None working attempt at using cxx.

CMakeLists.txt

@@ -20,7 +20,7 @@ corrosion_add_cxxbridge(j7s_diagnostics_cxx_bridge
   FILES lib.rs)
 
 add_executable(test_bin src/test.cpp)
-target_link_libraries(test_bin PRIVATE j7s_diagnostics_cxx_bridge)
+target_link_libraries(test_bin PRIVATE j7s_diagnostics_cxx_bridge j7s_diagnostics_cxx)
 
 corrosion_install(TARGETS j7s_diagnostics_cxx
   EXPORT export_${PROJECT_NAME}

j7s_diagnostics_cxx/Cargo.lock

@@ -9,10 +9,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "940b3a0ca603d1eade50a4846a2afffd5ef57a9feac2c0e2ec2e14f9ead76000"
 
 [[package]]
-name = "cc"
+name = "anyhow"
-version = "1.2.65"
+version = "1.0.104"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e228eec9be7c17ccb640b59b36a5cd805ea2a564a4c5e162c2f659fea30d3b96"
+checksum = "330a5ed07fa54e4702c9d6c4174f74427fc0ef6e214bbd677ae50a5099946470"
+
+[[package]]
+name = "cc"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c89588d05638b5b4594a3348a2d6c20277e43a7f5c5202b05cc56888475a47b8"
 dependencies = [
  "find-msvc-tools",
  "shlex",
@@ -20,18 +26,18 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.6.1"
+version = "4.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1ddb117e43bbf7dacf0a4190fef4d345b9bad68dfc649cb349e7d17d28428e51"
+checksum = "dd059f9da4f5c36b3787f65d38ccaab1cc315f07b01f89abc8359ee6a8205011"
 dependencies = [
  "clap_builder",
 ]
 
 [[package]]
 name = "clap_builder"
-version = "4.6.0"
+version = "4.6.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "714a53001bf66416adb0e2ef5ac857140e7dc3a0c48fb28b2f10762fc4b5069f"
+checksum = "f09628afdcc538b57f3c6341e9c8e9970f18e4a481690a64974d7023bd33548b"
 dependencies = [
  "anstyle",
  "clap_lex",
@@ -57,9 +63,9 @@ dependencies = [
 
 [[package]]
 name = "cxx"
-version = "1.0.194"
+version = "1.0.198"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "747d8437319e3a2f43d93b341c137927ca70c0f5dabeea7a005a73665e247c7e"
+checksum = "6fe442a792c7c736eea18b32a7f8a3b63cf8aafabda6760042dc2fdeda456291"
 dependencies = [
  "cc",
  "cxx-build",
@@ -72,9 +78,9 @@ dependencies = [
 
 [[package]]
 name = "cxx-build"
-version = "1.0.194"
+version = "1.0.198"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0f4697d190a142477b16aef7da8a99bfdc41e7e8b1687583c0d23a79c7afc1e"
+checksum = "e3184a94384c663718698311a78a51ac00c484c10b4eeac06fb0a068c5f64fa2"
 dependencies = [
  "cc",
  "codespan-reporting",
@@ -87,9 +93,9 @@ dependencies = [
 
 [[package]]
 name = "cxxbridge-cmd"
-version = "1.0.194"
+version = "1.0.198"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d0956799fa8678d4c50eed028f2de1c0552ae183c76e976cf7ca8c4e36a7c328"
+checksum = "0148d8fd1199329ddf1d157a5e134e51ceff37c6a7ddd38615c399d81cb05d8d"
 dependencies = [
  "clap",
  "codespan-reporting",
@@ -101,15 +107,15 @@ dependencies = [
 
 [[package]]
 name = "cxxbridge-flags"
-version = "1.0.194"
+version = "1.0.198"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "23384a836ab4f0ad98ace7e3955ad2de39de42378ab487dc28d3990392cb283a"
+checksum = "52850339faed2eaadd24e286dc1d8268cc6f8a7bd9524d713adc9099566b4c89"
 
 [[package]]
 name = "cxxbridge-macro"
-version = "1.0.194"
+version = "1.0.198"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6acc6b5822b9526adfb4fc377b67128fdd60aac757cc4a741a6278603f763cf"
+checksum = "2c77c856545d886c9bd5215409ebb63b925e262135248b50c79e5a5f194ee47c"
 dependencies = [
  "indexmap",
  "proc-macro2",
@@ -151,14 +157,30 @@ dependencies = [
  "hashbrown",
 ]
 
