Merge pull request #428 from dora-rs/c++-ros2-constants

Expose ROS2 constants in generated bindings (Rust and C++)
dora-rs · Feb 29, 2024 · ac6eaec · ac6eaec
2 parents c75d2a7 + 4175936
commit ac6eaec
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Showing 4 changed files with 71 additions and 12 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/apis/c++/node/README.md b/apis/c++/node/README.md
@@ -242,3 +242,15 @@ else
 }
 ```
 
+### Constants
+
+Some ROS2 message definitions define constants, e.g. to specify the values of an enum-like integer field.
+The Dora ROS2 bridge exposes these constants in the generated bindings as functions.
+
+For example, the `STATUS_NO_FIX` constant of the [`NavSatStatus` message](https://docs.ros.org/en/jade/api/sensor_msgs/html/msg/NavSatStatus.html) can be accessed as follows:
+
+```c++
+assert((sensor_msgs::const_NavSatStatus_STATUS_NO_FIX() == -1));
+```
+
+(Note: Exposing them as C++ constants is not possible because it's [not supported by `cxx` yet](https://github.com/dtolnay/cxx/issues/1051).)
diff --git a/examples/c++-ros2-dataflow/node-rust-api/main.cc b/examples/c++-ros2-dataflow/node-rust-api/main.cc
@@ -78,6 +78,9 @@ int main()
         }
     }
 
+    // try to access a constant for testing
+    assert((sensor_msgs::const_NavSatStatus_STATUS_NO_FIX() == -1));
+
     std::cout << "GOODBYE FROM C++ node (using Rust API)" << std::endl;
 
     return 0;

diff --git a/libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs b/libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs
@@ -107,6 +107,27 @@ impl Constant {
         let value = self.r#type.value_tokens(&self.value);
         quote! { pub const #name: #type_ = #value; }
     }
+
+    fn cxx_method_def_token_stream(&self, struct_name: &str, package_name: &str) -> impl ToTokens {
+        let name = format_ident!("const_{package_name}__{struct_name}_{}", self.name);
+        let cxx_name = format_ident!("const_{struct_name}_{}", self.name);
+        let type_ = self.r#type.type_tokens();
+        quote! {
+            #[namespace = #package_name]
+            #[cxx_name = #cxx_name]
+            pub fn #name () -> #type_;
+        }
+    }
+
+    fn cxx_method_impl_token_stream(&self, struct_raw_name: &Ident) -> impl ToTokens {
+        let const_name = format_ident!("{}", self.name);
+        let name = format_ident!("const_{struct_raw_name}_{}", self.name);
+        let type_ = self.r#type.type_tokens();
+        quote! {
+            #[allow(non_snake_case, dead_code)]
+            fn #name () -> #type_ { ffi::#struct_raw_name::#const_name }
+        }
+    }
 }
 
 /// A message definition
@@ -133,15 +154,29 @@ impl Message {
 
         let rust_type_def_inner = self.members.iter().map(|m| m.rust_type_def(&self.package));
         let constants_def_inner = self.constants.iter().map(|c| c.token_stream());
+        let cxx_const_def_inner = self
+            .constants
+            .iter()
+            .map(|c| c.cxx_method_def_token_stream(&self.name, package_name));
+        let cxx_const_impl_inner = self
+            .constants
+            .iter()
+            .map(|c| c.cxx_method_impl_token_stream(&struct_raw_name));
         let rust_type_default_inner = self.members.iter().map(|m| m.default_value());
 
-        let attributes = if gen_cxx_bridge {
-            quote! {
+        let (attributes, cxx_consts) = if gen_cxx_bridge {
+            let attributes = quote! {
                 #[namespace = #package_name]
                 #[cxx_name = #cxx_name]
-            }
+            };
+            let consts = quote! {
+                extern "Rust" {
+                    #(#cxx_const_def_inner)*
+                }
+            };
+            (attributes, consts)
         } else {
-            quote! {}
+            (quote! {}, quote! {})
         };
 
         if self.members.is_empty() {
@@ -154,8 +189,15 @@ impl Message {
                 pub struct #struct_raw_name {
                     #(#rust_type_def_inner)*
                 }
+
+                #cxx_consts
             };
             let impls = quote! {
+                impl ffi::#struct_raw_name {
+                    #(#constants_def_inner)*
+
+                }
+
                 impl crate::_core::InternalDefault for ffi::#struct_raw_name {
                     fn _default() -> Self {
                         Self {
@@ -170,6 +212,8 @@ impl Message {
                         crate::_core::InternalDefault::_default()
                     }
                 }
+
+                #(#cxx_const_impl_inner)*
             };
 
             (def, impls)