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Relative Module Path Resolution #12

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14 changes: 10 additions & 4 deletions rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -60,18 +60,21 @@ list(APPEND _generated_common_rs_files
if(${_has_msg})
list(APPEND _generated_msg_rs_files
"${_output_path}/rust/src/msg.rs"
"${_output_path}/rust/src/msg/rmw.rs"
)
endif()

if(${_has_srv})
list(APPEND _generated_srv_rs_files
"${_output_path}/rust/src/srv.rs"
"${_output_path}/rust/src/srv/rmw.rs"
)
endif()

if(${_has_action})
list(APPEND _generated_action_rs_files
"${_output_path}/rust/src/action.rs"
"${_output_path}/rust/src/action/rmw.rs"
)
endif()

Expand All @@ -90,12 +93,15 @@ set(target_dependencies
"${rosidl_generator_rs_BIN}"
${rosidl_generator_rs_GENERATOR_FILES}
"${rosidl_generator_rs_TEMPLATE_DIR}/action.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/msg_idiomatic.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/msg_rmw.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/action/rmw.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/msg.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/srv_idiomatic.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/srv_rmw.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/msg/rmw.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/srv.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/srv/rmw.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/templates/msg_idiomatic.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/templates/msg_rmw.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/templates/srv_idiomatic.rs.em"
"${rosidl_generator_rs_TEMPLATE_DIR}/templates/srv_rmw.rs.em"
${rosidl_generate_interfaces_ABS_IDL_FILES}
${_idl_files}
${_dependency_files})
Expand Down
5 changes: 5 additions & 0 deletions rosidl_generator_rs/resource/Cargo.toml.em
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@ edition = "2021"
rosidl_runtime_rs = "0.5"
serde = { version = "1", optional = true, features = ["derive"] }
serde-big-array = { version = "0.5.1", optional = true }

# ROS Dependencies
@[for dep in dependency_packages]@
@(dep) = "*"
@[end for]@
Expand All @@ -18,3 +20,6 @@ for dep in dependency_packages:
serde_features.append("{}/serde".format(dep))
}@
serde = @(serde_features)

[package.metadata.rclrs]
reexport = true
Comment on lines +24 to +25
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@maspe36 maspe36 Dec 9, 2025

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The additional metadata I am exporting.

92 changes: 34 additions & 58 deletions rosidl_generator_rs/resource/action.rs.em
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Original file line number Diff line number Diff line change
Expand Up @@ -25,52 +25,28 @@ for subfolder, action in action_specs:
action_srv_specs.append((subfolder, action.get_result_service))
}@

pub mod rmw {
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
@{
TEMPLATE(
'msg_rmw.rs.em',
package_name=package_name, interface_path=interface_path,
msg_specs=action_msg_specs,
get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
pre_field_serde=pre_field_serde,
get_idiomatic_rs_type=get_idiomatic_rs_type,
constant_value_to_rs=constant_value_to_rs)

TEMPLATE(
'srv_rmw.rs.em',
package_name=package_name, interface_path=interface_path,
srv_specs=action_srv_specs,
get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
pre_field_serde=pre_field_serde,
get_idiomatic_rs_type=get_idiomatic_rs_type,
constant_value_to_rs=constant_value_to_rs)
}@
} // mod rmw

#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};

@{
TEMPLATE(
'msg_idiomatic.rs.em',
'templates/msg_idiomatic.rs.em',
package_name=package_name, interface_path=interface_path,
msg_specs=action_msg_specs,
get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
get_rs_name=get_rs_name,
get_rs_type=make_get_rs_type(True),
pre_field_serde=pre_field_serde,
get_idiomatic_rs_type=get_idiomatic_rs_type,
constant_value_to_rs=constant_value_to_rs)
}@

@{
TEMPLATE(
'srv_idiomatic.rs.em',
'templates/srv_idiomatic.rs.em',
package_name=package_name, interface_path=interface_path,
srv_specs=action_srv_specs,
get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
get_rs_name=get_rs_name,
get_rs_type=make_get_rs_type(True),
pre_field_serde=pre_field_serde,
get_idiomatic_rs_type=get_idiomatic_rs_type,
constant_value_to_rs=constant_value_to_rs)
}@

