Removed leaky dependency to codegen from ros1 by moving md5sum stuff …

…up to common
RosLibRust · Dec 10, 2024 · cb36a65 · cb36a65
1 parent 331f291
commit cb36a65
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Showing 8 changed files with 780 additions and 774 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/roslibrust_codegen/src/lib.rs b/roslibrust_codegen/src/lib.rs
diff --git a/roslibrust_common/Cargo.toml b/roslibrust_common/Cargo.toml
@@ -7,6 +7,8 @@ edition = "2021"
 thiserror = "2.0"
 anyhow = "1.0"
 serde = { version = "1.0", features = ["derive"] }
+# Used for md5sum calculation
+md5 = "0.7"
 
 # THESE DEPENDENCIES WILL BE REMOVED
 # We're currently leaking these error types in the "generic error type"

diff --git a/roslibrust_common/src/lib.rs b/roslibrust_common/src/lib.rs
@@ -105,3 +105,7 @@ impl RosMessageType for ShapeShifter {
     const MD5SUM: &'static str = "*";
     const DEFINITION: &'static str = "";
 }
+
+/// Contains functions for calculating md5sums of message definitions
+/// These functions are needed both in roslibrust_ros1 and roslibrust_codegen so they're in this crate
+pub mod md5sum;
diff --git a/roslibrust_common/src/md5sum.rs b/roslibrust_common/src/md5sum.rs
diff --git a/roslibrust_ros1/Cargo.toml b/roslibrust_ros1/Cargo.toml
@@ -6,8 +6,6 @@ edition = "2021"
 [dependencies]
 # Provides common types and traits used throughout the roslibrust ecosystem.
 roslibrust_common = { path = "../roslibrust_common" }
-# TODO we'd like to remove this dependency? Don't love these are crosslinked
-roslibrust_codegen = { path = "../roslibrust_codegen" }
 
 # Should probably become workspace members:
 tokio = { version = "1.41", features = ["rt-multi-thread", "sync", "macros"] }

diff --git a/roslibrust_ros1/src/node/actor.rs b/roslibrust_ros1/src/node/actor.rs
@@ -194,7 +194,7 @@ impl NodeServerHandle {
 
         let md5sum;
         let md5sum_res =
-            roslibrust_codegen::message_definition_to_md5sum(topic_type, msg_definition);
+            roslibrust_common::md5sum::message_definition_to_md5sum(topic_type, msg_definition);
         match md5sum_res {
             // TODO(lucasw) make a new error type for this?
             Err(err) => {

diff --git a/roslibrust_test/Cargo.toml b/roslibrust_test/Cargo.toml
@@ -7,7 +7,8 @@ edition = "2021"
 env_logger = "0.10"
 roslibrust = { path = "../roslibrust", features = ["ros1"] }
 roslibrust_common = { path = "../roslibrust_common" }
-# TODO this shouldn't need to be here!
+# This crate does directly invoke codegen and does need to rely on it directly
+# We can fix this by moving the generated types into a roslibrust_ros1_types crate
 roslibrust_codegen = { path = "../roslibrust_codegen" }
 lazy_static = "1.4"
 tokio = { version = "1.20", features = ["net", "sync"] }