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

// This file was automatically generated by ros2msg_to_rs (https://github.com/tier4/ros2msg_to_rs).
use super::super::super::*;
use super::*;
use crate::msg::*;
use crate::rcl;

extern "C" {
    fn type_description_interfaces__msg__Field__init(msg: *mut Field) -> bool;
    fn type_description_interfaces__msg__Field__fini(msg: *mut Field);
    fn type_description_interfaces__msg__Field__are_equal(
        lhs: *const Field,
        rhs: *const Field,
    ) -> bool;
    fn type_description_interfaces__msg__Field__Sequence__init(
        msg: *mut FieldSeqRaw,
        size: usize,
    ) -> bool;
    fn type_description_interfaces__msg__Field__Sequence__fini(msg: *mut FieldSeqRaw);
    fn type_description_interfaces__msg__Field__Sequence__are_equal(
        lhs: *const FieldSeqRaw,
        rhs: *const FieldSeqRaw,
    ) -> bool;
    fn rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__msg__Field(
    ) -> *const rcl::rosidl_message_type_support_t;
}

#[repr(C)]
#[derive(Debug)]
pub struct Field {
    pub name: crate::msg::RosString<0>,
    pub type_: FieldType,
    pub default_value: crate::msg::RosString<0>,
}

impl Field {
    pub fn new() -> Option<Self> {
        let mut msg: Self = unsafe { std::mem::MaybeUninit::zeroed().assume_init() };
        if unsafe { type_description_interfaces__msg__Field__init(&mut msg) } {
            Some(msg)
        } else {
            None
        }
    }
}

impl Drop for Field {
    fn drop(&mut self) {
        unsafe { type_description_interfaces__msg__Field__fini(self) };
    }
}

#[repr(C)]
#[derive(Debug)]
struct FieldSeqRaw {
    data: *mut Field,
    size: usize,
    capacity: usize,
}

/// Sequence of Field.
/// `N` is the maximum number of elements.
/// If `N` is `0`, the size is unlimited.
#[repr(C)]
#[derive(Debug)]
pub struct FieldSeq<const N: usize> {
    data: *mut Field,
    size: usize,
    capacity: usize,
}

impl<const N: usize> FieldSeq<N> {
    /// Create a sequence of.
    /// `N` represents the maximum number of elements.
    /// If `N` is `0`, the sequence is unlimited.
    pub fn new(size: usize) -> Option<Self> {
        if N != 0 && size > N {
            // the size exceeds in the maximum number
            return None;
        }

        let mut msg: FieldSeqRaw = unsafe { std::mem::MaybeUninit::zeroed().assume_init() };
        if unsafe { type_description_interfaces__msg__Field__Sequence__init(&mut msg, size) } {
            Some(Self {
                data: msg.data,
                size: msg.size,
                capacity: msg.capacity,
            })
        } else {
            None
        }
    }

    pub fn null() -> Self {
        let msg: FieldSeqRaw = unsafe { std::mem::MaybeUninit::zeroed().assume_init() };
        Self {
            data: msg.data,
            size: msg.size,
            capacity: msg.capacity,
        }
    }

    pub fn as_slice(&self) -> &[Field] {
        if self.data.is_null() {
            &[]
        } else {
            let s = unsafe { std::slice::from_raw_parts(self.data, self.size) };
            s
        }
    }

    pub fn as_slice_mut(&mut self) -> &mut [Field] {
        if self.data.is_null() {
            &mut []
        } else {
            let s = unsafe { std::slice::from_raw_parts_mut(self.data, self.size) };
            s
        }
    }

    pub fn iter(&self) -> std::slice::Iter<'_, Field> {
        self.as_slice().iter()
    }

    pub fn iter_mut(&mut self) -> std::slice::IterMut<'_, Field> {
        self.as_slice_mut().iter_mut()
    }

    pub fn len(&self) -> usize {
        self.as_slice().len()
    }

    pub fn is_empty(&self) -> bool {
        self.len() == 0
    }
}

impl<const N: usize> Drop for FieldSeq<N> {
    fn drop(&mut self) {
        let mut msg = FieldSeqRaw {
            data: self.data,
            size: self.size,
            capacity: self.capacity,
        };
        unsafe { type_description_interfaces__msg__Field__Sequence__fini(&mut msg) };
    }
}

unsafe impl<const N: usize> Send for FieldSeq<N> {}
unsafe impl<const N: usize> Sync for FieldSeq<N> {}

impl TypeSupport for Field {
    fn type_support() -> *const rcl::rosidl_message_type_support_t {
        unsafe {
            rosidl_typesupport_c__get_message_type_support_handle__type_description_interfaces__msg__Field()
        }
    }
}

impl PartialEq for Field {
    fn eq(&self, other: &Self) -> bool {
        unsafe { type_description_interfaces__msg__Field__are_equal(self, other) }
    }
}

impl<const N: usize> PartialEq for FieldSeq<N> {
    fn eq(&self, other: &Self) -> bool {
        unsafe {
            let msg1 = FieldSeqRaw {
                data: self.data,
                size: self.size,
                capacity: self.capacity,
            };
            let msg2 = FieldSeqRaw {
                data: other.data,
                size: other.size,
                capacity: other.capacity,
            };
            type_description_interfaces__msg__Field__Sequence__are_equal(&msg1, &msg2)
        }
    }
}