Expand All @@ -90,15 +66,15 @@ pub struct @(type_name);

impl rosidl_runtime_rs::Action for @(type_name) {
// --- Associated types for client library users ---
type Goal = crate::@(subfolder)::@(type_name)@(ACTION_GOAL_SUFFIX);
type Result = crate::@(subfolder)::@(type_name)@(ACTION_RESULT_SUFFIX);
type Feedback = crate::@(subfolder)::@(type_name)@(ACTION_FEEDBACK_SUFFIX);
type Goal = @(type_name)@(ACTION_GOAL_SUFFIX);
type Result = @(type_name)@(ACTION_RESULT_SUFFIX);
type Feedback = @(type_name)@(ACTION_FEEDBACK_SUFFIX);

// --- Associated types for client library implementation ---
type FeedbackMessage = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX);
type SendGoalService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX);
type FeedbackMessage = super::@(subfolder)::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX);
type SendGoalService = super::@(subfolder)::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX);
type CancelGoalService = action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX);
type GetResultService = super::@(subfolder)::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX);
Comment on lines +74 to +77
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@maspe36 maspe36 Dec 9, 2025

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A lot of the changes look like this, simply replacing crate:: with super::. However, when we referenced external to this module types, (i.e. action_msgs::srv::rmw::CancelGoal) we will need to depend on another mechanism such as a using statement or pulling it in as a separate crate to resolve the module path.


// --- Methods for client library implementation ---
fn get_type_support() -> *const std::ffi::c_void {
Expand All @@ -108,28 +84,28 @@ impl rosidl_runtime_rs::Action for @(type_name) {

fn create_goal_request(
goal_id: &[u8; 16],
goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
goal: super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
) -> super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id },
goal,
}
}

fn split_goal_request(
request: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
request: super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
) -> (
[u8; 16],
crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
) {
(request.goal_id.uuid, request.goal)
}

fn create_goal_response(
accepted: bool,
stamp: (i32, u32),
) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
) -> super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
accepted,
stamp: builtin_interfaces::msg::rmw::Time {
sec: stamp.0,
Expand All @@ -139,65 +115,65 @@ impl rosidl_runtime_rs::Action for @(type_name) {
}

fn get_goal_response_accepted(
response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
response: &super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
) -> bool {
response.accepted
}

fn get_goal_response_stamp(
response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
response: &super::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
) -> (i32, u32) {
(response.stamp.sec, response.stamp.nanosec)
}

fn create_feedback_message(
goal_id: &[u8; 16],
feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX),
) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) {
let mut message = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)::default();
feedback: super::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX),
) -> super::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) {
let mut message = super::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)::default();
message.goal_id.uuid = *goal_id;
message.feedback = feedback;
message
}

fn split_feedback_message(
feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
feedback: super::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
) -> (
[u8; 16],
crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX),
super::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX),
) {
(feedback.goal_id.uuid, feedback.feedback)
}

fn create_result_request(
goal_id: &[u8; 16],
) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
) -> super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id },
}
}

fn get_result_request_uuid(
request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
request: &super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
) -> &[u8; 16] {
&request.goal_id.uuid
}

fn create_result_response(
status: i8,
result: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX),
) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
result: super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX),
) -> super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
status,
result,
}
}

fn split_result_response(
response: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)
response: super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)
) -> (
i8,
crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX),
super::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX),
) {
(response.status, response.result)
}
Expand Down
49 changes: 49 additions & 0 deletions rosidl_generator_rs/resource/action/rmw.rs.em
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Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
@{
from rosidl_parser.definition import (
ACTION_FEEDBACK_MESSAGE_SUFFIX,
ACTION_FEEDBACK_SUFFIX,
ACTION_GOAL_SERVICE_SUFFIX,
ACTION_GOAL_SUFFIX,
ACTION_RESULT_SERVICE_SUFFIX,
ACTION_RESULT_SUFFIX,
SERVICE_REQUEST_MESSAGE_SUFFIX,
SERVICE_RESPONSE_MESSAGE_SUFFIX,
)

action_msg_specs = []

for subfolder, action in action_specs:
action_msg_specs.append((subfolder, action.goal))
action_msg_specs.append((subfolder, action.result))
action_msg_specs.append((subfolder, action.feedback))
action_msg_specs.append((subfolder, action.feedback_message))

action_srv_specs = []

for subfolder, action in action_specs:
action_srv_specs.append((subfolder, action.send_goal_service))
action_srv_specs.append((subfolder, action.get_result_service))
}@

