Flexible public codegen APIs

CHANGELOG.md

@@ -25,7 +25,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 - The build.rs example in example_package now correctly informs cargo of filesystem dependencies
-- The `advertise_service` method in `rosbridge/client.rs` now accepts closures 
+- The `advertise_service` method in `rosbridge/client.rs` now accepts closures
+- Expose additional methods useful for custom cases not using package manifests or standard ROS2 setups
 
 ### Fixed
 

roslibrust_codegen/src/lib.rs

@@ -362,12 +362,20 @@ pub fn find_and_generate_ros_messages_without_ros_package_path(
     search_paths: Vec<PathBuf>,
 ) -> Result<(TokenStream, Vec<PathBuf>), Error> {
     let (messages, services, actions) = find_and_parse_ros_messages(&search_paths)?;
-
     if messages.is_empty() && services.is_empty() {
         // I'm considering this an error for now, but I could see this one being debateable
         // As it stands there is not good way for us to manually produce a warning, so I'd rather fail loud
         bail!("Failed to find any services or messages while generating ROS message definitions, paths searched: {search_paths:?}");
     }
+    tokenize_messages_and_services(messages, services, actions)
+}
+
+/// Generates source code and list of depnendent file system paths
+fn tokenize_messages_and_services(
+    messages: Vec<ParsedMessageFile>,
+    services: Vec<ParsedServiceFile>,
+    actions: Vec<ParsedActionFile>,
+) -> Result<(TokenStream, Vec<PathBuf>), Error> {
     let (messages, services) = resolve_dependency_graph(messages, services)?;
     let msg_iter = messages.iter().map(|m| m.parsed.path.clone());
     let srv_iter = services.iter().map(|s| s.parsed.path.clone());
@@ -377,6 +385,29 @@ pub fn find_and_generate_ros_messages_without_ros_package_path(
     Ok((source, dependent_paths))
 }
 
+/// Generates struct definitions and implementations for message and service files
+/// in the given packages.
+pub fn generate_ros_messages_for_packages(
+    packages: Vec<Package>,
+) -> Result<(TokenStream, Vec<PathBuf>), Error> {
+    let msg_paths = packages
+        .iter()
+        .flat_map(|package| {
+            utils::get_message_files(&package).map(|msgs| {
+                msgs.into_iter()
+                    .map(|msg| (package.clone(), msg))
+                    .collect::<Vec<_>>()
+            })
+        })
+        .flatten()
+        .collect();
+    let (messages, services, actions) = parse_ros_files(msg_paths)?;
+    if messages.is_empty() && services.is_empty() {
+        bail!("Failed to find any services or messages while generating ROS message definitions, packages searched: {packages:?}")
+    }
+    tokenize_messages_and_services(messages, services, actions)
+}
+
 /// Searches a list of paths for ROS packages to find their associated message
 /// and service files, parsing and performing dependency resolution on those
 /// it finds. Returns a map of PACKAGE_NAME/MESSAGE_NAME strings to message file

roslibrust_codegen/src/utils.rs

@@ -63,7 +63,7 @@ pub fn crawl<P: AsRef<Path>>(search_paths: &[P]) -> Vec<Package> {
     packages
 }
 
-fn packages_from_path(mut path: PathBuf, depth: u16) -> io::Result<Vec<Package>> {
+pub fn packages_from_path(mut path: PathBuf, depth: u16) -> io::Result<Vec<Package>> {
     let mut found_packages = vec![];
 
     if depth == 0 {