Fix some shenanigans

roslibrust/examples/generic_client.rs

@@ -1,5 +1,8 @@
 //! Purpose of this example is to show how the TopicProvider trait can be use
 //! to create code that is generic of which communication backend it will use.
+use roslibrust::topic_provider::*;
+
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
 
 #[cfg(feature = "topic_provider")]
 #[tokio::main]
@@ -10,9 +13,6 @@ async fn main() {
         .init()
         .unwrap();
 
-    use roslibrust::topic_provider::*;
-
-    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
 

roslibrust/examples/generic_client_services.rs

@@ -1,5 +1,8 @@
 //! Purpose of this example is to show how the ServiceProvider trait can be use
 //! to create code that is generic of which communication backend it will use.
+use roslibrust::topic_provider::*;
+
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
 #[cfg(feature = "topic_provider")]
 #[tokio::main]
@@ -10,9 +13,6 @@ async fn main() {
         .init()
         .unwrap();
 
-    use roslibrust::topic_provider::*;
-
-    roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
 

roslibrust_codegen/src/lib.rs

@@ -730,7 +730,7 @@ pub fn generate_rust_ros_message_definitions(
             }
             Ok(())
         })
-        .collect::<Result<_, Error>>()?;
+        .collect::<Result<(), Error>>()?;
     // Do the same for services
     services
         .into_iter()
@@ -744,7 +744,7 @@ pub fn generate_rust_ros_message_definitions(
             }
             Ok(())
         })
-        .collect::<Result<_, Error>>()?;
+        .collect::<Result<(), Error>>()?;
     // Now generate modules to wrap all of the TokenStreams in a module for each package
     let all_pkgs = modules_to_struct_definitions
         .keys()
@@ -753,7 +753,7 @@ pub fn generate_rust_ros_message_definitions(
     let module_definitions = modules_to_struct_definitions
         .into_iter()
         .map(|(pkg, struct_defs)| generate_mod(pkg, struct_defs, &all_pkgs[..]))
-        .collect::<Vec<_>>();
+        .collect::<Vec<TokenStream>>();
 
     Ok(quote! {
         #(#module_definitions)*

roslibrust_zenoh/src/lib.rs

@@ -1,6 +1,6 @@
 //! A crate for interfacing to ROS1 via the [zenoh-ros1-plugin / zenoh-ros1-bridge](https://github.com/eclipse-zenoh/zenoh-plugin-ros1).
 
-use roslibrust::topic_provider::{Publish, ServiceProvider, Subscribe, TopicProvider};
+use roslibrust::topic_provider::{Publish, Service, ServiceProvider, Subscribe, TopicProvider};
 use roslibrust::{RosLibRustError, RosLibRustResult};
 use roslibrust_codegen::{RosMessageType, RosServiceType};
 
@@ -135,8 +135,18 @@ fn mangle_topic(topic: &str, type_str: &str, md5sum: &str) -> String {
     format!("{type_str}/{md5sum}/{topic}")
 }
 
+pub struct ZenohServiceClient<T: RosServiceType> {
+    _marker: std::marker::PhantomData<T>,
+}
+
+impl<T: RosServiceType> Service<T> for ZenohServiceClient<T> {
+    async fn call(&self, request: &T::Request) -> RosLibRustResult<T::Response> {
+        todo!()
+    }
+}
+
 impl ServiceProvider for ZenohClient {
-    type ServiceClient<T: RosServiceType> = ();
+    type ServiceClient<T: RosServiceType> = ZenohServiceClient<T>;
     type ServiceServer = ();
 
     async fn service_client<T: roslibrust_codegen::RosServiceType + 'static>(