+[[package]]
+name = "j7s_diagnostics"
+version = "0.1.0"
+source = "git+https://git.jpace121.net/public/j7s_diagnostics.git?branch=main#f40b64151807cbca03a021e66cb3bf3558e4619d"
+dependencies = [
+ "limbo_graph",
+ "thiserror",
+]
+
 [[package]]
 name = "j7s_diagnostics_cxx"
 version = "0.1.0"
 dependencies = [
+ "anyhow",
  "cxx",
  "cxx-build",
+ "j7s_diagnostics",
 ]
 
+[[package]]
+name = "limbo_graph"
+version = "0.1.0"
+source = "git+https://git.jpace121.net/public/limbo_graph.git?branch=main#2d05aed05750fdde52424404001315a967e0d696"
+
 [[package]]
 name = "link-cplusplus"
 version = "1.0.12"
@@ -170,18 +192,18 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.106"
+version = "1.0.107"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934"
+checksum = "985e7ec9bb745e6ce6535b544d84d6cd6f7ad8bd711c398938ae983b91a766d9"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.46"
+version = "1.0.47"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dfbc457d0c7a0759a614551b11a6409e5951f6c7537be1f1b7682b9ae9230368"
+checksum = "1fbf4db142a473a8d80c26bbf18454ed458bf8d26c8219c331daecfdbd079001"
 dependencies = [
  "proc-macro2",
 ]
@@ -194,9 +216,9 @@ checksum = "d68f2ec51b097e4c1a75b681a8bec621909b5e91f15bb7b840c4f2f7b01148b2"
 
 [[package]]
 name = "serde"
-version = "1.0.228"
+version = "1.0.229"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9a8e94ea7f378bd32cbbd37198a4a91436180c5bb472411e48b5ec2e2124ae9e"
+checksum = "4148590afebada386688f18773da617792bf2ef03ffc1e4cbd2b1d45b023e0ba"
 dependencies = [
  "serde_core",
  "serde_derive",
@@ -204,18 +226,18 @@ dependencies = [
 
 [[package]]
 name = "serde_core"
-version = "1.0.228"
+version = "1.0.229"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "41d385c7d4ca58e59fc732af25c3983b67ac852c1a25000afe1175de458b67ad"
+checksum = "67dca2c9c51e58a4791a4b1ed58308b39c64224d349a935ab5039aa360942a48"
 dependencies = [
  "serde_derive",
 ]
 
 [[package]]
 name = "serde_derive"
-version = "1.0.228"
+version = "1.0.229"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d540f220d3187173da220f885ab66608367b6574e925011a9353e4badda91d79"
+checksum = "e7a5d71263a5a7d47b41f6b3f06ba276f10cc18b0931f1799f710578e2309348"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -236,9 +258,9 @@ checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
 [[package]]
 name = "syn"
-version = "2.0.118"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1b9ae57f904213ebb649ce6895b8a66c66f0203b9319718f69a5612a065b1422"
+checksum = "5edbec4ed188954a10c12c038215f8ce7606b2d5c973cd8dc43e8795065c5f2f"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -254,6 +276,26 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "thiserror"
+version = "2.0.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "09a43598840e33d5b0331f38c5e30d13bb11c11210a4b58f0d9b18a5a5eefcd9"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "2.0.19"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "43cbfe0cf76104d42a574802844187e84a305e531ed54455f11fbde0f10541cd"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "unicode-ident"
 version = "1.0.24"
@@ -289,99 +331,3 @@ checksum = "ae137229bcbd6cdf0f7b80a31df61766145077ddf49416a728b02cb3921ff3fc"
 dependencies = [
  "windows-link",
 ]
-
-[[patch.unused]]
-name = "action_msgs"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "builtin_interfaces"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "composition_interfaces"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "diagnostic_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "geometry_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "lifecycle_msgs"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "limbo_graph"
-version = "0.1.0"
-
-[[patch.unused]]
-name = "nav_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "rcl_interfaces"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "rmw_dds_common"
-version = "6.0.0"
-
-[[patch.unused]]
-name = "rosbag2_interfaces"
-version = "0.33.3"
-
-[[patch.unused]]
-name = "rosgraph_msgs"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "sensor_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "service_msgs"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "shape_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "statistics_msgs"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "std_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "std_srvs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "stereo_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "tf2_msgs"
-version = "0.45.7"
-
-[[patch.unused]]
-name = "trajectory_msgs"
-version = "5.9.2"
-
-[[patch.unused]]
-name = "type_description_interfaces"
-version = "2.4.5"
-
-[[patch.unused]]
-name = "unique_identifier_msgs"
-version = "2.8.1"
-
-[[patch.unused]]
-name = "visualization_msgs"
-version = "5.9.2"

j7s_diagnostics_cxx/Cargo.toml

@@ -4,10 +4,14 @@ version = "0.1.0"
 edition = "2024"
 