#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};

@{
TEMPLATE(
'../templates/msg_rmw.rs.em',
package_name=package_name, interface_path=interface_path,
msg_specs=action_msg_specs,
get_rs_name=get_rs_name,
get_rs_type=make_get_rs_type(False),
pre_field_serde=pre_field_serde,
constant_value_to_rs=constant_value_to_rs)

TEMPLATE(
'../templates/srv_rmw.rs.em',
package_name=package_name, interface_path=interface_path,
srv_specs=action_srv_specs,
get_rs_name=get_rs_name,
get_rs_type=make_get_rs_type(False),
pre_field_serde=pre_field_serde,
constant_value_to_rs=constant_value_to_rs)
}@
14 changes: 7 additions & 7 deletions rosidl_generator_rs/resource/build.rs.em
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Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
use std::path::Path;
// use std::path::Path;

fn main() {
let lib_dir = Path::new("../../../lib")
.canonicalize()
.expect("Could not find '../../../lib'");
// This allows building Rust packages that depend on message crates without
// sourcing the install directory first.
println!("cargo:rustc-link-search={}", lib_dir.display());
// let lib_dir = Path::new("../../../lib")
// .canonicalize()
// .expect("Could not find '../../../lib'");
// // This allows building Rust packages that depend on message crates without
// // sourcing the install directory first.
// println!("cargo:rustc-link-search={}", lib_dir.display());
}
21 changes: 18 additions & 3 deletions rosidl_generator_rs/resource/lib.rs.em
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@maspe36 maspe36 Dec 9, 2025

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We still ultimately want this structure, but a crate that wishes to re-export any of these symbols will need to arbitrarily add private use statements for any external modules. Consider something like this

pub mod builtin_interfaces { ... };

pub mod std_msgs {
  pub mod msg {
    use crate::builtin_interfaces;
    
    include!("path/to/generated/code");
    
    pub mod rmw {
      use crate::builtin_interfaces;
      
      include!("path/to/generated/rmw/code");
    }
  }
}

We need to create this rmw module in the generated crates lib.rs file rather than within these generated .rs files directly. This turned out to be more complicated than I bargained for. This was the simplest way I found to get this to export where relative symbols were looked up correctly in both a single crate or a re-export build.

Original file line number Diff line number Diff line change
Expand Up @@ -3,13 +3,28 @@
#![allow(clippy::upper_case_acronyms)]

@[if len(msg_specs) > 0]@
pub mod msg;
#[path = "msg.rs"]
mod msg_idiomatic;
pub mod msg {
pub use super::msg_idiomatic::*;
pub mod rmw;
}
@[end if]@

@[if len(srv_specs) > 0]@
pub mod srv;
#[path = "srv.rs"]
mod srv_idiomatic;
pub mod srv {
pub use super::srv_idiomatic::*;
pub mod rmw;
}
@[end if]@

@[if len(action_specs) > 0]@
pub mod action;
#[path = "action.rs"]
mod action_idiomatic;
pub mod action {
pub use super::action_idiomatic::*;
pub mod rmw;
}
@[end if]@
21 changes: 3 additions & 18 deletions rosidl_generator_rs/resource/msg.rs.em
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,28 +1,13 @@
pub mod rmw {
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
@{
TEMPLATE(
'msg_rmw.rs.em',
package_name=package_name, interface_path=interface_path,
msg_specs=msg_specs,
get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
pre_field_serde=pre_field_serde,
get_idiomatic_rs_type=get_idiomatic_rs_type,
constant_value_to_rs=constant_value_to_rs)
}@
} // mod rmw

#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};

@{
TEMPLATE(
'msg_idiomatic.rs.em',
'templates/msg_idiomatic.rs.em',
package_name=package_name, interface_path=interface_path,
msg_specs=msg_specs,
get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
get_rs_name=get_rs_name,
get_rs_type=make_get_rs_type(True),
pre_field_serde=pre_field_serde,
get_idiomatic_rs_type=get_idiomatic_rs_type,
constant_value_to_rs=constant_value_to_rs)
}@
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