hiroz 0.1.0

Native Rust ROS 2 implementation using Zenoh
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115

//! Dynamic message support for hiroz.
//!
//! This module provides runtime message handling where message types are
//! determined at runtime rather than compile time. This is useful for:
//!
//! - Generic tools that work with any message type (rosbag, echo, etc.)
//! - Bridging between different ROS 2 systems
//! - Dynamic message inspection and modification
//!
//! # Architecture
//!
//! ```text
//! ┌─────────────────┐     ┌─────────────────┐
//! │  MessageSchema  │────▶│   FieldSchema   │
//! │  (type info)    │     │   (field info)  │
//! └────────┬────────┘     └────────┬────────┘
//!          │                       │
//!          ▼                       ▼
//! ┌─────────────────┐     ┌─────────────────┐
//! │ DynamicMessage  │────▶│  DynamicValue   │
//! │   (container)   │     │    (values)     │
//! └────────┬────────┘     └─────────────────┘
//!          │
//!          ▼
//! ┌─────────────────┐
//! │  CDR Serialize  │
//! │  /Deserialize   │
//! └─────────────────┘
//! ```
//!
//! # Example
//!
//! ```rust,ignore
//! use hiroz::dynamic::{MessageSchema, DynamicMessage, FieldType};
//!
//! // Create a schema for geometry_msgs/msg/Point
//! let schema = MessageSchema::builder("geometry_msgs/msg/Point")
//!     .field("x", FieldType::Float64)
//!     .field("y", FieldType::Float64)
//!     .field("z", FieldType::Float64)
//!     .build()?;
//!
//! // Create and populate a message
//! let mut msg = DynamicMessage::new(&schema);
//! msg.set("x", 1.0f64)?;
//! msg.set("y", 2.0f64)?;
//! msg.set("z", 3.0f64)?;
//!
//! // Serialize to CDR
//! let bytes = msg.to_cdr()?;
//!
//! // Deserialize
//! let decoded = DynamicMessage::from_cdr(&bytes, &schema)?;
//! assert_eq!(decoded.get::<f64>("x")?, 1.0);
//! ```

pub(crate) mod discovery;
pub mod error;
pub mod message;
pub mod registry;
pub mod schema;
pub mod serdes;
pub mod serialization;
pub mod type_description;
pub mod type_description_client;
pub mod type_description_service;
pub(crate) mod type_info;
pub mod value;

#[cfg(test)]
mod tests;

// Re-export main types
pub use discovery::DiscoveredTopicSchema;
pub use error::DynamicError;
pub use message::{DynamicMessage, DynamicMessageBuilder};
pub use registry::{SchemaRegistry, get_schema, has_schema, register_schema};
pub use schema::{FieldSchema, FieldType, MessageSchema, MessageSchemaBuilder};
pub use serdes::DynamicSerdeCdrSerdes;
pub use serialization::SerializationFormat;
pub use type_description::{MessageSchemaTypeDescription, type_description_msg_to_schema};
pub use type_description_client::schema_from_type_description_response;
pub use type_description_service::{
    GetTypeDescription, GetTypeDescriptionRequest, GetTypeDescriptionResponse, RegisteredSchema,
    TypeDescriptionService, TypeSource, WireField, WireFieldType, WireIndividualTypeDescription,
    WireKeyValue, WireTypeDescription, WireTypeSource, schema_to_wire_type_description,
    wire_to_schema_type_description,
};
pub use value::{DynamicValue, FromDynamic, IntoDynamic};

pub(crate) use discovery::{SchemaDiscovery, discovered_schema_type_info};
pub(crate) use type_info::schema_type_info;

use zenoh::sample::Sample;

use crate::msg::ZMessage;
use crate::pubsub::{ZPub, ZPubBuilder, ZSub, ZSubBuilder};

// Implement ZMessage for DynamicMessage
impl ZMessage for DynamicMessage {
    type Serdes = DynamicSerdeCdrSerdes;
}

// Type aliases for convenience
/// Type alias for a dynamic message publisher.
pub type DynPub = ZPub<DynamicMessage, DynamicSerdeCdrSerdes>;

/// Type alias for a dynamic message subscriber.
pub type DynSub = ZSub<DynamicMessage, Sample, DynamicSerdeCdrSerdes>;

/// Type alias for a dynamic message publisher builder.
pub type DynPubBuilder = ZPubBuilder<DynamicMessage, DynamicSerdeCdrSerdes>;

/// Type alias for a dynamic message subscriber builder.
pub type DynSubBuilder = ZSubBuilder<DynamicMessage, DynamicSerdeCdrSerdes>;