agentic_robotics_core/
message.rs

1//! Message definitions and traits
2
3use serde::{Deserialize, Serialize};
4use rkyv::{Archive, Deserialize as RkyvDeserialize, Serialize as RkyvSerialize};
5
6/// Message trait for ROS3 messages
7pub trait Message: Serialize + for<'de> Deserialize<'de> + Send + Sync + 'static {
8    /// Message type name
9    fn type_name() -> &'static str;
10
11    /// Message version
12    fn version() -> &'static str {
13        "1.0"
14    }
15}
16
17/// Robot state message
18#[derive(Debug, Clone, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
19pub struct RobotState {
20    pub position: [f64; 3],
21    pub velocity: [f64; 3],
22    pub timestamp: i64,
23}
24
25impl Message for RobotState {
26    fn type_name() -> &'static str {
27        "ros3_msgs/RobotState"
28    }
29}
30
31impl Default for RobotState {
32    fn default() -> Self {
33        Self {
34            position: [0.0; 3],
35            velocity: [0.0; 3],
36            timestamp: 0,
37        }
38    }
39}
40
41/// 3D Point
42#[derive(Debug, Clone, Copy, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
43pub struct Point3D {
44    pub x: f32,
45    pub y: f32,
46    pub z: f32,
47}
48
49/// Point cloud message
50#[derive(Debug, Clone, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
51pub struct PointCloud {
52    pub points: Vec<Point3D>,
53    pub intensities: Vec<f32>,
54    pub timestamp: i64,
55}
56
57impl Message for PointCloud {
58    fn type_name() -> &'static str {
59        "ros3_msgs/PointCloud"
60    }
61}
62
63impl Default for PointCloud {
64    fn default() -> Self {
65        Self {
66            points: Vec::new(),
67            intensities: Vec::new(),
68            timestamp: 0,
69        }
70    }
71}
72
73/// Pose message
74#[derive(Debug, Clone, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
75pub struct Pose {
76    pub position: [f64; 3],
77    pub orientation: [f64; 4], // Quaternion [x, y, z, w]
78}
79
80impl Message for Pose {
81    fn type_name() -> &'static str {
82        "ros3_msgs/Pose"
83    }
84}
85
86impl Default for Pose {
87    fn default() -> Self {
88        Self {
89            position: [0.0; 3],
90            orientation: [0.0, 0.0, 0.0, 1.0], // Identity quaternion
91        }
92    }
93}
94
95#[cfg(test)]
96mod tests {
97    use super::*;
98
99    #[test]
100    fn test_robot_state() {
101        let state = RobotState::default();
102        assert_eq!(state.position, [0.0; 3]);
103        assert_eq!(RobotState::type_name(), "ros3_msgs/RobotState");
104    }
105
106    #[test]
107    fn test_point_cloud() {
108        let cloud = PointCloud::default();
109        assert_eq!(cloud.points.len(), 0);
110        assert_eq!(PointCloud::type_name(), "ros3_msgs/PointCloud");
111    }
112}
agentic_robotics_core/message.rs

agentic_robotics_core/
message.rs
