ros2-client 0.6.1

use std::fmt;

use serde::{Deserialize, Serialize};
use rustdds::*;

/// ROS2 equivalent for DDS GUID
///
/// See https://github.com/ros2/rmw_dds_common/blob/master/rmw_dds_common/msg/Gid.msg
#[derive(
  Copy, Clone, PartialEq, Eq, Hash, PartialOrd, Ord, Serialize, Deserialize, CdrEncodingSize,
)]
pub struct Gid(
  [u8; 24], /* Gid definition has changed in ROS 2 from 24 bytes to 16 bytes in Jan 2023
             * https://github.com/ros2/rmw_dds_common/commit/5ab4f5944e4442fe0188e15b10cf11377fb45801
             *
             * This is between Humble (May 2022) and Iron (May 2023)
             */
);

impl fmt::Debug for Gid {
  fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
    for b in self.0.iter() {
      write!(f, "{:02x}", b)?;
    }
    Ok(())
  }
}

impl From<GUID> for Gid {
  fn from(guid: GUID) -> Self {
    Gid(std::array::from_fn(|i| {
      *guid.to_bytes().as_ref().get(i).unwrap_or(&0)
    }))
  }
}

impl From<Gid> for GUID {
  fn from(gid: Gid) -> GUID {
    GUID::from_bytes(std::array::from_fn(|i| gid.0[i]))
  }
}

impl Key for Gid {}