Remove libc dependencies (#284)

Author: Tacha-S

rosidl_generator_rs/resource/Cargo.toml.em

@@ -4,7 +4,6 @@ version = "@(package_version)"
 edition = "2021"
 
 [dependencies]
-libc = "0.2"
 rosidl_runtime_rs = "0.3"
 serde = { version = "1", optional = true, features = ["derive"] }
 @[for dep in dependency_packages]@

rosidl_generator_rs/resource/msg_rmw.rs.em

@@ -19,14 +19,15 @@ type_name = msg_spec.structure.namespaced_type.name
 
 #[link(name = "@(package_name)__rosidl_typesupport_c")]
 extern "C" {
- fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> libc::uintptr_t;
+ fn rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
 }
 
 #[link(name = "@(package_name)__rosidl_generator_c")]
 extern "C" {
  fn @(package_name)__@(subfolder)__@(type_name)__init(msg: *mut @(type_name)) -> bool;
- fn @(package_name)__@(subfolder)__@(type_name)__Sequence__init(seq: *mut rosidl_runtime_rs::Sequence<@(type_name)>, size: libc::size_t) -> bool;
+ fn @(package_name)__@(subfolder)__@(type_name)__Sequence__init(seq: *mut rosidl_runtime_rs::Sequence<@(type_name)>, size: usize) -> bool;
  fn @(package_name)__@(subfolder)__@(type_name)__Sequence__fini(seq: *mut rosidl_runtime_rs::Sequence<@(type_name)>);
+ fn @(package_name)__@(subfolder)__@(type_name)__Sequence__copy(in_seq: &rosidl_runtime_rs::Sequence<@(type_name)>, out_seq: *mut rosidl_runtime_rs::Sequence<@(type_name)>) -> bool;
 }
 
 @# Drop is not needed, since the default drop glue does the same as fini here:
@@ -80,18 +81,17 @@ impl Default for @(type_name) {
 }
 
 impl rosidl_runtime_rs::SequenceAlloc for @(type_name) {
- fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: libc::size_t) -> bool {
- // SAFETY: This is safe since a the point is guaranteed to be valid/initialized.
+ fn sequence_init(seq: &mut rosidl_runtime_rs::Sequence<Self>, size: usize) -> bool {
+ // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
  unsafe { @(package_name)__@(subfolder)__@(type_name)__Sequence__init(seq as *mut _, size) }
  }
  fn sequence_fini(seq: &mut rosidl_runtime_rs::Sequence<Self>) {
- // SAFETY: This is safe since a the point is guaranteed to be valid/initialized.
+ // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
  unsafe { @(package_name)__@(subfolder)__@(type_name)__Sequence__fini(seq as *mut _) }
  }
  fn sequence_copy(in_seq: &rosidl_runtime_rs::Sequence<Self>, out_seq: &mut rosidl_runtime_rs::Sequence<Self>) -> bool {
- out_seq.resize_to_at_least(in_seq.len());
- out_seq.clone_from_slice(in_seq.as_slice());
- true
+ // SAFETY: This is safe since the pointer is guaranteed to be valid/initialized.
+ unsafe { @(package_name)__@(subfolder)__@(type_name)__Sequence__copy(in_seq, out_seq as *mut _) }
  }
 }
 
@@ -103,7 +103,7 @@ impl rosidl_runtime_rs::Message for @(type_name) {
 
 impl rosidl_runtime_rs::RmwMessage for @(type_name) where Self: Sized {
  const TYPE_NAME: &'static str = "@(package_name)/@(subfolder)/@(type_name)";
- fn get_type_support() -> libc::uintptr_t {
+ fn get_type_support() -> *const std::os::raw::c_void {
  // SAFETY: No preconditions for this function.
  unsafe { rosidl_typesupport_c__get_message_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
  }

rosidl_generator_rs/resource/srv.rs.em

@@ -24,7 +24,7 @@ type_name = srv_spec.namespaced_type.name
 
 #[link(name = "@(package_name)__rosidl_typesupport_c")]
 extern "C" {
- fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> libc::uintptr_t;
+ fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
 }
 
 // Corresponds to @(package_name)__@(subfolder)__@(type_name)
@@ -34,7 +34,7 @@ impl rosidl_runtime_rs::Service for @(type_name) {
  type Request = crate::@(subfolder)::@(type_name)_Request;
  type Response = crate::@(subfolder)::@(type_name)_Response;
 
- fn get_type_support() -> libc::uintptr_t {
+ fn get_type_support() -> *const std::os::raw::c_void {
  // SAFETY: No preconditions for this function.
  unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
  }
@@ -61,7 +61,7 @@ type_name = srv_spec.namespaced_type.name
 
  #[link(name = "@(package_name)__rosidl_typesupport_c")]
  extern "C" {
- fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> libc::uintptr_t;
+ fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
  }
 
  // Corresponds to @(package_name)__@(subfolder)__@(type_name)
@@ -71,7 +71,7 @@ type_name = srv_spec.namespaced_type.name
  type Request = crate::@(subfolder)::rmw::@(type_name)_Request;
  type Response = crate::@(subfolder)::rmw::@(type_name)_Response;
 
- fn get_type_support() -> libc::uintptr_t {
+ fn get_type_support() -> *const std::os::raw::c_void {
  // SAFETY: No preconditions for this function.
  unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
  }