feat(hiroz): join the rmw_zenoh cpu buffer group

.github/workflows/test.yml

@@ -254,6 +254,9 @@ jobs:
 
       - name: Run interop tests
         shell: bash
+        env:
+          # Only the lyrical image has a buffer-aware rmw_zenoh_cpp: a skipped buffer test fails there.
+          HIROZ_REQUIRE_BUFFER_RMW: ${{ matrix.distro == 'lyrical' && '1' || '' }}
         run: |
           source /opt/ros/${{ matrix.distro }}/setup.bash
           export RMW_IMPLEMENTATION=rmw_zenoh_cpp

crates/hiroz-codegen/tests/schema_buffer_fields.rs

@@ -0,0 +1,75 @@
+//! The message schema that the Rust generator writes for the sequence kinds a buffer rule reads.
+//!
+//! A subscriber joins rmw_zenoh's CPU buffer group when its message schema has an unbounded
+//! sequence of `Uint8`. So the generator decides which ROS field kinds count. These tests parse a
+//! small `.msg` text and read the schema tokens of each field.
+
+use std::{collections::HashSet, path::Path};
+
+use hiroz_codegen::{
+    generator::rust::{GenerationContext, generate_message_impl_with_cdr},
+    parser::msg::parse_msg_string,
+    resolver::Resolver,
+};
+
+/// The generated code of `source`, with all white space removed.
+fn generated(source: &str) -> String {
+    let parsed = parse_msg_string(source, "test_msgs", Path::new("Kinds.msg")).expect("parse");
+    let resolved = Resolver::new(false)
+        .resolve_messages(vec![parsed])
+        .expect("resolve")
+        .remove(0);
+    let ctx = GenerationContext::new(None, HashSet::from(["test_msgs".to_string()]));
+    generate_message_impl_with_cdr(&resolved, &ctx, &HashSet::new())
+        .expect("generate")
+        .to_string()
+        .split_whitespace()
+        .collect()
+}
+
+/// The schema builder call for a field of the given kind, in the form of `generated`.
+fn field(name: &str, field_type: &str) -> String {
+    format!(".field(\"{name}\",::hiroz::dynamic::FieldType::{field_type})")
+}
+
+fn sequence_of(inner: &str) -> String {
+    format!("Sequence(::std::boxed::Box::new(::hiroz::dynamic::FieldType::{inner}))")
+}
+
+/// An unbounded `uint8[]`, `char[]` and `byte[]` all become a sequence of `Uint8`, so the typed
+/// join counts all three. An unbounded `int8[]` stays a sequence of `Int8`, and a bounded or fixed
+/// `uint8` is not a sequence.
+///
+/// Control in the same test: the `uint8[]` field has the sequence form that the other rows are
+/// compared against, so a generator that writes no schema at all cannot pass.
+#[test]
+fn byte_char_and_uint8_sequences_share_one_schema_kind() {
+    const NAME: &str = "byte_char_and_uint8_sequences_share_one_schema_kind";
+    let code = generated(
+        "uint8[] u\nchar[] c\nbyte[] b\nint8[] i\nuint8[<=4] bounded\nuint8[4] fixed\nfloat64[] f\n",
+    );
+    let uint8_sequence = sequence_of("Uint8");
+    let rows = [
+        ("u", uint8_sequence.clone()),
+        ("c", uint8_sequence.clone()),
+        ("b", uint8_sequence.clone()),
+        ("i", sequence_of("Int8")),
+        (
+            "bounded",
+            "BoundedSequence(::std::boxed::Box::new(::hiroz::dynamic::FieldType::Uint8),4usize)"
+                .to_string(),
+        ),
+        (
+            "fixed",
+            "Array(::std::boxed::Box::new(::hiroz::dynamic::FieldType::Uint8),4usize)".to_string(),
+        ),
+        ("f", sequence_of("Float64")),
+    ];
+    for (name, field_type) in rows {
+        let want = field(name, &field_type);
+        assert!(
+            code.contains(&want),
+            "{NAME}: no `{want}` in the generated schema of field {name}"
+        );
+    }
+}

crates/hiroz-tests/Cargo.toml

@@ -12,6 +12,7 @@ publish = false
 hiroz = { path = "../hiroz", default-features = false, features = ["protobuf"] }
 hiroz-msgs = { path = "../hiroz-msgs", default-features = false, optional = true }
 hiroz-cdr = { path = "../hiroz-cdr" }
+hiroz-protocol = { path = "../hiroz-protocol" }                                    # key format types in buffer_cpu_group tests
 hiroz-schema = { path = "../hiroz-schema" }
 protobuf_demo = { path = "../hiroz/examples/protobuf_demo" }