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I'm not very familiar with OpenAPI but I think this might do what you're looking for: https://github.com/kdy1/rweb
Dropshot from Oxide Computer includes openapi generation from code.
I know this is different but I'm in love with GraphQL and they look to have great Rust server support. https://github.com/graphql-rust/juniper
Yes, as you build out your "schema", the documentation is generated automatically for the data structures. The "Playground" gives you a visual docs / schema view to see all of the parameters that are available for request at each nested layer, as well as all of the comments and documentation associated with each piece.
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