Redesign ROS2 message struct generator to support `cxx_bridge`

Cargo.lock

@@ -1696,6 +1696,7 @@ name = "dora-ros2-bridge"
 version = "0.1.0"
 dependencies = [
  "array-init",
+ "cxx",
  "dora-daemon",
  "dora-ros2-bridge-msg-gen-macro",
  "eyre",

libraries/extensions/ros2-bridge/Cargo.toml

@@ -8,6 +8,7 @@ edition = "2021"
 [features]
 default = ["generate-messages"]
 generate-messages = ["dep:dora-ros2-bridge-msg-gen-macro"]
+cxx-bridge = ["dep:cxx"]
 # enables examples that depend on a sourced ROS2 installation
 ros2-examples = ["eyre", "tokio", "dora-daemon"]
 
@@ -24,6 +25,7 @@ tokio = { version = "1.29.1", features = ["full"], optional = true }
 dora-daemon = { path = "../../../binaries/daemon", optional = true }
 tracing = "0.1.37"
 tracing-subscriber = "0.3.17"
+cxx = { version = "1.0", optional = true }
 
 [dev-dependencies]
 rand = "0.8.5"

libraries/extensions/ros2-bridge/msg-gen-macro/src/lib.rs

@@ -63,14 +63,57 @@ pub fn msg_include_all(input: TokenStream) -> TokenStream {
             .map(Path::new)
             .collect::<Vec<_>>();
 
+        let message_structs = get_packages(&paths)
+            .unwrap()
+            .iter()
+            .map(|v| v.struct_token_stream(config.create_cxx_bridge))
+            .collect::<Vec<_>>();
+        let aliases = get_packages(&paths)
+            .unwrap()
+            .iter()
+            .map(|v| v.aliases_token_stream())
+            .collect::<Vec<_>>();
         let packages = get_packages(&paths)
             .unwrap()
             .iter()
             .map(|v| v.token_stream(config.create_cxx_bridge))
             .collect::<Vec<_>>();
 
+        let (attributes, imports) = if config.create_cxx_bridge {
+            (quote! { #[cxx::bridge] }, quote! {})
+        } else {
+            (
+                quote! {},
+                quote! {
+                    use serde::{Serialize, Deserialize};
+                },
+            )
+        };
+
         (quote! {
-            #(#packages)*
+            #attributes
+            pub mod ffi {
+                #imports
+
+                #[derive(Debug, Default, Clone, PartialEq, Eq, Serialize, Deserialize)]
+                pub struct U16String {
+                    chars: Vec<u16>,
+                }
+
+                impl crate::_core::InternalDefault for U16String {
+                    fn _default() -> Self {
+                        Default::default()
+                    }
+                }
+
+
+                #(#message_structs)*
+            }
+
+            #(#aliases)*
+
+
+            // #(#packages)*
         })
         .into()
     }

libraries/extensions/ros2-bridge/msg-gen/src/types/message.rs

@@ -1,5 +1,6 @@
 use heck::SnakeCase;
 use quote::{format_ident, quote, ToTokens};
+use syn::Ident;
 
 use super::{primitives::*, sequences::Array, ConstantType, MemberType};
 
