Modularize ROS2 codecs and add missing message types

Author: Deng-Ran

fastproto-core/src/main/java/org/indunet/fastproto/FastProto.java

@@ -31,7 +31,10 @@
  * @author Deng Ran
  * @since 1.0.0
  */
-public class FastProto {
+public final class FastProto {
+    private FastProto() {
+    }
+
     /**
      * Converts binary data into a Java object with FastProto annotations.
      *

fastproto-ros2/src/main/java/org/indunet/fastproto/ros2/Ros2CdrReader.java

@@ -3,6 +3,7 @@
 import org.indunet.fastproto.ByteOrder;
 import org.indunet.fastproto.io.ByteBufferInputStream;
 
+import java.math.BigInteger;
 import java.nio.charset.StandardCharsets;
 import java.util.Arrays;
 
@@ -32,11 +33,26 @@ public int readInt32() {
         return inputStream.readInt32(ByteOrder.LITTLE);
     }
 
+    public int readInt16() {
+        inputStream.align(2);
+        return inputStream.readInt16(ByteOrder.LITTLE);
+    }
+
+    public long readInt64() {
+        inputStream.align(8);
+        return inputStream.readInt64(ByteOrder.LITTLE);
+    }
+
     public long readUInt32() {
         inputStream.align(4);
         return inputStream.readUInt32(ByteOrder.LITTLE);
     }
 
+    public BigInteger readUInt64() {
+        inputStream.align(8);
+        return inputStream.readUInt64(ByteOrder.LITTLE);
+    }
+
     public int readUInt16() {
         inputStream.align(2);
         return inputStream.readUInt16(ByteOrder.LITTLE);
@@ -133,6 +149,76 @@ public int[] readInt32Sequence() {
         return values;
     }
 
+    public int[] readInt16Sequence() {
+        long length = readUInt32();
+        if (length < 0 || length > Integer.MAX_VALUE) {
+            throw new IllegalArgumentException("Invalid ROS2 int16 sequence length: " + length);
+        }
+
+        int[] values = new int[(int) length];
+        for (int i = 0; i < values.length; i++) {
+            values[i] = readInt16();
+        }
+
+        return values;
+    }
+
+    public long[] readInt64Sequence() {
+        long length = readUInt32();
+        if (length < 0 || length > Integer.MAX_VALUE) {
+            throw new IllegalArgumentException("Invalid ROS2 int64 sequence length: " + length);
+        }
+
+        long[] values = new long[(int) length];
+        for (int i = 0; i < values.length; i++) {
+            values[i] = readInt64();
+        }
+
+        return values;
+    }
+
+    public int[] readUInt16Sequence() {
+        long length = readUInt32();
+        if (length < 0 || length > Integer.MAX_VALUE) {
+            throw new IllegalArgumentException("Invalid ROS2 uint16 sequence length: " + length);
+        }
+
+        int[] values = new int[(int) length];
+        for (int i = 0; i < values.length; i++) {
+            values[i] = readUInt16();
+        }
+
+        return values;
+    }
+
+    public long[] readUInt32Sequence() {
+        long length = readUInt32();
+        if (length < 0 || length > Integer.MAX_VALUE) {
+            throw new IllegalArgumentException("Invalid ROS2 uint32 sequence length: " + length);
+        }
+
+        long[] values = new long[(int) length];
+        for (int i = 0; i < values.length; i++) {
+            values[i] = readUInt32();
+        }
+
+        return values;
+    }
+
+    public BigInteger[] readUInt64Sequence() {
+        long length = readUInt32();
+        if (length < 0 || length > Integer.MAX_VALUE) {
+            throw new IllegalArgumentException("Invalid ROS2 uint64 sequence length: " + length);
+        }
+
+        BigInteger[] values = new BigInteger[(int) length];
+        for (int i = 0; i < values.length; i++) {
+            values[i] = readUInt64();
+        }
+
+        return values;
+    }
+
     public String[] readStringSequence() {
         long length = readUInt32();
         if (length < 0 || length > Integer.MAX_VALUE) {

fastproto-ros2/src/main/java/org/indunet/fastproto/ros2/Ros2CdrWriter.java

@@ -3,6 +3,7 @@
 import org.indunet.fastproto.ByteOrder;
 import org.indunet.fastproto.io.ByteBufferOutputStream;
 
+import java.math.BigInteger;
 import java.nio.charset.StandardCharsets;
 
 /**
@@ -26,11 +27,26 @@ public void writeInt32(int value) {
         outputStream.writeInt32(ByteOrder.LITTLE, value);
     }
 
+    public void writeInt16(int value) {
+        outputStream.align(2);
+        outputStream.writeInt16(ByteOrder.LITTLE, value);
+    }
+
+    public void writeInt64(long value) {
+        outputStream.align(8);
+        outputStream.writeInt64(ByteOrder.LITTLE, value);
+    }
+
     public void writeUInt32(long value) {
         outputStream.align(4);
         outputStream.writeUInt32(ByteOrder.LITTLE, value);
     }
 
+    public void writeUInt64(BigInteger value) {
+        outputStream.align(8);
+        outputStream.writeUInt64(ByteOrder.LITTLE, value);
+    }
+
     public void writeUInt16(int value) {
         outputStream.align(2);
         outputStream.writeUInt16(ByteOrder.LITTLE, value);
@@ -95,6 +111,41 @@ public void writeInt32Sequence(int[] values) {
         }
     }
 
+    public void writeInt16Sequence(int[] values) {
+        writeUInt32(values.length);
+        for (int value : values) {
+            writeInt16(value);
+        }
+    }
+
+    public void writeInt64Sequence(long[] values) {
+        writeUInt32(values.length);
+        for (long value : values) {
+            writeInt64(value);
+        }
+    }
+
+    public void writeUInt16Sequence(int[] values) {
+        writeUInt32(values.length);
+        for (int value : values) {
+            writeUInt16(value);
+        }
+    }
+
+    public void writeUInt32Sequence(long[] values) {
+        writeUInt32(values.length);
+        for (long value : values) {
+            writeUInt32(value);
+        }
+    }
+
+    public void writeUInt64Sequence(BigInteger[] values) {
+        writeUInt32(values.length);
+        for (BigInteger value : values) {
+            writeUInt64(value);
+        }
+    }
+
     public void writeStringSequence(String[] values) {
         writeUInt32(values.length);
         for (String value : values) {