use crate::bus::zenoh::TypedSchema;
use serde::{Deserialize, Serialize};
#[derive(Debug, Clone, Copy, Serialize, Deserialize, PartialEq, Eq)]
pub struct Clock {
epoch: u64,
step: u64,
time_ns: u64,
dt_ns: u64,
}
impl Clock {
pub const fn new(epoch: u64, step: u64, time_ns: u64, dt_ns: u64) -> Self {
Self {
epoch,
step,
time_ns,
dt_ns,
}
}
pub const fn epoch(&self) -> u64 {
self.epoch
}
pub const fn step(&self) -> u64 {
self.step
}
pub const fn time_ns(&self) -> u64 {
self.time_ns
}
pub const fn dt_ns(&self) -> u64 {
self.dt_ns
}
}
impl TypedSchema for Clock {
const SCHEMA_NAME: &'static str = "simulation/clock";
const SCHEMA_VERSION: u32 = 1;
}
crate::bus::topic_leaf! {
pubsub {
path: "simulation/clock",
payload: Clock
}
}
pub fn publisher_builder(
bus: &crate::bus::Bus,
) -> crate::bus::Result<
crate::bus::zenoh::TypedPublisherBuilder<'_, 'static, crate::bus::pubsub::Stamped<Clock>>,
> {
publisher(bus)
}
#[cfg(test)]
mod tests {
use crate::bus::zenoh::TypedSchema;
use serde::Serialize;
use super::Clock;
#[derive(Serialize)]
struct SimulatorApiClockLayout {
epoch: u64,
step: u64,
time_ns: u64,
dt_ns: u64,
}
#[test]
fn clock_contract_matches_simulator_wire_values() {
assert_eq!(Clock::SCHEMA_NAME, "simulation/clock");
assert_eq!(Clock::SCHEMA_VERSION, 1);
assert_eq!(super::path(), "simulation/clock");
let clock = Clock::new(7, 11, 13, 17);
assert_eq!(clock.epoch(), 7);
assert_eq!(clock.step(), 11);
assert_eq!(clock.time_ns(), 13);
assert_eq!(clock.dt_ns(), 17);
let reference = SimulatorApiClockLayout {
epoch: 7,
step: 11,
time_ns: 13,
dt_ns: 17,
};
assert_eq!(
rmp_serde::to_vec_named(&clock).expect("clock encodes"),
rmp_serde::to_vec_named(&reference).expect("reference encodes")
);
}
}