@@ -122,9 +123,69 @@ pub struct Message {
 }
 
 impl Message {
-    pub fn token_stream_with_mod(&self) -> impl ToTokens {
+    pub fn struct_token_stream(&self, package_name: &Ident, gen_cxx_bridge: bool) -> impl ToTokens {
+        let cxx_name = format_ident!("{}", self.name);
+        let struct_raw_name = format_ident!("{package_name}__{}", self.name);
+
+        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 rust_type_default_inner = self.members.iter().map(|m| m.default_value());
+
+        let attributes = if gen_cxx_bridge {
+            quote! {
+                #[namespace = #package_name]
+                #[cxx_name = #cxx_name]
+            }
+        } else {
+            quote! {}
+        };
+
+        if self.members.is_empty() {
+            quote! {}
+        } else {
+            quote! {
+                #[allow(non_camel_case_types)]
+                #[derive(Debug, Clone, PartialEq, Serialize, Deserialize)]
+                #attributes
+                pub struct #struct_raw_name {
+                    #(#rust_type_def_inner)*
+                }
+
+                impl crate::_core::InternalDefault for #struct_raw_name {
+                    fn _default() -> Self {
+                        Self {
+                            #(#rust_type_default_inner)*
+                        }
+                    }
+                }
+
+                impl std::default::Default for #struct_raw_name {
+                    #[inline]
+                    fn default() -> Self {
+                        crate::_core::InternalDefault::_default()
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn alias_token_stream(&self, package_name: &Ident) -> impl ToTokens {
+        let cxx_name = format_ident!("{}", self.name);
+        let struct_raw_name = format_ident!("{package_name}__{}", self.name);
+
+        if self.members.is_empty() {
+            quote! {}
+        } else {
+            quote! {
+                pub use super::super::ffi::#struct_raw_name as #cxx_name;
+            }
+        }
+    }
+
+    pub fn token_stream_with_mod(&self, gen_cxx_bridge: bool) -> impl ToTokens {
         let mod_name = format_ident!("_{}", self.name.to_snake_case());
-        let inner = self.token_stream();
+        let inner = self.token_stream_args(gen_cxx_bridge);
+
         quote! {
             pub use #mod_name::*;
             mod #mod_name {
@@ -134,6 +195,10 @@ impl Message {
     }
 
     pub fn token_stream(&self) -> impl ToTokens {
+        self.token_stream_args(false)
+    }
+
+    pub fn token_stream_args(&self, gen_cxx_bridge: bool) -> impl ToTokens {
         let rust_type = format_ident!("{}", self.name);
         let raw_type = format_ident!("{}_Raw", self.name);
         let raw_ref_type = format_ident!("{}_RawRef", self.name);
@@ -144,6 +209,13 @@ impl Message {
             self.members.clone()
         };
 
+        let attributes = if gen_cxx_bridge {
+            let namespace = &self.name;
+            quote! { #[cxx::bridge(namespace = #namespace)] }
+        } else {
+            quote! {}
+        };
+
         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 rust_type_default_inner = self.members.iter().map(|m| m.default_value());
@@ -178,10 +250,15 @@ impl Message {
                 FFIToRust as _FFIToRust,
             };
 
-            #[allow(non_camel_case_types)]
-            #[derive(std::fmt::Debug, std::clone::Clone, std::cmp::PartialEq, serde::Serialize, serde::Deserialize)]
-            pub struct #rust_type {
-                #(#rust_type_def_inner)*
+            pub use self::t::#rust_type;
+
+            #attributes
+            mod t {
+                #[allow(non_camel_case_types)]
+                #[derive(std::fmt::Debug, std::clone::Clone, std::cmp::PartialEq, serde::Serialize, serde::Deserialize)]
+                pub struct #rust_type {
+                    #(#rust_type_def_inner)*
+                }
             }
 
             impl #rust_type {

libraries/extensions/ros2-bridge/msg-gen/src/types/package.rs

@@ -26,13 +26,50 @@ impl Package {
         self.messages.is_empty() && self.services.is_empty() && self.actions.is_empty()
     }
 
-    fn messages_block(&self) -> impl ToTokens {
+    fn message_structs(&self, package_name: Ident, gen_cxx_bridge: bool) -> impl ToTokens {
         if self.messages.is_empty() {
             quote! {
                 // empty msg
             }
         } else {
-            let items = self.messages.iter().map(|v| v.token_stream_with_mod());
+            let items = self
+                .messages
+                .iter()
+                .map(|v| v.struct_token_stream(&package_name, gen_cxx_bridge));
+            quote! {
+                #(#items)*
+            }
+        }
+    }
+
+    fn message_aliases(&self, package_name: &Ident) -> impl ToTokens {
+        if self.messages.is_empty() {
+            quote! {
+                // empty msg
+            }
+        } else {
+            let items = self
+                .messages
+                .iter()
+                .map(|v| v.alias_token_stream(package_name));
+            quote! {
+                pub mod msg {
+                    #(#items)*
+                }
+            }
+        }
+    }
+
+    fn messages_block(&self, gen_cxx_bridge: bool) -> impl ToTokens {
+        if self.messages.is_empty() {
+            quote! {
+                // empty msg
+            }
+        } else {
+            let items = self
+                .messages
+                .iter()
+                .map(|v| v.token_stream_with_mod(gen_cxx_bridge));
             quote! {
                 pub mod msg {
                     #(#items)*
@@ -71,21 +108,33 @@ impl Package {
         }
     }
 
