hiroz 0.2.0

Native Rust ROS 2 implementation using Zenoh
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
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214

//! Example of CDR serialization with dynamic messages.
//!
//! This example demonstrates:
//! - Serializing dynamic messages to CDR format
//! - Deserializing CDR data back to dynamic messages
//! - Working with arrays and sequences
//! - Round-trip serialization verification

use hiroz::dynamic::{DynamicMessage, DynamicValue, FieldType, MessageSchema};

pub fn run() -> Result<(), Box<dyn std::error::Error>> {
    println!("=== Dynamic Message Serialization Example ===\n");

    // Example 1: Simple message serialization
    println!("--- Example 1: Point message round-trip ---");
    let point_schema = MessageSchema::builder("geometry_msgs/msg/Point")
        .field("x", FieldType::Float64)
        .field("y", FieldType::Float64)
        .field("z", FieldType::Float64)
        .build()?;

    let mut point = DynamicMessage::new(&point_schema);
    point.set("x", 1.5f64)?;
    point.set("y", 2.5f64)?;
    point.set("z", 3.5f64)?;

    // Serialize to CDR
    let cdr_bytes = point.to_cdr()?;
    println!(
        "Original: x={}, y={}, z={}",
        point.get::<f64>("x")?,
        point.get::<f64>("y")?,
        point.get::<f64>("z")?
    );
    println!("CDR bytes: {} bytes", cdr_bytes.len());
    println!(
        "CDR header: {:02x} {:02x} {:02x} {:02x}",
        cdr_bytes[0], cdr_bytes[1], cdr_bytes[2], cdr_bytes[3]
    );

    // Deserialize from CDR
    let decoded = DynamicMessage::from_cdr(&cdr_bytes, &point_schema)?;
    println!(
        "Decoded:  x={}, y={}, z={}\n",
        decoded.get::<f64>("x")?,
        decoded.get::<f64>("y")?,
        decoded.get::<f64>("z")?
    );

    // Example 2: String message
    println!("--- Example 2: String message round-trip ---");
    let string_schema = MessageSchema::builder("std_msgs/msg/String")
        .field("data", FieldType::String)
        .build()?;

    let mut string_msg = DynamicMessage::new(&string_schema);
    string_msg.set("data", "Hello, hiroz Dynamic Messages!")?;

    let cdr_bytes = string_msg.to_cdr()?;
    println!("Original: \"{}\"", string_msg.get::<String>("data")?);
    println!("CDR bytes: {} bytes", cdr_bytes.len());

    let decoded = DynamicMessage::from_cdr(&cdr_bytes, &string_schema)?;
    println!("Decoded:  \"{}\"\n", decoded.get::<String>("data")?);

    // Example 3: Array/Sequence message
    println!("--- Example 3: Sequence message round-trip ---");
    let array_schema = MessageSchema::builder("test_msgs/msg/FloatArray")
        .field("data", FieldType::Sequence(Box::new(FieldType::Float32)))
        .build()?;

    let mut array_msg = DynamicMessage::new(&array_schema);
    array_msg.set("data", vec![1.0f32, 2.0, 3.0, 4.0, 5.0])?;

    let cdr_bytes = array_msg.to_cdr()?;
    println!(
        "Original array: {:?}",
        match array_msg.get_dynamic("data")? {
            DynamicValue::Array(arr) => arr.iter().filter_map(|v| v.as_f32()).collect::<Vec<_>>(),
            _ => vec![],
        }
    );
    println!("CDR bytes: {} bytes", cdr_bytes.len());

    let decoded = DynamicMessage::from_cdr(&cdr_bytes, &array_schema)?;
    println!(
        "Decoded array: {:?}\n",
        match decoded.get_dynamic("data")? {
            DynamicValue::Array(arr) => arr.iter().filter_map(|v| v.as_f32()).collect::<Vec<_>>(),
            _ => vec![],
        }
    );

