ros2_types/
type_description.rs

1//! Type description trait
2
3use crate::{Result, calculate_type_hash};
4
5/// Information needed to construct a ROS2 message type name
6#[derive(Debug, Clone, PartialEq, Eq)]
7pub struct MessageTypeName {
8    /// The message type category (typically "msg", "srv", or "action")
9    pub message_type: String,
10    /// The ROS2 package name (namespace) where the type is defined
11    pub package: String,
12    /// The ROS2 type name (without package prefix)
13    pub type_name: String,
14}
15
16impl MessageTypeName {
17    /// Create a new MessageTypeName
18    pub fn new(
19        message_type: impl Into<String>,
20        package: impl Into<String>,
21        type_name: impl Into<String>,
22    ) -> Self {
23        Self {
24            message_type: message_type.into(),
25            package: package.into(),
26            type_name: type_name.into(),
27        }
28    }
29
30    /// Get the full type name in the format "package/message_type/TypeName"
31    pub fn full_name(&self) -> String {
32        format!("{}/{}/{}", self.package, self.message_type, self.type_name)
33    }
34}
35
36/// Trait for types that can provide a ROS2 type description
37///
38/// This trait should be implemented by ROS2 message types to provide
39/// the information needed to calculate RIHS01 type hashes.
40pub trait TypeDescription {
41    /// Get the type description for this type
42    ///
43    /// Returns a complete type description including all referenced types
44    fn type_description() -> crate::types::TypeDescriptionMsg;
45
46    /// Get the message type name information
47    ///
48    /// Returns the prefix, package, and type name needed to construct
49    /// the full ROS2 message type name.
50    fn message_type_name() -> MessageTypeName;
51
52    /// Compute the RIHS01 type hash for this type
53    ///
54    /// This has a default implementation that uses `type_description()`
55    /// and calculates the SHA256 hash according to RIHS01 specification.
56    fn compute_hash() -> Result<String> {
57        let description = Self::type_description();
58        calculate_type_hash(&description)
59    }
60}
61
62/// Trait for ROS2 service types that can provide a type description for hash computation
63///
64/// This trait is separate from `ServiceMsg` (which is for runtime FFI) and only
65/// requires `TypeDescription` on Request/Response types.
66pub trait ServiceTypeDescription {
67    /// Get the type description for this service
68    ///
69    /// The service type description has fields:
70    /// - `request_message`: Reference to the Request message type
71    /// - `response_message`: Reference to the Response message type  
72    /// - `event_message`: Reference to the Event message type
73    fn type_description() -> crate::types::TypeDescriptionMsg;
74
75    /// Get the service type name information
76    fn service_type_name() -> MessageTypeName;
77
78    /// Compute the RIHS01 type hash for this service
79    fn compute_hash() -> Result<String> {
80        let description = Self::type_description();
81        calculate_type_hash(&description)
82    }
83}
84
85/// Trait for ROS2 action types that can provide a type description for hash computation
86///
87/// This trait is separate from `ActionMsg` (which is for runtime FFI) and only
88/// requires `TypeDescription` on Goal/Result/Feedback types.
89pub trait ActionTypeDescription {
90    /// Get the type description for this action
91    ///
92    /// The action type description has fields:
93    /// - `goal`: Reference to the Goal message type
94    /// - `result`: Reference to the Result message type
95    /// - `feedback`: Reference to the Feedback message type
96    /// - `send_goal_service`: Reference to the SendGoal service
97    /// - `get_result_service`: Reference to the GetResult service
98    /// - `feedback_message`: Reference to the FeedbackMessage type
99    fn type_description() -> crate::types::TypeDescriptionMsg;
100
101    /// Get the action type name information
102    fn action_type_name() -> MessageTypeName;
103
104    /// Compute the RIHS01 type hash for this action
105    fn compute_hash() -> Result<String> {
106        let description = Self::type_description();
107        calculate_type_hash(&description)
108    }
109}
ros2_types/type_description.rs

ros2_types/
type_description.rs
