Removed support for no_std (#109)

* Removed support for no_std

* Removed more no_std dependencies

* Removed more no_std dependencies

* Removed more no_std dependencies

* Removed downcast

* Removed TryFrom, not needed with Rust 2021

* Fix visibility of modules

Author: esteve

rclrs/Cargo.toml

@@ -9,20 +9,10 @@ path = "src/lib.rs"
 
 [dependencies]
 libc = "0.2.43"
-lock_api = "0.4.5"
-cstr_core = "0.2"
-cty = "0.2"
-core-error = "0.0.0"
-parking_lot = {version = "0.11.2", optional = true}
-spin = "0.9.2"
-downcast = "0.10.0"
+parking_lot = "0.11.2"
 
 [dependencies.rosidl_runtime_rs]
 version = "*"
 
 [build-dependencies]
 bindgen = "0.59.1"
-
-[features]
-default = ["std"]
-std = ["parking_lot"]

rclrs/build.rs

@@ -9,8 +9,6 @@ const AMENT_PREFIX_PATH: &str = "AMENT_PREFIX_PATH";
 fn main() {
     let mut builder = bindgen::Builder::default()
         .header("src/rcl_wrapper.h")
-        .use_core()
-        .ctypes_prefix("cty")
         .derive_copy(false)
         .allowlist_recursively(true)
         .allowlist_type("rcl_.*")

rclrs/src/context.rs

@@ -1,20 +1,13 @@
 use crate::rcl_bindings::*;
 use crate::{Node, RclReturnCode, ToResult};
-use alloc::sync::Arc;
-use alloc::vec::Vec;
-use std::string::String;
 
-#[cfg(not(feature = "std"))]
-use cstr_core::{c_char, CString};
-#[cfg(not(feature = "std"))]
-use spin::Mutex;
+use std::ffi::CString;
+use std::os::raw::c_char;
+use std::string::String;
+use std::sync::Arc;
+use std::vec::Vec;
 
-#[cfg(feature = "std")]
-use cty::c_char;
-#[cfg(feature = "std")]
 use parking_lot::Mutex;
-#[cfg(feature = "std")]
-use std::ffi::CString;
 
 impl Drop for rcl_context_t {
     fn drop(&mut self) {

rclrs/src/error.rs

@@ -1,9 +1,6 @@
 use crate::rcl_bindings::*;
-use core::{
-    convert::TryFrom,
-    fmt::{self, Display},
-};
-use core_error::{self, Error};
+use std::error::Error;
+use std::fmt::{self, Display};
 
 /// RCL specific error codes.
 ///
@@ -615,8 +612,6 @@ impl ToResult for rcl_ret_t {
 
 #[cfg(test)]
 mod tests {
-    use core::convert::TryFrom;
-
     use crate::error::{
         ClientErrorCode, EventErrorCode, LifecycleErrorCode, NodeErrorCode, ParsingErrorCode,
         RclErrorCode, RclReturnCode, ServiceErrorCode, SubscriberErrorCode, TimerErrorCode,

rclrs/src/lib.rs

@@ -1,32 +1,22 @@
-#![no_std]
 #![warn(missing_docs)]
 //! Rust client library for ROS2.
 //!
 //! For getting started, see the [README][1].
 //!
 //! [1]: https://github.com/ros2-rust/ros2_rust/blob/master/README.md
 
-extern crate alloc;
-extern crate core_error;
-extern crate downcast;
+extern crate parking_lot;
 extern crate rosidl_runtime_rs;
-
-#[cfg(feature = "std")]
 extern crate std;
 
-#[cfg(feature = "std")]
-extern crate parking_lot;
-
-#[cfg(not(feature = "std"))]
-extern crate spin;
-
 mod context;
 mod error;
 mod node;
 mod qos;
-mod rcl_bindings;
 mod wait;
 
+mod rcl_bindings;
+
 pub use context::*;
 pub use error::*;
 pub use node::*;

rclrs/src/node/mod.rs

@@ -1,28 +1,21 @@
-use alloc::{
-    sync::{Arc, Weak},
-    vec::Vec,
-};
-
 use crate::error::{RclReturnCode, ToResult};
 use crate::qos::QoSProfile;
 use crate::rcl_bindings::*;
 use crate::Context;
 
-use rosidl_runtime_rs::Message;
-
-use cstr_core::CString;
-
 mod publisher;
 mod subscription;
 pub use self::publisher::*;
 pub use self::subscription::*;
 
-#[cfg(not(feature = "std"))]
-use spin::Mutex;
+use std::ffi::CString;
+use std::sync::{Arc, Weak};
+use std::vec::Vec;
 
