Merge pull request #147 from Carter12s/native-service-client

DRAFT: Native service client

assets/ros1_test_msgs/srv/RoundTripArray.srv

@@ -0,0 +1,4 @@
+# Purpose of this array is send and receive a large payload 
+uint8[] bytes
+---
+uint8[] bytes

roslibrust/examples/ros1_service_client.rs

@@ -0,0 +1,31 @@
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
+
+#[cfg(feature = "ros1")]
+#[tokio::main]
+async fn main() -> Result<(), anyhow::Error> {
+    use roslibrust::ros1::NodeHandle;
+
+    simple_logger::SimpleLogger::new()
+        .with_level(log::LevelFilter::Debug)
+        .without_timestamps()
+        .init()
+        .unwrap();
+
+    let nh = NodeHandle::new("http://localhost:11311", "service_client_rs").await?;
+    log::info!("Connected!");
+
+    let response: rosapi::GetTimeResponse = nh
+        .service_client::<rosapi::GetTime>("rosapi/get_time")
+        .await?
+        .call(&rosapi::GetTimeRequest {})
+        .await?;
+
+    log::info!("Got time: {:?}", response);
+
+    Ok(())
+}
+
+#[cfg(not(feature = "ros1"))]
+fn main() {
+    eprintln!("This example does nothing without compiling with the feature 'ros1'");
+}

roslibrust/src/lib.rs

@@ -121,8 +121,12 @@ pub enum RosLibRustError {
     Timeout(#[from] tokio::time::error::Elapsed),
     #[error("Failed to parse message from JSON: {0}")]
     InvalidMessage(#[from] serde_json::Error),
+    #[error("TCPROS serialization error: {0}")]
+    SerializationError(String),
     #[error("Rosbridge server reported an error: {0}")]
     ServerError(String),
+    #[error("IO error: {0}")]
+    IoError(#[from] std::io::Error),
     #[error("Name does not meet ROS requirements: {0}")]
     InvalidName(String),
     // Generic catch-all error type for not-yet-handled errors

roslibrust/src/ros1/mod.rs

@@ -12,6 +12,10 @@ pub use node::*;
 
 mod publisher;
 pub use publisher::Publisher;
+mod service_client;
+pub use service_client::ServiceClient;
 mod subscriber;
 pub use subscriber::Subscriber;
+mod service_server;
+pub use service_server::ServiceServer;
 mod tcpros;

roslibrust/src/ros1/names.rs

@@ -1,6 +1,7 @@
 use std::fmt::Display;
 
 lazy_static::lazy_static! {
+    // See: https://wiki.ros.org/Names
     static ref GRAPH_NAME_REGEX: regex::Regex = regex::Regex::new(r"^([/~a-zA-Z]){1}([a-zA-Z0-9_/])*([A-z0-9_])$").unwrap();
 }
 
@@ -52,16 +53,16 @@ impl Name {
     }
 }
 
-fn is_valid(name: &str) -> bool {
-    GRAPH_NAME_REGEX.is_match(name)
-}
-
 impl Display for Name {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
         self.inner.fmt(f)
     }
 }
 
+fn is_valid(name: &str) -> bool {
+    GRAPH_NAME_REGEX.is_match(name)
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;