Update Rust toolchain to 1.71.0 and remove pydocstyle workaround (#321)

* Update Rust toolchain to 1.70.0 and remove pydocstyle workaround

* Fix clippy warnings

* Update to Rust 1.71.0

.github/workflows/rust.yml

@@ -45,12 +45,8 @@ jobs:
         required-ros-distributions: ${{ matrix.ros_distribution }}
         use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
 
-    - name: Downgrade pydocstyle as a workaround for https://github.com/ament/ament_lint/issues/434
-      run: |
-        sudo pip install pydocstyle==6.1.1
-
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.63.0
+      uses: dtolnay/rust-toolchain@1.71.0
       with:
         components: clippy, rustfmt
 

Dockerfile

@@ -12,7 +12,7 @@ RUN apt-get update && apt-get install -y \
     && rm -rf /var/lib/apt/lists/*
 
 # Install Rust and the cargo-ament-build plugin
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.63.0 -y
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.71.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
 RUN cargo install cargo-ament-build
 

rclrs/src/dynamic_message.rs

@@ -72,7 +72,7 @@ fn get_type_support_library(
     let ament = ament_rs::Ament::new().map_err(|_| RequiredPrefixNotSourced {
         package: package_name.to_owned(),
     })?;
-    let prefix = PathBuf::from(ament.find_package(&package_name).ok_or(
+    let prefix = PathBuf::from(ament.find_package(package_name).ok_or(
         RequiredPrefixNotSourced {
             package: package_name.to_owned(),
         },

rclrs/src/error.rs

@@ -347,6 +347,6 @@ pub(crate) trait ToResult {
 
 impl ToResult for rcl_ret_t {
     fn ok(&self) -> Result<(), RclrsError> {
-        to_rclrs_result(*self as i32)
+        to_rclrs_result(*self)
     }
 }

rclrs/src/node.rs

@@ -173,7 +173,7 @@ impl Node {
         &self,
         getter: unsafe extern "C" fn(*const rcl_node_t) -> *const c_char,
     ) -> String {
-        unsafe { call_string_getter_with_handle(&*self.rcl_node_mtx.lock().unwrap(), getter) }
+        unsafe { call_string_getter_with_handle(&self.rcl_node_mtx.lock().unwrap(), getter) }
     }
 
     /// Creates a [`Client`][1].

rclrs/src/parameter/value.rs

@@ -163,8 +163,8 @@ mod tests {
             assert!(!rcl_params.is_null());
             assert_eq!(unsafe { (*rcl_params).num_nodes }, 1);
             let rcl_node_params = unsafe { &(*(*rcl_params).params) };
-            assert_eq!((*rcl_node_params).num_params, 1);
-            let rcl_variant = unsafe { &(*(*rcl_node_params).parameter_values) };
+            assert_eq!(rcl_node_params.num_params, 1);
+            let rcl_variant = unsafe { &(*rcl_node_params.parameter_values) };
             let param_value = unsafe { ParameterValue::from_rcl_variant(rcl_variant) };
             assert_eq!(param_value, pair.1);
             unsafe { rcl_yaml_node_struct_fini(rcl_params) };

rclrs/src/subscription.rs

@@ -183,7 +183,7 @@ where
     ///
     /// This can be more efficient for messages containing large arrays.
     pub fn take_boxed(&self) -> Result<(Box<T>, MessageInfo), RclrsError> {
-        let mut rmw_message = Box::new(<T as Message>::RmwMsg::default());
+        let mut rmw_message = Box::<<T as Message>::RmwMsg>::default();
         let message_info = self.take_inner(&mut *rmw_message)?;
         // TODO: This will still use the stack in general. Change signature of
         // from_rmw_message to allow placing the result in a Box directly.

rclrs/src/vendor/rcl_interfaces/msg.rs

@@ -404,6 +404,7 @@ pub mod rmw {
         pub description: rosidl_runtime_rs::String,
         pub additional_constraints: rosidl_runtime_rs::String,
         pub read_only: bool,
+        pub dynamic_typing: bool,
         pub floating_point_range: rosidl_runtime_rs::BoundedSequence<
             crate::vendor::rcl_interfaces::msg::rmw::FloatingPointRange,
             1,
@@ -1269,6 +1270,7 @@ pub struct ParameterDescriptor {
     pub description: std::string::String,
     pub additional_constraints: std::string::String,
     pub read_only: bool,
+    pub dynamic_typing: bool,
     pub floating_point_range: rosidl_runtime_rs::BoundedSequence<
         crate::vendor::rcl_interfaces::msg::rmw::FloatingPointRange,
         1,
@@ -1298,6 +1300,7 @@ impl rosidl_runtime_rs::Message for ParameterDescriptor {
                 description: msg.description.as_str().into(),
                 additional_constraints: msg.additional_constraints.as_str().into(),
                 read_only: msg.read_only,
+                dynamic_typing: msg.dynamic_typing,
                 floating_point_range: msg.floating_point_range,
                 integer_range: msg.integer_range,
             }),
@@ -1307,6 +1310,7 @@ impl rosidl_runtime_rs::Message for ParameterDescriptor {
                 description: msg.description.as_str().into(),
                 additional_constraints: msg.additional_constraints.as_str().into(),
                 read_only: msg.read_only,
+                dynamic_typing: msg.dynamic_typing,
                 floating_point_range: msg.floating_point_range.clone(),
                 integer_range: msg.integer_range.clone(),
             }),
@@ -1320,6 +1324,7 @@ impl rosidl_runtime_rs::Message for ParameterDescriptor {
             description: msg.description.to_string(),
             additional_constraints: msg.additional_constraints.to_string(),
             read_only: msg.read_only,
+            dynamic_typing: msg.dynamic_typing,
             floating_point_range: msg.floating_point_range,
             integer_range: msg.integer_range,
         }

rclrs/vendor_interfaces.py

@@ -58,4 +58,4 @@ def main():
 
 
 if __name__ == '__main__':
-  main()
+  main()