-#[cfg(feature = "std")]
 use parking_lot::Mutex;
 
+use rosidl_runtime_rs::Message;
+
 impl Drop for rcl_node_t {
     fn drop(&mut self) {
         // SAFETY: No preconditions for this function
@@ -91,7 +84,7 @@ impl Node {
         Ok(Node {
             handle,
             context: context.handle.clone(),
-            subscriptions: alloc::vec![],
+            subscriptions: std::vec![],
         })
     }
 

rclrs/src/node/publisher.rs

@@ -2,18 +2,16 @@ use crate::error::{RclReturnCode, ToResult};
 use crate::qos::QoSProfile;
 use crate::rcl_bindings::*;
 use crate::Node;
-use alloc::sync::Arc;
-use core::marker::PhantomData;
-use cstr_core::CString;
-use rosidl_runtime_rs::{Message, RmwMessage};
-use std::borrow::Cow;
 
-#[cfg(not(feature = "std"))]
-use spin::{Mutex, MutexGuard};
+use std::borrow::Cow;
+use std::ffi::CString;
+use std::marker::PhantomData;
+use std::sync::Arc;
 
-#[cfg(feature = "std")]
 use parking_lot::{Mutex, MutexGuard};
 
+use rosidl_runtime_rs::{Message, RmwMessage};
+
 pub(crate) struct PublisherHandle {
     handle: Mutex<rcl_publisher_t>,
     node_handle: Arc<Mutex<rcl_node_t>>,
@@ -129,7 +127,7 @@ where
             rcl_publish(
                 handle as *mut _,
                 rmw_message.as_ref() as *const <T as Message>::RmwMsg as *mut _,
-                core::ptr::null_mut(),
+                std::ptr::null_mut(),
             )
         };
         ret.ok()

rclrs/src/node/subscription.rs

@@ -2,17 +2,15 @@ use crate::error::{SubscriberErrorCode, ToResult};
 use crate::qos::QoSProfile;
 use crate::Node;
 use crate::{rcl_bindings::*, RclReturnCode};
-use alloc::boxed::Box;
-use alloc::sync::Arc;
-use core::borrow::Borrow;
-use core::marker::PhantomData;
-use cstr_core::CString;
-use rosidl_runtime_rs::{Message, RmwMessage};
 
-#[cfg(not(feature = "std"))]
-use spin::{Mutex, MutexGuard};
+use std::borrow::Borrow;
+use std::boxed::Box;
+use std::ffi::CString;
+use std::marker::PhantomData;
+use std::sync::Arc;
+
+use rosidl_runtime_rs::{Message, RmwMessage};
 
-#[cfg(feature = "std")]
 use parking_lot::{Mutex, MutexGuard};
 
 /// Internal struct used by subscriptions.
@@ -156,8 +154,8 @@ where
             rcl_take(
                 handle as *const _,
                 &mut rmw_message as *mut <T as Message>::RmwMsg as *mut _,
-                core::ptr::null_mut(),
-                core::ptr::null_mut(),
+                std::ptr::null_mut(),
+                std::ptr::null_mut(),
             )
         };
         ret.ok()?;

rclrs/src/wait.rs

@@ -118,7 +118,7 @@ impl WaitSet {
             rcl_wait_set_add_subscription(
                 &mut self.handle as *mut _,
                 &*subscription.handle().lock() as *const _,
-                core::ptr::null_mut(),
+                std::ptr::null_mut(),
             )
         }
         .ok()?;

rosidl_runtime_rs/src/string.rs

@@ -1,5 +1,4 @@
 use std::cmp::Ordering;
-use std::convert::TryFrom;
 use std::ffi::CStr;
 use std::fmt::{self, Debug, Display};
 use std::hash::{Hash, Hasher};
@@ -62,7 +61,6 @@ pub struct WString {
 ///
 /// ```
 /// # use rosidl_runtime_rs::BoundedString;
-/// # use std::convert::TryFrom;
 /// let mut maybe_str = BoundedString::<3>::try_from("noo!");
 /// assert!(maybe_str.is_err());
 /// maybe_str = BoundedString::<3>::try_from("ok!");
@@ -85,7 +83,6 @@ pub struct BoundedString<const N: usize> {
 ///
 /// ```
 /// # use rosidl_runtime_rs::BoundedWString;
-/// # use std::convert::TryFrom;
 /// let mut maybe_wstr = BoundedWString::<3>::try_from("noo!");
 /// assert!(maybe_wstr.is_err());
 /// maybe_wstr = BoundedWString::<3>::try_from("ok!");