Enable building docs with use_ros_shim feature!

Author: maspe36

rclrs/Cargo.toml

@@ -56,6 +56,8 @@ tokio-stream = "0.1"
 # Needed by action clients to generate UUID values for their goals
 uuid = { version = "1", features = ["v4"] }
 
+paste = { version = "1", optional = true}
+
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"
@@ -79,7 +81,7 @@ dyn_msg = ["ament_rs", "libloading"]
 serde = ["dep:serde", "dep:serde-big-array", "rosidl_runtime_rs/serde"]
 # This feature is solely for the purpose of being able to generate documetation without a ROS installation
 # The only intended usage of this feature is for docs.rs builders to work, and is not intended to be used by end users
-use_ros_shim = ["rosidl_runtime_rs/use_ros_shim"]
+use_ros_shim = ["paste", "rosidl_runtime_rs/use_ros_shim"]
 
 [package.metadata.docs.rs]
 features = ["use_ros_shim"]

rclrs/src/lib.rs

@@ -209,6 +209,13 @@ include!(concat!(env!("OUT_DIR"), "/interfaces.rs"));
 #[cfg(feature = "dyn_msg")]
 pub mod dynamic_message;
 
+#[cfg(feature="use_ros_shim")]
+#[allow(missing_docs)]
+pub mod vendor;
+
+#[cfg(feature="use_ros_shim")]
+pub use vendor::*;
+
 pub use action::*;
 pub use arguments::*;
 pub use client::*;

