cu_ros_payloads/
lib.rs

1pub mod builtin;
2pub mod sensor_msgs;
3pub mod std_msgs;
4
5use serde::Serialize;
6use std::convert::From;
7
8// By default use Rust type as ROS type
9#[macro_export]
10macro_rules! ros_type_name {
11    ($t:ty) => {{
12        std::any::type_name::<$t>().rsplit("::").next().unwrap()
13    }};
14}
15
16/// ROS adaptation trait to convert payload data to ROS compatible message.
17/// The output type must match the structure of the related "msg" file.
18/// The namespace relates to the ROS namespace (such as "std_msgs")
19/// and the type name is the same as the message filename.
20pub trait RosMsgAdapter<'a>: Sized {
21    type Output: Serialize + for<'b> From<&'b Self>;
22
23    /// The namespace of the ROS message, such as "std_msgs" or "sensor_msgs".
24    fn namespace() -> &'a str;
25
26    /// The type name of the ROS message, such as "Int8" or "PointCloud2".
27    fn type_name() -> &'a str {
28        ros_type_name!(Self::Output)
29    }
30
31    /// This hash is generated from an SHA256 from the IDL.
32    /// It is obscure.
33    /// For example Int8 is "RIHS01_26525065a403d972cb672f0777e333f0c799ad444ae5fcd79e43d1e73bd0f440"
34    /// This will only be used in ROS 2 Iron and later versions.
35    fn type_hash() -> &'static str;
36
37    /// Converts the current Copper type into the corresponding ROS message type.
38    ///
39    /// # Returns
40    /// A tuple containing:
41    /// - The converted ROS message type (`Self::Output`).
42    /// - The type hash as a string, which is used to identify the message type in ROS.
43    #[cfg(not(feature = "humble"))]
44    fn convert(&self) -> (Self::Output, &'static str) {
45        (self.into(), Self::type_hash())
46    }
47
48    #[cfg(feature = "humble")]
49    fn convert(&self) -> (Self::Output, &str) {
50        (self.into(), "TypeHashNotSupported")
51    }
52}
cu_ros_payloads/lib.rs

cu_ros_payloads/
lib.rs
