feat: defined rust structs for ros2 std_msgs (serde)

Author: SarangaR

src/comms/mod.rs

@@ -1,6 +1,7 @@
 pub mod auv_control_board;
 pub mod control_board;
 pub mod meb;
+pub mod ros2;
 
 #[macro_export]
 macro_rules! write_stream_mutexed {

src/comms/ros2/diagnostic_msgs.rs

@@ -0,0 +1,28 @@
+use crate::comms::ros2::std_msgs::Header;
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct DiagnosticArray {
+    pub header: Header,
+    pub status: Vec<DiagnosticStatus>,
+}
+
+pub const OK: u8 = 0;
+pub const WARN: u8 = 1;
+pub const ERROR: u8 = 2;
+pub const STALE: u8 = 3;
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct DiagnosticStatus {
+    pub level: u8,
+    pub name: String,
+    pub message: String,
+    pub hardware_id: String,
+    pub values: Vec<KeyValue>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct KeyValue {
+    pub key: String,
+    pub value: String,
+}

src/comms/ros2/mod.rs

@@ -0,0 +1,4 @@
+pub mod diagnostic_msgs;
+pub mod geometry_msgs;
+pub mod std_msgs;
+pub mod zed;

src/comms/ros2/std_msgs.rs

@@ -0,0 +1,111 @@
+use std::os::raw::{c_long, c_ulong};
+
+use serde::{Deserialize, Serialize};
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct ByteMultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<u8>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct ColorRGBA {
+    pub r: f32,
+    pub g: f32,
+    pub b: f32,
+    pub a: f32,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Duration {
+    pub sec: c_long,
+    pub nanosec: c_ulong,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Header {
+    pub stamp: Time,
+    pub frame_id: String,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Time {
+    pub sec: c_long,
+    pub nanosec: c_ulong,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Empty {}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Float32MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<f32>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Float64MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<f64>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Int16MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<i16>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Int32MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<i32>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Int64MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<i64>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct Int8MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<i8>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct MultiArrayDimension {
+    pub label: String,
+    pub size: u32,
+    pub stride: u32,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct UInt16MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<u16>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct UInt32MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<u32>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct UInt64MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<u64>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct UInt8MultiArray {
+    pub layout: MultiArrayLayout,
+    pub data: Vec<u8>,
+}
+
+#[derive(Debug, Serialize, Deserialize)]
+pub struct MultiArrayLayout {
+    pub dim: Vec<MultiArrayDimension>,
+    pub data_offset: u32,
+}