    // Example 4: Nested message
    println!("--- Example 4: Nested message round-trip ---");
    let vector3_schema = MessageSchema::builder("geometry_msgs/msg/Vector3")
        .field("x", FieldType::Float64)
        .field("y", FieldType::Float64)
        .field("z", FieldType::Float64)
        .build()?;

    let twist_schema = MessageSchema::builder("geometry_msgs/msg/Twist")
        .field("linear", FieldType::Message(vector3_schema.clone()))
        .field("angular", FieldType::Message(vector3_schema))
        .build()?;

    let mut twist = DynamicMessage::new(&twist_schema);
    twist.set("linear.x", 1.0f64)?;
    twist.set("linear.y", 0.0f64)?;
    twist.set("linear.z", 0.0f64)?;
    twist.set("angular.x", 0.0f64)?;
    twist.set("angular.y", 0.0f64)?;
    twist.set("angular.z", 0.5f64)?;

    let cdr_bytes = twist.to_cdr()?;
    println!("Original Twist:");
    println!(
        "  linear:  ({}, {}, {})",
        twist.get::<f64>("linear.x")?,
        twist.get::<f64>("linear.y")?,
        twist.get::<f64>("linear.z")?
    );
    println!(
        "  angular: ({}, {}, {})",
        twist.get::<f64>("angular.x")?,
        twist.get::<f64>("angular.y")?,
        twist.get::<f64>("angular.z")?
    );
    println!("CDR bytes: {} bytes", cdr_bytes.len());

    let decoded = DynamicMessage::from_cdr(&cdr_bytes, &twist_schema)?;
    println!("Decoded Twist:");
    println!(
        "  linear:  ({}, {}, {})",
        decoded.get::<f64>("linear.x")?,
        decoded.get::<f64>("linear.y")?,
        decoded.get::<f64>("linear.z")?
    );
    println!(
        "  angular: ({}, {}, {})",
        decoded.get::<f64>("angular.x")?,
        decoded.get::<f64>("angular.y")?,
        decoded.get::<f64>("angular.z")?
    );

    // Example 5: All primitive types
    println!("\n--- Example 5: All primitive types ---");
    let all_types_schema = MessageSchema::builder("test_msgs/msg/AllTypes")
        .field("bool_val", FieldType::Bool)
        .field("int8_val", FieldType::Int8)
        .field("int16_val", FieldType::Int16)
        .field("int32_val", FieldType::Int32)
        .field("int64_val", FieldType::Int64)
        .field("uint8_val", FieldType::Uint8)
        .field("uint16_val", FieldType::Uint16)
        .field("uint32_val", FieldType::Uint32)
        .field("uint64_val", FieldType::Uint64)
        .field("float32_val", FieldType::Float32)
        .field("float64_val", FieldType::Float64)
        .field("string_val", FieldType::String)
        .build()?;

    let mut msg = DynamicMessage::new(&all_types_schema);
    msg.set("bool_val", true)?;
    msg.set("int8_val", -42i8)?;
    msg.set("int16_val", -1000i16)?;
    msg.set("int32_val", -100000i32)?;
    msg.set("int64_val", -10000000000i64)?;
    msg.set("uint8_val", 200u8)?;
    msg.set("uint16_val", 50000u16)?;
    msg.set("uint32_val", 3000000000u32)?;
    msg.set("uint64_val", 10000000000u64)?;
    msg.set("float32_val", 1.5f32)?;
    msg.set("float64_val", 9.87654321f64)?;
    msg.set("string_val", "test")?;

    let cdr_bytes = msg.to_cdr()?;
    println!("All types message CDR: {} bytes", cdr_bytes.len());

    let decoded = DynamicMessage::from_cdr(&cdr_bytes, &all_types_schema)?;
    println!("Round-trip verification:");
    println!(
        "  bool:    {} == {}",
        msg.get::<bool>("bool_val")?,
        decoded.get::<bool>("bool_val")?
    );
    println!(
        "  int8:    {} == {}",
        msg.get::<i8>("int8_val")?,
        decoded.get::<i8>("int8_val")?
    );
    println!(
        "  int32:   {} == {}",
        msg.get::<i32>("int32_val")?,
        decoded.get::<i32>("int32_val")?
    );
    println!(
        "  float64: {} == {}",
        msg.get::<f64>("float64_val")?,
        decoded.get::<f64>("float64_val")?
    );
    println!(
        "  string:  \"{}\" == \"{}\"",
        msg.get::<String>("string_val")?,
        decoded.get::<String>("string_val")?
    );

    println!("\n=== Example Complete ===");
    Ok(())
}

fn main() -> Result<(), Box<dyn std::error::Error>> {
    run()
}