canadensis_data_types/
optimized.rs

1use canadensis_core::SubjectId;
2use canadensis_encoding::{DeserializeError, ReadCursor, WriteCursor};
3use heapless::Vec;
4
5const SUBJECT_ID_SPARSE_LIST_DISCRIMINANT: u8 = 1;
6
7/// A fixed-capacity list of subject IDs that is compatible with
8/// `uavcan.node.port.SubjectIDList.1.0`
9#[derive(Debug, Clone, Default, PartialEq, Eq)]
10pub struct SubjectIdList<const N: usize>(pub Vec<SubjectId, N>);
11
12impl<const N: usize> SubjectIdList<N> {
13    // N must be less than 256 as defined in the DSDL
14    const _ASSERT_SIZE: usize = 256 - N - 1;
15
16    pub fn new() -> Self {
17        SubjectIdList(Vec::new())
18    }
19}
20
21impl<const N: usize> canadensis_encoding::DataType for SubjectIdList<N> {
22    const EXTENT_BYTES: Option<u32> =
23        crate::uavcan::node::port::subject_id_list_1_0::SubjectIDList::EXTENT_BYTES;
24}
25impl<const N: usize> canadensis_encoding::Message for SubjectIdList<N> {}
26impl<const N: usize> canadensis_encoding::Serialize for SubjectIdList<N> {
27    fn size_bits(&self) -> usize {
28        // 8 bits of union discriminant, 8 bits of length, 16 bits for each ID
29        8 + 8 + self.0.len() * 16
30    }
31
32    fn serialize(&self, cursor: &mut WriteCursor<'_>) {
33        // Discriminant
34        cursor.write_aligned_u8(SUBJECT_ID_SPARSE_LIST_DISCRIMINANT);
35        // Length
36        cursor.write_aligned_u8(self.0.len() as u8);
37        for &value in &self.0 {
38            cursor.write_aligned_u16(value.into())
39        }
40    }
41}
42impl<const N: usize> canadensis_encoding::Deserialize for SubjectIdList<N> {
43    fn deserialize(cursor: &mut ReadCursor<'_>) -> Result<Self, DeserializeError>
44    where
45        Self: Sized,
46    {
47        let discriminant = cursor.read_aligned_u8();
48        if discriminant != SUBJECT_ID_SPARSE_LIST_DISCRIMINANT {
49            // Not a sparse list
50            return Err(DeserializeError::UnionTag);
51        }
52        let length = cursor.read_aligned_u8();
53        if usize::from(length) > N {
54            return Err(DeserializeError::ArrayLength);
55        }
56        let mut ids = Vec::new();
57        for _ in 0..length {
58            // Push can't fail because of the above length check
59            let _ = ids.push(SubjectId::from_truncating(cursor.read_aligned_u16()));
60        }
61        Ok(SubjectIdList(ids))
62    }
63}
canadensis_data_types/optimized.rs

canadensis_data_types/
optimized.rs
