feat: rcl unit test (#36)

Author: YuanYuYuan

.github/workflows/ci.yml

@@ -109,6 +109,11 @@ jobs:
         if: env.ACT != 'true'
         uses: mozilla-actions/sccache-action@v0.0.9
 
+      - name: Clippy (all targets, all features)
+        run: |
+          nix develop '.#${{ matrix.distro }}-ci' -c \
+            cargo clippy --all-targets --all-features --workspace -- -D warnings
+
       - name: Check rcl-z
         run: |
           nix develop '.#${{ matrix.distro }}-ci' -c cargo check -p rcl-z

flake.nix

@@ -70,6 +70,13 @@
                 rosidl-default-generators
                 rosidl-default-runtime
                 rosidl-adapter
+                rosidl-typesupport-fastrtps-c
+                rosidl-typesupport-fastrtps-cpp
+              ];
+
+              # Test-only message packages
+              testMessages = with pkgs.rosPackages.${rosDistro}; [
+                test-msgs
               ];
 
               devExtras = with pkgs.rosPackages.${rosDistro}; [
@@ -92,18 +99,35 @@
             };
           in
           {
+            # Development environment with all dependencies including test messages
             dev = pkgs.rosPackages.${rosDistro}.buildEnv {
-              paths = rosDeps.rcl ++ rosDeps.messages ++ rosDeps.devExtras;
+              paths = rosDeps.rcl ++ rosDeps.messages ++ rosDeps.testMessages ++ rosDeps.devExtras;
             };
+
+            # Core RCL only (for minimal builds)
             rcl = pkgs.rosPackages.${rosDistro}.buildEnv {
               paths = rosDeps.rcl;
             };
+
+            # Runtime messages only
             msgs = pkgs.rosPackages.${rosDistro}.buildEnv {
               paths = rosDeps.messages;
             };
+
+            # Build environment with runtime messages but NO test messages
             build = pkgs.rosPackages.${rosDistro}.buildEnv {
               paths = rosDeps.rcl ++ rosDeps.messages;
             };
+
+            # Test environment for core tests only (no test_msgs)
+            testCore = pkgs.rosPackages.${rosDistro}.buildEnv {
+              paths = rosDeps.rcl ++ rosDeps.messages;
+            };
+
+            # Test environment with test messages (for all tests)
+            testFull = pkgs.rosPackages.${rosDistro}.buildEnv {
+              paths = rosDeps.rcl ++ rosDeps.messages ++ rosDeps.testMessages;
+            };
           };
 
         # Common build tools
@@ -135,10 +159,13 @@
         ];
 
         # Environment variables for Rust/C++ interop
-        commonEnvVars = {
+        commonEnvVars = rec {
           LIBCLANG_PATH = "${pkgs.llvmPackages.libclang.lib}/lib";
           CLANG_PATH = "${pkgs.llvmPackages.clang}/bin/clang";
-          LD_LIBRARY_PATH = pkgs.lib.makeLibraryPath [ pkgs.stdenv.cc.cc.lib ];
+          LD_LIBRARY_PATH = pkgs.lib.makeLibraryPath [
+            pkgs.stdenv.cc.cc.lib
+            # ROS libraries will be added by the ROS environment packages
+          ];
           RUST_BACKTRACE = "1";
           RMW_IMPLEMENTATION = "rmw_zenoh_cpp";
           RUSTC_WRAPPER = "${pkgs.sccache}/bin/sccache";
@@ -194,7 +221,7 @@
 
             ci = mkDevShell {
               name = "ros-z-ci-${rosDistro}";
-              packages = commonBuildInputs ++ [ rosEnv.build ];
+              packages = commonBuildInputs ++ testTools ++ [ rosEnv.testFull ];
             };
           };
 

rcl-z/Cargo.toml

@@ -22,8 +22,21 @@ strum = { workspace = true, features = ["derive"] }
 
 [lib]
 name = "rcl_z"
-crate-type = ["cdylib"]
+crate-type = ["cdylib", "rlib"]
 
 [build-dependencies]
 bindgen = { workspace = true }
 cxx-build = { workspace = true }
+
+[features]
+# Tests that don't need any message packages
+test-core = []
+
+# Tests that need test_msgs package
+test-msgs = []
+
+# Run all tests
+test-all = ["test-core", "test-msgs"]
+
+# Legacy compatibility
+test-rcl = ["test-all"]

rcl-z/build.rs

@@ -16,6 +16,9 @@ const INCLUDE_PACKAGES: &[&str] = &[
 ];
 
 fn main() {
+    // Declare custom cfg for auto-detection
+    println!("cargo:rustc-check-cfg=cfg(has_test_msgs)");
+
     // Get AMENT_PREFIX_PATH from the environment
     let ament_prefix = env::var("AMENT_PREFIX_PATH").expect("AMENT_PREFIX_PATH is missing!");
 
@@ -39,11 +42,14 @@ fn main() {
         .clang_args(include_args)
         .allowlist_function("rcl_.*")
         .allowlist_function("rmw_get_gid_for_publisher")
+        .allowlist_function("rmw_publisher_count_matched_subscriptions")
+        .allowlist_function("rmw_subscription_count_matched_publishers")
         .allowlist_function("rosidl_typesupport_c__get_service_type_support_handle__type_description_interfaces__srv__GetTypeDescription")
         .allowlist_type("rcl_.*")
         .blocklist_type("rmw_qos_profile_s")
         .blocklist_type("rmw_qos_.*_policy_e")
         .allowlist_var("RCL_.*")
+        .allowlist_var("RMW_.*")
         // .no_default("rmw_qos_profile_s")
         .default_enum_style(bindgen::EnumVariation::Rust {
             non_exhaustive: false,
@@ -128,11 +134,23 @@ fn main() {
 
     println!("cargo:rustc-link-search=native=/usr/local/lib");
     println!("cargo:rustc-link-search=native={ament_prefix}/lib/");
+
+    println!("cargo:rustc-link-lib=dylib=rcl");
     println!("cargo:rustc-link-lib=dylib=rmw");
     println!("cargo:rustc-link-lib=dylib=rcutils");
     println!("cargo:rustc-link-lib=dylib=fastcdr");
     println!("cargo:rustc-link-lib=dylib=rosidl_runtime_c");
     println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_fastrtps_c");
     println!("cargo:rustc-link-lib=dylib=rosidl_typesupport_fastrtps_cpp");
     println!("cargo:rustc-link-lib=dylib=type_description_interfaces__rosidl_typesupport_c");
+
+    // Link test_msgs for tests
+    #[cfg(feature = "test-msgs")]
+    {
+        // Explicit feature: always link (fail if not available)
+        println!("cargo:rustc-link-lib=dylib=test_msgs__rosidl_generator_c");
+        println!("cargo:rustc-link-lib=dylib=test_msgs__rosidl_typesupport_c");
+        println!("cargo:rustc-link-lib=dylib=test_msgs__rosidl_typesupport_fastrtps_c");
+        println!("cargo:rustc-link-lib=dylib=test_msgs__rosidl_typesupport_fastrtps_cpp");
+    }
 }

rcl-z/include/serde_bridge.h

@@ -2,6 +2,8 @@
 
 #include <rosidl_typesupport_fastrtps_cpp/message_type_support.h>
 #include <rosidl_typesupport_fastrtps_cpp/service_type_support.h>
+#include <rosidl_typesupport_fastrtps_c/identifier.h>
+#include <rosidl_typesupport_fastrtps_cpp/identifier.hpp>
 
 #include "rust/cxx.h"