ci: restore blocking Rust package checks

.github/workflows/rust-minimal.yml

@@ -14,6 +14,10 @@ on:
 env:
   CARGO_TERM_COLOR: always
 
+defaults:
+  run:
+    shell: bash
+
 jobs:
   build:
     strategy:
@@ -82,6 +86,20 @@ jobs:
         sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
         sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
 
+    - name: Search Rust packages in this repository
+      id: list_repo_rust_packages
+      run: |
+        mapfile -t package_paths < <(colcon list | awk '$3 == "(ros.ament_cargo)" { print $2 }')
+        if (( ${#package_paths[@]} == 0 )); then
+          echo "::error::No ros.ament_cargo packages found in the repository"
+          exit 1
+        fi
+        {
+          echo 'package_paths<<EOF'
+          printf '%s\n' "${package_paths[@]}"
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
+
     # test_msgs recently added ament_mypy as a test dependency, but rosdep
     # may fail to install it when building from source on rolling
     - name: Install ament_cmake_mypy for rolling
@@ -91,13 +109,16 @@ jobs:
         sudo apt-get install -y ros-rolling-ament-cmake-mypy
 
     - name: Check formatting of Rust packages
+      env:
+        PACKAGE_PATHS: ${{ steps.list_repo_rust_packages.outputs.package_paths }}
       run: |
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
-        cd $path
         rustup toolchain install nightly
-        cargo +nightly fmt -- --check
-        cd -
-        done
+        while IFS= read -r path; do
+          [ -n "$path" ] || continue
+          cd "$path"
+          cargo +nightly fmt -- --check
+          cd - > /dev/null
+        done <<< "$PACKAGE_PATHS"
 
     - name: Build and test
       id: build
@@ -107,45 +128,53 @@ jobs:
         target-ros2-distro: ${{ matrix.ros_distribution }}
         vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
 
-    - name: Run clippy on Rust packages
+    - name: Search target Rust packages in the built workspace
+      id: list_workspace_rust_packages
+      env:
+        PACKAGE_NAMES: ${{ steps.list_packages.outputs.package_list }}
       run: |
         cd ${{ steps.build.outputs.ros-workspace-directory-name }}
-        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
-        cd $path
-        echo "Running clippy in $path"
-        # Run clippy for all features except use_ros_shim (needed for docs.rs)
-        if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --no-deps --all-targets -F default -- -D warnings
-        else
-          cargo clippy --no-deps --all-targets --all-features -- -D warnings
+        mapfile -t package_names <<< "$PACKAGE_NAMES"
+        mapfile -t package_paths < <(colcon list --packages-select "${package_names[@]}" | awk '$3 == "(ros.ament_cargo)" { print $2 }')
+        if (( ${#package_paths[@]} == 0 )); then
+          echo "::error::No target ros.ament_cargo packages found in the built workspace"
+          exit 1
         fi
-        cd -
-        done
+        {
+          echo 'package_paths<<EOF'
+          printf '%s\n' "${package_paths[@]}"
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
-    - name: Run cargo test on Rust packages
+    - name: Run clippy on Rust packages
+      env:
+        PACKAGE_PATHS: ${{ steps.list_workspace_rust_packages.outputs.package_paths }}
       run: |
         cd ${{ steps.build.outputs.ros-workspace-directory-name }}
         . install/setup.sh
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
-        cd $path
-        echo "Running cargo test in $path"
-        # Run cargo test for all features except use_ros_shim (needed for docs.rs)
-        if [ "$(basename $path)" = "rclrs" ]; then
-          cargo test -F default,serde
-        else
-          cargo test --all-features
-        fi
-        cd -
-        done
+        while IFS= read -r path; do
+          [ -n "$path" ] || continue
+          cd "$path"
+          echo "Running clippy in $path"
+          # Run clippy for all features except use_ros_shim (needed for docs.rs)
+          if [ "$(basename "$path")" = "rclrs" ]; then
+            cargo clippy --no-deps --all-targets -F default -- -D warnings
+          else
+            cargo clippy --no-deps --all-targets --all-features -- -D warnings
+          fi
+          cd - > /dev/null
+        done <<< "$PACKAGE_PATHS"
 
     - name: Rustdoc check
+      env:
+        PACKAGE_PATHS: ${{ steps.list_workspace_rust_packages.outputs.package_paths }}
       run: |
         cd ${{ steps.build.outputs.ros-workspace-directory-name }}
-        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
-        cd $path
-        echo "Running rustdoc check in $path"
-        cargo rustdoc -- -D warnings
-        cd -
-        done
+        . install/setup.sh
+        while IFS= read -r path; do
+          [ -n "$path" ] || continue
+          cd "$path"
+          echo "Running rustdoc check in $path"
+          cargo rustdoc -- -D warnings
+          cd - > /dev/null
+        done <<< "$PACKAGE_PATHS"

