merge dyn_msg feature into main codebase

Signed-off-by: Esteve Fernandez <[email protected]>

Author: esteve

.github/workflows/rust-minimal.yml

@@ -101,7 +101,7 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default -- -D warnings
         else
           cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
@@ -117,7 +117,7 @@ jobs:
         echo "Running cargo test in $path"
         # Run cargo test for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo test -F default,dyn_msg
+          cargo test -F default
         elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
           cargo test -F default
         else

.github/workflows/rust-stable.yml

@@ -101,7 +101,7 @@ jobs:
         echo "Running clippy in $path"
         # Run clippy for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --no-deps --all-targets -F default,dyn_msg -- -D warnings
+          cargo clippy --no-deps --all-targets -F default -- -D warnings
         else
           cargo clippy --no-deps --all-targets --all-features -- -D warnings
         fi
@@ -117,7 +117,7 @@ jobs:
         echo "Running cargo test in $path"
         # Run cargo test for all features except use_ros_shim (needed for docs.rs)
         if [ "$(basename $path)" = "rclrs" ]; then
-          cargo test -F default,dyn_msg
+          cargo test -F default
         elif [ "$(basename $path)" = "rosidl_runtime_rs" ]; then
           cargo test -F default
         else

.github/workflows/rust-win.yml

@@ -75,7 +75,7 @@ jobs:
                 cd %%B
                 echo Running cargo test in %%B
                 if /I "%%~nxB"=="rclrs" (
-                  cargo test -F default,dyn_msg
+                  cargo test -F default
                 ) else if /I "%%~nxB"=="rosidl_runtime_rs" (
                   cargo test -F default
                 ) else (

rclrs/Cargo.toml

@@ -15,7 +15,7 @@ path = "src/lib.rs"
 # and also state why each dependency is needed.
 [dependencies]
 # Needed for dynamically finding type support libraries
-ament_rs = { version = "0.2", optional = true }
+ament_rs = { version = "0.2" }
 
 # Needed for uploading documentation to docs.rs
 cfg-if = "1.0.0"
@@ -27,7 +27,7 @@ futures = "0.3"
 async-std = "1.13"
 
 # Needed for dynamic messages
-libloading = { version = "0.8", optional = true }
+libloading = { version = "0.8" }
 
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.4"
@@ -54,7 +54,6 @@ cfg-if = "1.0.0"
 
 [features]
 default = []
-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

rclrs/src/error.rs

@@ -4,7 +4,6 @@ use std::{
     fmt::{self, Display},
 };
 
-#[cfg(feature = "dyn_msg")]
 use crate::dynamic_message::DynamicMessageError;
 use crate::{rcl_bindings::*, DeclarationError};
 
@@ -34,7 +33,6 @@ pub enum RclrsError {
     },
     /// It was attempted to add a waitable to a wait set twice.
     AlreadyAddedToWaitSet,
-    #[cfg(feature = "dyn_msg")]
     /// An error while creating dynamic message.
     DynamicMessageError {
         /// The error containing more detailed information.
@@ -102,7 +100,6 @@ impl Display for RclrsError {
                     "Could not add entity to wait set because it was already added to a wait set"
                 )
             }
-            #[cfg(feature = "dyn_msg")]
             RclrsError::DynamicMessageError { .. } => {
                 write!(f, "Could not create dynamic message")
             }
@@ -134,7 +131,6 @@ impl Display for RclrsError {
     }
 }
 
-#[cfg(feature = "dyn_msg")]
 impl From<DynamicMessageError> for RclrsError {
     fn from(err: DynamicMessageError) -> Self {
         Self::DynamicMessageError { err }
@@ -171,7 +167,6 @@ impl Error for RclrsError {
             // TODO(@mxgrey): We should provide source information for these other types.
             // It should be easy to do this using the thiserror crate.
             RclrsError::AlreadyAddedToWaitSet => None,
-            #[cfg(feature = "dyn_msg")]
             RclrsError::DynamicMessageError { err } => Some(err).map(|e| e as &dyn Error),
             RclrsError::NegativeDuration(_) => None,
             RclrsError::UnownedGuardCondition => None,

rclrs/src/lib.rs

@@ -198,9 +198,7 @@ mod test_helpers;
 
 mod rcl_bindings;
 
-#[cfg(feature = "dyn_msg")]
 pub mod dynamic_message;
-#[cfg(feature = "dyn_msg")]
 pub use dynamic_message::*;
 
 pub use arguments::*;

rclrs/src/node.rs

@@ -5,7 +5,6 @@ mod primitive_options;
 pub use primitive_options::*;
 
 mod graph;
-#[cfg(feature = "dyn_msg")]
 use crate::{
     dynamic_message::{
         DynamicMessage, DynamicPublisher, DynamicPublisherState, DynamicSubscription,
@@ -14,7 +13,6 @@ use crate::{
     },
     MessageInfo,
 };
-#[cfg(feature = "dyn_msg")]
 use futures::future::BoxFuture;
 
 pub use graph::*;
@@ -424,7 +422,6 @@ impl NodeState {
     ///     .keep_last(100)
     /// )
     /// .unwrap();
-    #[cfg(feature = "dyn_msg")]
     pub fn create_dynamic_publisher<'a>(
         self: &Arc<Self>,
         topic_type: MessageTypeName,
@@ -862,7 +859,6 @@ impl NodeState {
     ///     },
     /// );
     /// ```
-    #[cfg(feature = "dyn_msg")]
     pub fn create_dynamic_subscription<'a, F>(
         &self,
         topic_type: MessageTypeName,
@@ -937,7 +933,6 @@ impl NodeState {
     /// )?;
     /// # Ok::<(), RclrsError>(())
     /// ```
-    #[cfg(feature = "dyn_msg")]
     pub fn create_async_dynamic_subscription<'a, F>(
         &self,
         topic_type: MessageTypeName,

rclrs/src/worker.rs

@@ -1,4 +1,3 @@
-#[cfg(feature = "dyn_msg")]
 use crate::{
     dynamic_message::{
         DynamicMessage, DynamicSubscriptionState, MessageTypeName, WorkerDynamicSubscription,
@@ -311,7 +310,6 @@ impl<Payload: 'static + Send + Sync> WorkerState<Payload> {
     /// )?;
     /// # Ok::<(), RclrsError>(())
     /// ```
-    #[cfg(feature = "dyn_msg")]
     pub fn create_dynamic_subscription<'a, F>(
         &self,
         topic_type: MessageTypeName,
@@ -577,7 +575,6 @@ mod tests {
     struct TestPayload {
         subscription_count: usize,
         service_count: usize,
-        #[cfg(feature = "dyn_msg")]
         dynamic_subscription_count: usize,
     }
 
@@ -593,7 +590,6 @@ mod tests {
             },
         );
 
-        #[cfg(feature = "dyn_msg")]
         let _count_dynamic_sub = worker.create_dynamic_subscription(
             "test_msgs/msg/Empty".try_into().unwrap(),
             "test_worker_topic",
@@ -612,14 +608,11 @@ mod tests {
 
         let promise = worker.listen_until(move |payload| {
             if payload.service_count > 0 && payload.subscription_count > 0 {
-                #[cfg(feature = "dyn_msg")]
                 if payload.dynamic_subscription_count > 0 {
                     Some(*payload)
                 } else {
                     None
                 }
-                #[cfg(not(feature = "dyn_msg"))]
-                Some(*payload)
             } else {
                 None
             }