cu-ros2-bridge 1.0.1

Copper bridge for ROS 2 messaging over Zenoh transport.
Documentation 
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use cu29::CuResult;
use zenoh::key_expr::KeyExpr;

use crate::{format_keyexpr, node::Node};

pub struct Topic<'a> {
    name: &'a str,
    type_name: String,
    type_hash: String,
}

impl<'a> Topic<'a> {
    pub fn from_ros_type(name: &'a str, namespace: &str, type_name: &str, type_hash: &str) -> Self {
        Self {
            name,
            type_name: dds_type_name(namespace, type_name),
            type_hash: type_hash.into(),
        }
    }

    pub fn name(&self) -> &str {
        self.name
    }

    pub fn type_name(&self) -> &str {
        self.type_name.as_ref()
    }

    pub fn hash(&self) -> &str {
        self.type_hash.as_ref()
    }

    pub fn qos(&self) -> &str {
        // TODO implement QoS
        "::,:,:,:,,"
    }

    pub fn pubsub_keyexpr(&self, node: &Node) -> CuResult<KeyExpr<'static>> {
        format_keyexpr!(node.domain_id, self.name(), self.type_name(), self.hash())
    }
}

fn dds_type_name(namespace: &str, type_name: &str) -> String {
    // DDS name encoding relates to https://github.com/ros2/rmw_fastrtps/blob/469624e3d483290d6f88fe4b89ee5feaa7694e61/rmw_fastrtps_cpp/src/type_support_common.hpp
    format!("{namespace}::msg::dds_::{type_name}_")
}