.github/workflows/rust-stable.yml

@@ -14,6 +14,10 @@ on:
 env:
   CARGO_TERM_COLOR: always
 
+defaults:
+  run:
+    shell: bash
+
 jobs:
   build:
     strategy:
@@ -82,6 +86,20 @@ jobs:
         sudo pip3 install git+https://github.com/colcon/colcon-cargo.git
         sudo pip3 install git+https://github.com/colcon/colcon-ros-cargo.git
 
+    - name: Search Rust packages in this repository
+      id: list_repo_rust_packages
+      run: |
+        mapfile -t package_paths < <(colcon list | awk '$3 == "(ros.ament_cargo)" { print $2 }')
+        if (( ${#package_paths[@]} == 0 )); then
+          echo "::error::No ros.ament_cargo packages found in the repository"
+          exit 1
+        fi
+        {
+          echo 'package_paths<<EOF'
+          printf '%s\n' "${package_paths[@]}"
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
+
     # test_msgs recently added ament_mypy as a test dependency, but rosdep
     # may fail to install it when building from source on rolling
     - name: Install ament_cmake_mypy for rolling
@@ -91,13 +109,16 @@ jobs:
         sudo apt-get install -y ros-rolling-ament-cmake-mypy
 
     - name: Check formatting of Rust packages
+      env:
+        PACKAGE_PATHS: ${{ steps.list_repo_rust_packages.outputs.package_paths }}
       run: |
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
-        cd $path
         rustup toolchain install nightly
-        cargo +nightly fmt -- --check
-        cd -
-        done
+        while IFS= read -r path; do
+          [ -n "$path" ] || continue
+          cd "$path"
+          cargo +nightly fmt -- --check
+          cd - > /dev/null
+        done <<< "$PACKAGE_PATHS"
 
     - name: Build and test
       id: build
@@ -107,45 +128,53 @@ jobs:
         target-ros2-distro: ${{ matrix.ros_distribution }}
         vcs-repo-file-url: ros2_rust_${{ matrix.ros_distribution }}.repos
 
-    - name: Run clippy on Rust packages
+    - name: Search target Rust packages in the built workspace
+      id: list_workspace_rust_packages
+      env:
+        PACKAGE_NAMES: ${{ steps.list_packages.outputs.package_list }}
       run: |
         cd ${{ steps.build.outputs.ros-workspace-directory-name }}
-        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" { print $2 }'); do
-        cd $path
-        echo "Running clippy in $path"
-        # Run clippy for all features except use_ros_shim (needed for docs.rs)
-        if [ "$(basename $path)" = "rclrs" ]; then
-          cargo clippy --no-deps --all-targets -F default -- -D warnings
-        else
-          cargo clippy --no-deps --all-targets --all-features -- -D warnings
+        mapfile -t package_names <<< "$PACKAGE_NAMES"
+        mapfile -t package_paths < <(colcon list --packages-select "${package_names[@]}" | awk '$3 == "(ros.ament_cargo)" { print $2 }')
+        if (( ${#package_paths[@]} == 0 )); then
+          echo "::error::No target ros.ament_cargo packages found in the built workspace"
+          exit 1
         fi
-        cd -
-        done
+        {
+          echo 'package_paths<<EOF'
+          printf '%s\n' "${package_paths[@]}"
+          echo EOF
+        } >> "$GITHUB_OUTPUT"
 
-    - name: Run cargo test on Rust packages
+    - name: Run clippy on Rust packages
+      env:
+        PACKAGE_PATHS: ${{ steps.list_workspace_rust_packages.outputs.package_paths }}
       run: |
         cd ${{ steps.build.outputs.ros-workspace-directory-name }}
         . install/setup.sh
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
-        cd $path
-        echo "Running cargo test in $path"
-        # Run cargo test for all features except use_ros_shim (needed for docs.rs)
-        if [ "$(basename $path)" = "rclrs" ]; then
-          cargo test -F default,serde
-        else
-          cargo test --all-features
-        fi
-        cd -
-        done
+        while IFS= read -r path; do
+          [ -n "$path" ] || continue
+          cd "$path"
+          echo "Running clippy in $path"
+          # Run clippy for all features except use_ros_shim (needed for docs.rs)
+          if [ "$(basename "$path")" = "rclrs" ]; then
+            cargo clippy --no-deps --all-targets -F default -- -D warnings
+          else
+            cargo clippy --no-deps --all-targets --all-features -- -D warnings
+          fi
+          cd - > /dev/null
+        done <<< "$PACKAGE_PATHS"
 