rclrs/src/vendor.rs

@@ -0,0 +1,190 @@
+//! Stubs for ROS 2 interfaces to enable documentation builds without any ROS 2 installation sourced.
+//!
+//! This module provides no useful implementation and should only be used for building documentation.
+
+macro_rules! impl_message_stub {
+    ($name:ident) => {
+        #[derive(Clone, Default, Debug, PartialEq)]
+        pub struct $name;
+
+        impl rosidl_runtime_rs::Message for $name {
+            type RmwMsg = rmw::$name;
+            fn into_rmw_message(
+                _: std::borrow::Cow<'_, Self>,
+            ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+                todo!()
+            }
+            fn from_rmw_message(_: Self::RmwMsg) -> Self {
+                todo!()
+            }
+        }
+    };
+}
+
+macro_rules! impl_rmw_message_stub {
+    ($name:ident) => {
+        #[derive(Clone, Default, Debug, PartialEq)]
+        pub struct $name;
+
+        impl rosidl_runtime_rs::Message for $name {
+            type RmwMsg = Self;
+            fn into_rmw_message(
+                _: std::borrow::Cow<'_, Self>,
+            ) -> std::borrow::Cow<'_, Self::RmwMsg> {
+                todo!()
+            }
+            fn from_rmw_message(_: Self::RmwMsg) -> Self {
+                todo!()
+            }
+        }
+
+        impl rosidl_runtime_rs::RmwMessage for $name
+        where
+            Self: Sized,
+        {
+            const TYPE_NAME: &'static str = "";
+            fn get_type_support() -> *const std::ffi::c_void {
+                todo!()
+            }
+        }
+    };
+}
+
+macro_rules! impl_service_stub {
+    ($name:ident) => {
+        pub struct $name;
+
+        impl rosidl_runtime_rs::Service for $name {
+            paste::paste! {
+                type Request = [<$name _Request>];
+                type Response = [<$name _Response>];
+            }
+
+            fn get_type_support() -> *const std::ffi::c_void {
+                todo!()
+            }
+        }
+
+        paste::paste! {
+            impl_rmw_message_stub!([<$name _Request>]);
+            impl_rmw_message_stub!([<$name _Response>]);
+        }
+    };
+}
+
+macro_rules! impl_sequence_alloc_stub {
+    ($name:ident) => {
+        impl rosidl_runtime_rs::SequenceAlloc for $name {
+            fn sequence_init(_: &mut rosidl_runtime_rs::Sequence<Self>, _: usize) -> bool {
+                todo!()
+            }
+            fn sequence_fini(_: &mut rosidl_runtime_rs::Sequence<Self>) {
+                todo!()
+            }
+            fn sequence_copy(
+                _: &rosidl_runtime_rs::Sequence<Self>,
+                _: &mut rosidl_runtime_rs::Sequence<Self>,
+            ) -> bool {
+                todo!()
+            }
+        }
+    };
+}
+
+#[allow(non_camel_case_types)]
+/// Stub module for the [action_msgs](https://github.com/ros2/rcl_interfaces/tree/rolling/action_msgs) ROS 2 package.
+///
+/// Not all messages and services are implemented, only the ones used internally by [rclrs](crate).
+pub mod action_msgs {
+    pub mod msg {
+        impl_message_stub!(GoalInfo);
+
+        pub mod rmw {
+            impl_rmw_message_stub!(GoalInfo);
+        }
+    }
+    pub mod srv {
+        impl_message_stub!(CancelGoal_Response);
+        impl_message_stub!(CancelGoal_Request);
+
+        pub mod rmw {
+            impl_rmw_message_stub!(CancelGoal_Response);
+            impl_rmw_message_stub!(CancelGoal_Request);
+        }
+    }
+}
+
+/// Stub module for the [builtin_interfaces](https://github.com/ros2/rcl_interfaces/tree/rolling/builtin_interfaces) ROS 2 package.
+///
+/// Not all messages are implemented, only the ones used internally by [rclrs](crate).
+pub mod builtin_interfaces {
+    pub mod msg {
+        impl_message_stub!(Time);
+
+        pub mod rmw {
+            impl_rmw_message_stub!(Time);
+        }
+    }
+}
+
+/// Stub module for the [unique_identifier_msgs](https://github.com/ros2/unique_identifier_msgs/tree/rolling) ROS 2 package.
+///
+/// Not all messages are implemented, only the ones used internally by [rclrs](crate).
+pub mod unique_identifier_msgs {
+    pub mod msg {
+        impl_message_stub!(UUID);
+
+        pub mod rmw {
+            impl_rmw_message_stub!(UUID);
+        }
+    }
+}
+
+/// Stub module for the [rosgraph_msgs](https://github.com/ros2/rcl_interfaces/tree/rolling/rosgraph_msgs) ROS 2 package.
+///
+/// Not all messages are implemented, only the ones used internally by [rclrs](crate).
+pub mod rosgraph_msgs {
+    pub mod msg {
+        impl_message_stub!(Clock);
+
+        pub mod rmw {
+            impl_rmw_message_stub!(Clock);
+        }
+    }
+}
+
+#[allow(non_camel_case_types)]
+/// Stub module for the [rcl_interfaces](https://github.com/ros2/rcl_interfaces/tree/rolling/rcl_interfaces) ROS 2 package.
+///
+/// Not all messages and services are implemented, only the ones used internally by [rclrs](crate).
+pub mod rcl_interfaces {
+    pub mod msg {
+        impl_message_stub!(ParameterType);
+        impl_message_stub!(ParameterValue);
+
+        impl_message_stub!(FloatingPointRange);
+        impl_message_stub!(IntegerRange);
+
+        pub mod rmw {
+            impl_rmw_message_stub!(ParameterType);
+            impl_rmw_message_stub!(ParameterValue);
+
+            impl_rmw_message_stub!(FloatingPointRange);
+            impl_sequence_alloc_stub!(FloatingPointRange);
+
+            impl_rmw_message_stub!(IntegerRange);
+            impl_sequence_alloc_stub!(IntegerRange);
+        }
+    }
+
+    pub mod srv {
+        pub mod rmw {
+            impl_service_stub!(DescribeParameters);
+            impl_service_stub!(GetParameters);
+            impl_service_stub!(GetParameterTypes);
+            impl_service_stub!(ListParameters);
+            impl_service_stub!(SetParameters);
+            impl_service_stub!(SetParametersAtomically);
+        }
+    }
+}