Module schema 

Static field schema for runtime introspection.

Each generated message type exposes its CDR field layout as a &'static [Field] slice plus a &'static str ROS type name via the Message trait. Backends that need to construct type descriptors at runtime (Cyclone DDS dynamic types, FastRTPS DynamicTypeBuilder, …) walk this static metadata instead of pulling in per-RMW codegen at compile time.

All schema items are &'static / Copy / contain no allocations, keeping the surface usable on no_std + alloc-free embedded targets.

Example

use nros_serdes::schema::{Field, FieldType, Message};

/// Hand-rolled mirror of `std_msgs/msg/Int32`.
pub struct Int32 {
    pub data: i32,
}

impl Message for Int32 {
    const TYPE_NAME: &'static str = "std_msgs/msg/Int32";
    const FIELDS: &'static [Field] = &[Field {
        name: "data",
        ty: FieldType::Int32,
        offset: 0,
    }];
}

assert_eq!(Int32::FIELDS.len(), 1);
assert!(matches!(Int32::FIELDS[0].ty, FieldType::Int32));

Structs

Field

One field of a ROS message, in declaration order.

NestedType

Metadata for a nested struct field.

Enums

FieldType

CDR / ROS-IDL type of a single field.

Constants

EMPTY_STRUCT_FIELDS

The schema of a struct that declares no fields: the one padding member rosidl adds (EMPTY_STRUCT_MEMBER). Codegen emits this for every empty message, so the schema describes the byte the serializer writes and a size bound, a Cyclone descriptor or a schema walk derived from FIELDS agrees with the wire. It has no host storage, so its offset is 0.

EMPTY_STRUCT_MEMBER

The member rosidl gives a struct that declares none (issue 1293).

Traits

Message

Trait implemented by every generated ROS message type for runtime introspection.