     - name: Rustdoc check
+      env:
+        PACKAGE_PATHS: ${{ steps.list_workspace_rust_packages.outputs.package_paths }}
       run: |
         cd ${{ steps.build.outputs.ros-workspace-directory-name }}
-        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
-        for path in $(colcon list | awk '$3 == "(ament_cargo)" && $1 != "examples_rclrs_minimal_pub_sub" && $1 != "examples_rclrs_minimal_client_service" && $1 != "rust_pubsub" { print $2 }'); do
-        cd $path
-        echo "Running rustdoc check in $path"
-        cargo rustdoc -- -D warnings
-        cd -
-        done
+        . install/setup.sh
+        while IFS= read -r path; do
+          [ -n "$path" ] || continue
+          cd "$path"
+          echo "Running rustdoc check in $path"
+          cargo rustdoc -- -D warnings
+          cd - > /dev/null
+        done <<< "$PACKAGE_PATHS"

.github/workflows/rust-win.yml

@@ -75,10 +75,12 @@ jobs:
         run: |
           call C:\pixi_ws\ros2-windows\setup.bat
           cd C:\workspace
+          set /a rust_package_count=0
           for /f "tokens=1,2,3" %%A in ('pixi run --manifest-path C:\pixi_ws\pixi.toml colcon list') do (
-            if "%%C"=="(ament_cargo)" (
+            if "%%C"=="(ros.ament_cargo)" (
               if /I not "%%A"=="examples_rclrs_minimal_pub_sub" if /I not "%%A"=="examples_rclrs_minimal_client_service" if /I not "%%A"=="rust_pubsub" (
-                cd %%B
+                set /a rust_package_count+=1
+                cd /d %%B
                 echo Running cargo test in %%B
                 if /I "%%~nxB"=="rclrs" (
                   cargo test -F default
@@ -87,9 +89,14 @@ jobs:
                 ) else (
                   cargo test --all-features
                 )
-                cd ..
+                if errorlevel 1 exit /b 1
+                cd /d C:\workspace
               )
             )
           )
+          if %rust_package_count% EQU 0 (
+            echo No target ros.ament_cargo packages found 1>&2
+            exit /b 1
+          )
         shell: cmd
         working-directory: C:\workspace

Cargo.toml

@@ -2,4 +2,10 @@
 members = [
   "rclrs",
 ]
+# action-ros-ci builds the colcon workspace as `ros_ws/` inside this checkout. Without this
+# exclusion every package under it inherits this manifest as its workspace root and cargo
+# refuses to build them ("current package believes it's in a workspace when it's not").
+exclude = [
+  "ros_ws",
+]
 resolver = "2"

docs/building.md

@@ -110,7 +110,7 @@ colcon list
 without errors and see a line like this in the output:
 
 ```
-rclrs   src/ros2_rust/rclrs   (ament_cargo)
+rclrs   src/ros2_rust/rclrs   (ros.ament_cargo)
 ```
 
 The build type `ament_cargo` means that the `colcon-ros-cargo` plugin works as expected.

rclrs/src/action.rs

@@ -103,12 +103,12 @@ impl CancelResponseCode {
 
 impl From<i8> for CancelResponseCode {
     fn from(value: i8) -> Self {
-        if 0 <= value && value <= 3 {
+        if (0..=3).contains(&value) {
             unsafe {
                 // SAFETY: We have already ensured that the integer value is
                 // within the acceptable range for the enum, so transmuting is
                 // safe.
-                return std::mem::transmute(value);
+                return std::mem::transmute::<i8, CancelResponseCode>(value);
             }
         }
 
@@ -205,12 +205,12 @@ impl GoalStatusCode {
 
 impl From<i8> for GoalStatusCode {
     fn from(value: i8) -> Self {
-        if 0 <= value && value <= 6 {
+        if (0..=6).contains(&value) {
             unsafe {
                 // SAFETY: We have already ensured that the integer value is
                 // within the acceptable range for the enum, so transmuting is
                 // safe.
-                return std::mem::transmute(value);
+                return std::mem::transmute::<i8, GoalStatusCode>(value);
             }
         }
 
@@ -579,7 +579,7 @@ mod tests {
             let mut current = 1;
 
             for _ in 0..goal_order {
-                if let Err(_) = sender.send(current) {
+                if sender.send(current).is_err() {
                     // The action has been cancelled early, so just drop this thread.
                     return;
                 }