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::DHeaderMark;

pub use cdr::DHeaderScope;

pub use cdr::EncodingVersion;

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::DeserializeView;

pub use traits::Serialize;

pub use walk::SchemaError;

pub use walk::SchemaSerializer;

pub use walk::SchemaSink;

pub use walk::SchemaSource;

pub use walk::decode_to_cdr;

pub use walk::encode_from_cdr;

Modules

cdr

CDR encoder/decoder with alignment handling

error

Error types for CDR serialization and deserialization.

format

Serialization format identity (RFC-0088, phase-421 W1).

primitives

Serialize and Deserialize implementations for primitive types.

schema

Static field schema for runtime introspection.

size

Phase 380 W1 — a message’s serialized size, computed instead of guessed.

traits

Serialization traits

walk

phase-421 W5 — the schema-driven serialization strategy (RFC-0088 D7).

Constants

CDR2_DELIMITED_LE_HEADER

XCDR2 DELIMITED-CDR little-endian encapsulation header (D_CDR2_LE, repr id 0x0009). The representation for APPENDABLE types under XCDR2 (phase-303 W2 / RFC-0055 / #0267): every appendable struct — top-level and each nested one — is preceded by a 4-byte DHEADER carrying its member-block size.

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.