nros_std_msgs/msg/
multi_array_layout.rs

1// nros message type - pure Rust, no_std compatible
2// Package: std_msgs
3// Message: MultiArrayLayout
4
5use nros_core::{Deserialize, RosMessage, Serialize};
6use nros_serdes::{CdrReader, CdrWriter, DeserError, SerError};
7
8/// MultiArrayLayout message type
9#[derive(Debug, Clone, Default, PartialEq)]
10pub struct MultiArrayLayout {
11    pub dim: heapless::Vec<crate::msg::MultiArrayDimension, 64>,
12    pub data_offset: u32,
13}
14
15impl Serialize for MultiArrayLayout {
16    fn serialize(&self, writer: &mut CdrWriter) -> Result<(), SerError> {
17        // phase-303 W4 (#0267) — DHEADER wrap for XCDR2 appendable structs.
18        // No-op under XCDR1 (byte-identical); under XCDR2 delimits this struct.
19        let __dh = writer.begin_dheader()?;
20        writer.write_u32(self.dim.len() as u32)?;
21        for item in &self.dim {
22            item.serialize(writer)?;
23        }
24        writer.write_u32(self.data_offset)?;
25        writer.end_dheader(__dh)?;
26        Ok(())
27    }
28}
29
30impl Deserialize for MultiArrayLayout {
31    fn deserialize(reader: &mut CdrReader) -> Result<Self, DeserError> {
32        // phase-303 W4 (#0267) — read the XCDR2 DHEADER (no-op under XCDR1);
33        // end_dheader skips any unknown trailing members (forward compat).
34        let __dh = reader.begin_dheader()?;
35        let __value = Self {
36            dim: {
37                let len = reader.read_u32()? as usize;
38                let mut vec = heapless::Vec::new();
39                for _ in 0..len {
40                    vec.push(Deserialize::deserialize(reader)?)
41                        .map_err(|_| DeserError::CapacityExceeded)?;
42                }
43                vec
44            },
45            data_offset: reader.read_u32()?,
46        };
47        reader.end_dheader(__dh)?;
48        Ok(__value)
49    }
50}
51
52impl RosMessage for MultiArrayLayout {
53    const TYPE_NAME: &'static str = "std_msgs::msg::dds_::MultiArrayLayout_";
54    const TYPE_HASH: &'static str = "TypeHashNotSupported";
55    // Issue 1179 -- the type's bound on `RosMessage`, the one trait every
56    // backend's registration can read. Computed from the schema below, not
57    // copied, so it cannot drift from it.
58    const MAX_SERIALIZED_BOUND: Option<usize> = ::nros_serdes::size::max_serialized_bound::<Self>();
59}
60
61// ── nros_serdes::Message — runtime field schema ─────────────────────────────
62// Consumed by RMW backends that build wire-type descriptors at runtime
63// (Cyclone DDS dynamic types, …) without per-RMW codegen at compile time.
64
65#[allow(non_upper_case_globals)]
66pub const NESTED_DIM: ::nros_serdes::NestedType = ::nros_serdes::NestedType {
67    type_name: <crate::msg::MultiArrayDimension as ::nros_serdes::Message>::TYPE_NAME,
68    fields: <crate::msg::MultiArrayDimension as ::nros_serdes::Message>::FIELDS,
69};
70#[allow(non_upper_case_globals)]
71pub const FT_DIM_ELEM: ::nros_serdes::FieldType = ::nros_serdes::FieldType::Nested(&NESTED_DIM);
72impl ::nros_serdes::Message for MultiArrayLayout {
73    const TYPE_NAME: &'static str = "std_msgs/msg/MultiArrayLayout";
74    const FIELDS: &'static [::nros_serdes::Field] = &[
75        ::nros_serdes::Field {
76            name: "dim",
77            ty: ::nros_serdes::FieldType::Sequence(&FT_DIM_ELEM),
78            offset: ::core::mem::offset_of!(MultiArrayLayout, dim),
79        },
80        ::nros_serdes::Field {
81            name: "data_offset",
82            ty: ::nros_serdes::FieldType::Uint32,
83            offset: ::core::mem::offset_of!(MultiArrayLayout, data_offset),
84        },
85    ];
86}
nros_std_msgs/msg/multi_array_layout.rs

nros_std_msgs/msg/
multi_array_layout.rs
