feat(ros-z): simplify backend by removing ZMessage wrapper boilerplate#320
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YuanYuYuan wants to merge 2 commits intoRosLibRust:masterfrom
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feat(ros-z): simplify backend by removing ZMessage wrapper boilerplate#320YuanYuYuan wants to merge 2 commits intoRosLibRust:masterfrom
YuanYuYuan wants to merge 2 commits intoRosLibRust:masterfrom
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…erSerdes Replace the wrapper boilerplate required by the old ZMessage::Serdes associated type with direct use of SerdeCdrSerdes via the new ZSerdes<T> builder API introduced in ZettaScaleLabs/ros-z dev/serdes-param. - Remove RosMessageWrapper<T> and WrapperSerdes<T> - ZenohPublisher<T> wraps ZPub<T, SerdeCdrSerdes> directly - ZenohSubscriber<T> wraps ZSub<T, Sample, SerdeCdrSerdes> directly - advertise/subscribe use create_pub_impl/create_sub_impl + .with_serdes() - Fake<T> retained for orphan-rule ZService shim (services only)
YuanYuYuan
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Summary
Simplifies the ros-z backend in
roslibrust_ros2by removing wrapper boilerplate that was required to work aroundZMessage::Serdes. With theZSerdes<T>refactor in ZettaScaleLabs/ros-z#131, message types can now specify their wire format at the call site, soT: RosMessageTypecan be used directly without needing an intermediate wrapper type.Key Changes
RosMessageWrapper<T>— the newtype wrapper that existed solely to satisfyZMessage::Serdesis no longer neededWrapperSerdes<T>— the customZSerializer/ZDeserializerimpl delegating toCdrSerdes<T>is replaced byCdrCompatSerdesdirectlyZenohPublisher<T>now wrapsZPub<T, CdrCompatSerdes>instead ofZPub<RosMessageWrapper<T>, WrapperSerdes<T>>ZenohSubscriber<T>now wrapsZSub<T, Sample, CdrCompatSerdes>—recv()returnsTdirectly, no.0unwrapadvertise/subscribeusenode.create_pub_impl/create_sub_implwith.with_serdes::<CdrCompatSerdes>()and type info built fromT::ROS2_TYPE_NAME/T::ROS2_HASHFake<T>retained for services — the orphan rule still preventsimpl ZService for T: RosServiceTypein a downstream crate; the shim is kept but now only handles type routing, not serialization logicBreaking Changes
None for downstream users of
roslibrust_ros2— the public API (TopicProvider,ServiceProviderimpls onZenohClient) is unchanged.