive 1.0.201": {
       "name": "serde_derive",
       "version": "1.0.201",
@@ -1113,6 +1247,94 @@
       ],
       "license_file": "LICENSE-APACHE"
     },
+    "serde_json 1.0.128": {
+      "name": "serde_json",
+      "version": "1.0.128",
+      "package_url": "https://github.com/serde-rs/json",
+      "repository": {
+        "Http": {
+          "url": "https://static.crates.io/crates/serde_json/1.0.128/download",
+          "sha256": "6ff5456707a1de34e7e37f2a6fd3d3f808c318259cbd01ab6377795054b483d8"
+        }
+      },
+      "targets": [
+        {
+          "Library": {
+            "crate_name": "serde_json",
+            "crate_root": "src/lib.rs",
+            "srcs": {
+              "allow_empty": true,
+              "include": [
+                "**/*.rs"
+              ]
+            }
+          }
+        },
+        {
+          "BuildScript": {
+            "crate_name": "build_script_build",
+            "crate_root": "build.rs",
+            "srcs": {
+              "allow_empty": true,
+              "include": [
+                "**/*.rs"
+              ]
+            }
+          }
+        }
+      ],
+      "library_target_name": "serde_json",
+      "common_attrs": {
+        "compile_data_glob": [
+          "**"
+        ],
+        "crate_features": {
+          "common": [
+            "default",
+            "std"
+          ],
+          "selects": {}
+        },
+        "deps": {
+          "common": [
+            {
+              "id": "itoa 1.0.11",
+              "target": "itoa"
+            },
+            {
+              "id": "memchr 2.7.2",
+              "target": "memchr"
+            },
+            {
+              "id": "ryu 1.0.18",
+              "target": "ryu"
+            },
+            {
+              "id": "serde 1.0.201",
+              "target": "serde"
+            },
+            {
+              "id": "serde_json 1.0.128",
+              "target": "build_script_build"
+            }
+          ],
+          "selects": {}
+        },
+        "edition": "2021",
+        "version": "1.0.128"
+      },
+      "build_script_attrs": {
+        "data_glob": [
+          "**"
+        ]
+      },
+      "license": "MIT OR Apache-2.0",
+      "license_ids": [
+        "Apache-2.0",
+        "MIT"
+      ],
+      "license_file": "LICENSE-APACHE"
+    },
     "signal-hook 0.3.17": {
       "name": "signal-hook",
       "version": "0.3.17",
@@ -1542,6 +1764,8 @@
   "direct_deps": [
     "futures 0.3.30",
     "serde 1.0.201",
+    "serde-big-array 0.5.1",
+    "serde_json 1.0.128",
     "signal-hook 0.3.17"
   ],
   "direct_dev_deps": []

diff --git a/repositories/rust/Cargo.lock b/repositories/rust/Cargo.lock
diff --git a/repositories/rust_setup_stage_3.bzl b/repositories/rust_setup_stage_3.bzl
@@ -13,6 +13,13 @@ def rust_setup_stage_3(**kwargs):
                 features = ["derive"],
                 version = "1",
             ),
+            "serde-big-array": crate.spec(
+                version = "0.5",
+            ),
+            # Not used by rclrs, used for testing.
+            "serde_json": crate.spec(
+                version = "1",
+            ),
             # Not used by rclrs, but handy to have.
             "signal-hook": crate.spec(
                 version = "0.3",

diff --git a/ros2/rust_interfaces.bzl b/ros2/rust_interfaces.bzl
@@ -91,9 +91,12 @@ def _compile_rust_code(ctx, label, crate_name, srcs, deps):
         )
         rustc_rmeta_output = generate_output_diagnostics(ctx, rust_metadata)
 
+    attr = ctx.rule.attr + struct(crate_features = [
+        "serde",
+    ])
     providers = rustc_compile_action(
         ctx = ctx,
-        attr = ctx.rule.attr,
+        attr = attr,
         toolchain = toolchain,
         output_hash = output_hash,
         crate_info_dict = dict(
@@ -199,6 +202,7 @@ rust_generator_aspect = aspect(
             default = [
                 "@ros2_rust//:rosidl_runtime_rs",
                 "@rules_ros2_crate_index//:serde",
+                "@rules_ros2_crate_index//:serde-big-array",
             ],
         ),
         "_cc_toolchain": attr.label(