Crate nros_core 

Core types, traits, and abstractions for nros

This crate provides the foundational types and traits for nros:

• RosMessage trait for message types
• RosService trait for service types
• RosAction trait for action types
• ServiceServer and ServiceClient for service communication
• Time and Duration types
• Error types

Re-exports

pub use action::ActionClient;

pub use action::ActionServer;

pub use action::CancelResponse;

pub use action::CancelReturnCode;

pub use action::GoalId;

pub use action::GoalInfo;

pub use action::GoalResponse;

pub use action::GoalStatus;

pub use action::GoalStatusStamped;

pub use action::RosAction;

pub use clock::Clock;

pub use clock::ClockType;

pub use codegen_version::NROS_CODEGEN_VERSION;

pub use codegen_version::NROS_CODEGEN_VERSION_MIN;

pub use lifecycle::LifecycleState;

pub use lifecycle::LifecycleTransition;

pub use lifecycle::TransitionResult;

pub use logger::Logger;

pub use logger::OnceFlag;

pub use message_info::MessageInfo;

pub use message_info::PUBLISHER_GID_SIZE;

pub use message_info::RawMessageInfo;

pub use service::ServiceCallback;

pub use service::ServiceClient;

pub use service::ServiceRequest;

pub use service::ServiceServer;

pub use time::Duration;

pub use time::Time;

pub use types::RosMessage;

pub use types::RosService;

pub use types::ViewableMessage;

pub use heapless;

Modules

action

ROS 2 Action types

clock

Clock API for nros

codegen_version

RFC-0090 / phase-429 — the codegen version, the one token that says whether generated code and this runtime can work together.

heap

Heap-backed containers for generated mode = "heap" message fields (RFC-0033). Gated on alloc, which std implies — so a hosted consumer gets these by asking for std and never has to name alloc. nros-serdes gates its matching Serialize/Deserialize impls on the SAME feature and receives it through the same forward, which is what issue 0598 was about. Generated code refers to nros_core::heap::{Vec, String} so the same path works in both crate and inline (build.rs) codegen modes.

lifecycle

Lifecycle state machine types (REP-2002)

logger

ROS 2 compatible logging utilities

message_info

Message metadata for received messages

service

ROS 2 Service types

time

ROS time types.

types

Core ROS type traits.

Structs

CdrReader

CDR reader for deserialization

CdrWriter

DHeaderMark

Opaque marker returned by CdrWriter::begin_dheader, passed back to CdrWriter::end_dheader. Under XCDR1 it carries nothing (the DHEADER calls are no-ops); under XCDR2 it holds the reserved DHEADER position.

DHeaderScope

Opaque scope returned by CdrReader::begin_dheader, passed back to CdrReader::end_dheader. Under XCDR1 it carries nothing (no-op); under XCDR2 it holds the absolute buffer offset of the delimited struct’s end.

LeSliceView

A borrowed, alignment-agnostic view over a CDR little-endian numeric sequence (RFC-0033 borrowed mode). Borrows the raw payload bytes zero-copy; decodes elements lazily on access, so the source buffer need not be T-aligned. Valid only for the borrow lifetime 'a (the subscription callback scope).

Enums

DeserError

Deserialization error.

EncodingVersion

CDR writer for serialization.

SerError

Serialization error.

Traits

Deserialize

Trait for types that can be deserialized from CDR format

DeserializeView

Trait for borrowed (zero-copy) deserialization from CDR format (RFC-0033 borrowed storage mode, issue 0007).

LeDecode

A little-endian-decodable fixed-width numeric element of a borrowed sequence.

Serialize

Trait for types that can be serialized to CDR format