Add parameter services (#342)

* WIP Adding describe paramater service

* Implement parameter setting services

Signed-off-by: Luca Della Vedova <[email protected]>

* Restructure and cleanup

Signed-off-by: Luca Della Vedova <[email protected]>

* Implement list_parameters with prefixes

Signed-off-by: Luca Della Vedova <[email protected]>

* Minor cleanups

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix tests, cleanups

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix order of drop calls

Signed-off-by: Luca Della Vedova <[email protected]>

* Add first bunch of unit tests for list and get / set parameters

Signed-off-by: Luca Della Vedova <[email protected]>

* Clear warnings in rclrs

Signed-off-by: Luca Della Vedova <[email protected]>

* Fix clippy, add set atomically tests

Signed-off-by: Luca Della Vedova <[email protected]>

* Add describe parameter and get parameter types tests

Signed-off-by: Luca Della Vedova <[email protected]>

* Minor cleanups, remove several unwraps

Signed-off-by: Luca Della Vedova <[email protected]>

* Remove commented code

Signed-off-by: Luca Della Vedova <[email protected]>

* Address first round of feedback

Signed-off-by: Luca Della Vedova <[email protected]>

* Allow undeclared parameters in parameter getting services

Signed-off-by: Luca Della Vedova <[email protected]>

* Clippy

Signed-off-by: Luca Della Vedova <[email protected]>

* Run rustfmt

Signed-off-by: Michael X. Grey <[email protected]>

* Update rclrs/src/parameter/service.rs

Co-authored-by: jhdcs <[email protected]>

* Change behavior to return NOT_SET for non existing parameters

Signed-off-by: Luca Della Vedova <[email protected]>

* Make use_sim_time parameter read only

Signed-off-by: Luca Della Vedova <[email protected]>

* Format

Signed-off-by: Luca Della Vedova <[email protected]>

* Add a comment to denote why unwrap is safe

Signed-off-by: Luca Della Vedova <[email protected]>

* Use main fmt

Signed-off-by: Luca Della Vedova <[email protected]>

* Add a builder parameter to start parameter services

Signed-off-by: Luca Della Vedova <[email protected]>

---------

Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off-by: Michael X. Grey <[email protected]>
Co-authored-by: Michael X. Grey <[email protected]>
Co-authored-by: jhdcs <[email protected]>

Author: 3 people

rosidl_runtime_rs/src/string.rs

@@ -1,4 +1,5 @@
 use std::{
+    borrow::Borrow,
     cmp::Ordering,
     ffi::CStr,
     fmt::{self, Debug, Display},
@@ -302,13 +303,17 @@ string_impl!(
     rosidl_runtime_c__U16String__Sequence__copy
 );
 
-impl From<&str> for String {
-    fn from(s: &str) -> Self {
+impl<T> From<T> for String
+where
+    T: Borrow<str>,
+{
+    fn from(s: T) -> Self {
         let mut msg = Self {
             data: std::ptr::null_mut(),
             size: 0,
             capacity: 0,
         };
+        let s = s.borrow();
         // SAFETY: It's okay to pass a non-zero-terminated string here since assignn uses the
         // specified length and will append the 0 byte to the dest string itself.
         if !unsafe {