Crate nros_serdes 

CDR serialization/deserialization for nros.

Implements OMG Common Data Representation (CDR) encoding compatible with ROS 2. All types use little-endian byte order with natural alignment.

Examples

use nros_serdes::{CdrReader, CdrWriter, DeserError, Deserialize, SerError, Serialize};

// Serialize a u32 into a CDR buffer
let mut buf = [0u8; 64];
let mut writer = CdrWriter::new_with_header(&mut buf).unwrap();
42u32.serialize(&mut writer).unwrap();
let len = writer.position();

// Deserialize it back
let mut reader = CdrReader::new_with_header(&buf[..len]).unwrap();
let value = u32::deserialize(&mut reader).unwrap();
assert_eq!(value, 42);

Features

• std — Enable standard library support
• alloc — Enable heap allocation (String, Vec<T>)

Re-exports

pub use cdr::CdrReader;

pub use cdr::CdrWriter;

pub use cdr::LeDecode;

pub use cdr::LeSliceView;

pub use error::DeserError;

pub use error::SerError;

pub use schema::Field;

pub use schema::FieldType;

pub use schema::Message;

pub use schema::NestedType;

pub use traits::Deserialize;

pub use traits::DeserializeBorrowed;

pub use traits::Serialize;

Modules

cdr

CDR encoder/decoder with alignment handling

error

Error types for CDR serialization and deserialization.

primitives

Serialize and Deserialize implementations for primitive types.

schema

Static field schema for runtime introspection.

traits

Serialization traits

Constants

CDR_BE_HEADER

CDR encapsulation header for big-endian encoding

CDR_HEADER_LEN

Length of the CDR encapsulation header (representation identifier + options).

CDR_LE_HEADER

CDR encapsulation header for little-endian encoding

Functions

strip_cdr_header

Strip the CDR encapsulation header from src, returning the payload slice.

write_cdr_le_header

Write the little-endian CDR header into the first CDR_HEADER_LEN bytes of dst.