+    pub fn struct_token_stream(&self, gen_cxx_bridge: bool) -> impl ToTokens {
+        let package_name = Ident::new(&self.name, Span::call_site());
+        let message_structs = self.message_structs(package_name, gen_cxx_bridge);
+
+        quote! {
+            #message_structs
+        }
+    }
+
+    pub fn aliases_token_stream(&self) -> impl ToTokens {
+        let package_name = Ident::new(&self.name, Span::call_site());
+        let aliases = self.message_aliases(&package_name);
+
+        quote! {
+            pub mod #package_name {
+                #aliases
+            }
+        }
+    }
+
     pub fn token_stream(&self, gen_cxx_bridge: bool) -> impl ToTokens {
         let name = Ident::new(&self.name, Span::call_site());
-        let messages_block = self.messages_block();
+        let messages_block = self.messages_block(gen_cxx_bridge);
         let services_block = self.services_block();
         let actions_block = self.actions_block();
 
-        let attributes = if gen_cxx_bridge {
-            let namespace = &self.name;
-            quote! { #[cxx::bridge(namespace = #namespace)] }
-        } else {
-            quote! {}
-        };
-
         quote! {
-            #attributes
             pub mod #name {
                 #messages_block
                 #services_block

libraries/extensions/ros2-bridge/msg-gen/src/types/primitives.rs

@@ -133,7 +133,8 @@ impl NamedType {
         let package = Ident::new(package, Span::call_site());
         let namespace = Ident::new("msg", Span::call_site());
         let name = Ident::new(&self.0, Span::call_site());
-        quote! { crate::#package::#namespace::#name }
+        let ident = format_ident!("{package}__{name}");
+        quote! { #ident }
     }
 
     fn raw_type_tokens(&self, package: &str) -> impl ToTokens {
@@ -175,7 +176,8 @@ impl NamespacedType {
         let package = Ident::new(&self.package, Span::call_site());
         let namespace = Ident::new(&self.namespace, Span::call_site());
         let name = Ident::new(&self.name, Span::call_site());
-        quote! { crate::#package::#namespace::#name }
+        let ident = format_ident!("{package}__{name}");
+        quote! { #ident }
     }
 
     fn raw_type_tokens(&self) -> impl ToTokens {
@@ -215,9 +217,9 @@ impl GenericString {
 
     fn type_tokens(self) -> impl ToTokens {
         if self.is_wide() {
-            quote! { crate::_core::string::U16String }
+            quote! { U16String }
         } else {
-            quote! { ::std::string::String }
+            quote! { String }
         }
     }
 

libraries/extensions/ros2-bridge/msg-gen/src/types/sequences.rs

@@ -41,7 +41,7 @@ pub struct Sequence {
 impl Sequence {
     pub fn type_tokens(&self, package: &str) -> impl ToTokens {
         let inner_type = self.value_type.type_tokens(package);
-        quote! { std::vec::Vec<#inner_type> }
+        quote! { Vec<#inner_type> }
     }
 
     pub fn raw_type_tokens(&self, package: &str) -> impl ToTokens {
@@ -72,7 +72,7 @@ pub struct BoundedSequence {
 impl BoundedSequence {
     pub fn type_tokens(&self, package: &str) -> impl ToTokens {
         let inner_type = self.value_type.type_tokens(package);
-        quote! { std::vec::Vec<#inner_type> }
+        quote! { Vec<#inner_type> }
     }
 
     pub fn raw_type_tokens(&self, package: &str) -> impl ToTokens {

libraries/extensions/ros2-bridge/src/lib.rs

@@ -1,7 +1,10 @@
 pub use ros2_client;
 pub use rustdds;
 
-#[cfg(feature = "generate-messages")]
+#[cfg(all(feature = "generate-messages", feature = "cxx-bridge"))]
+dora_ros2_bridge_msg_gen_macro::msg_include_all!(cxx_bridge = true);
+
+#[cfg(all(feature = "generate-messages", not(feature = "cxx-bridge")))]
 dora_ros2_bridge_msg_gen_macro::msg_include_all!();
 
 pub mod _core;