 [lib]
-crate-type = ["cdylib"]
+crate-type = ["staticlib"]
 
 [dependencies]
+anyhow = "1.0.103"
 cxx = "1.0"
+j7s_diagnostics = { branch = "main", git="https://git.jpace121.net/public/j7s_diagnostics.git" }
 
 [build-dependencies]
 cxx-build = "1.0"
+
+[patch.crates-io]

j7s_diagnostics_cxx/src/lib.rs

@@ -1,35 +1,159 @@
 #![allow(non_snake_case)]
+use anyhow::anyhow;
+use std::collections::BTreeMap;
 
 #[cxx::bridge]
 mod ffi {
+    // Shared structs whose fields can be seen in both C++ and Rust.
+    #[derive(Clone, PartialOrd, PartialEq, Default)]
+    pub enum DiagnosticLevel {
+        #[default]
+        UNSET,
+        OK,
+        WARN,
+        ERROR,
+        STALE,
+    }
+
+    #[derive(Clone)]
+    pub struct DiagnosticStatus {
+        level: DiagnosticLevel,
+        name: String,
+        message: String,
+        hardware_id: String,
+        values: Box<StringMap>
+    }
+
     extern "Rust" {
-        fn add(a: &f64, b: &f64) -> f64;
+        // Functions in here can be seen on both sides, but are
+        // defined in rust.
+        // types can be seen in both languages, but only opaquely in C++.
+        type OptionalString;
+        #[Self = "OptionalString"]
+        fn some(val: String) -> Box<OptionalString>;
+        #[Self = "OptionalString"]
+        fn none() -> Box<OptionalString>;
+        fn is_some(self: &OptionalString) -> bool;
+        fn value(self: &OptionalString) -> Result<String>;
+
+
+        type StringMap;
+        #[Self = "StringMap"]
+        fn build() -> Box<StringMap>;
+        fn get(self: &StringMap, key: &String) -> Box<OptionalString>;
+        fn insert(self: &mut StringMap, key: String, value: String);
+
+        type DiagnosticTree;
+        #[Self = "DiagnosticTree"]
+        fn build() -> Box<DiagnosticTree>;
+        fn add_statuses(self: &mut DiagnosticTree, statuses: &Vec<DiagnosticStatus>) -> Result<()> ;
+        fn reconcile(self: &mut DiagnosticTree) -> Result<()>;
+        fn aggregate(self: &DiagnosticTree) -> Result<Vec<DiagnosticStatus>>;
 
-        type MyStruct;
-        fn MyStruct_build(a: f64, b: f64) -> Box<MyStruct>;
-        fn sum(self: &MyStruct) -> f64;
     }
 }
 
-pub struct MyStruct {
+fn diagnostic_status_to_rust(cpp: &crate::ffi::DiagnosticStatus) -> j7s_diagnostics::DiagnosticStatus {
-    a: f64,
+    todo!()
-    b: f64
 }
 
-impl MyStruct {
+fn diagnostic_status_from_rust(rust: &j7s_diagnostics::DiagnosticStatus) -> crate::ffi::DiagnosticStatus {
-    pub fn new(a: f64, b: f64) -> Self {
+    todo!()
-        MyStruct {a: a, b: b}
+}
+
+#[derive(Clone)]
+pub struct DiagnosticTree {
+    graph: j7s_diagnostics::DiagnosticGraph,
+}
+
+impl DiagnosticTree {
+    pub fn build() -> Box<DiagnosticTree> {
+        let graph = j7s_diagnostics::DiagnosticGraph::new();
+        let tree = DiagnosticTree {
+            graph: graph
+        };
+        Box::new(tree)
     }
 
-    pub fn sum(&self) -> f64 {
+    pub fn add_statuses(self: &mut DiagnosticTree, statuses: &Vec<crate::ffi::DiagnosticStatus>) -> anyhow::Result<()> {
-        self.a + self.b
+        let mut converted_statuses = Vec::new();
+        for status in statuses.iter() {
+            converted_statuses.push(diagnostic_status_to_rust(&status));
+        }
+        Ok(self.graph.add_status_vec(&converted_statuses)?)
+    }
+
+    pub fn reconcile(self: &mut DiagnosticTree) -> anyhow::Result<()> {
+        Ok(self.graph.reconcile_levels()?)
+    }
+
+    fn aggregate(self: &DiagnosticTree) -> anyhow::Result<Vec<crate::ffi::DiagnosticStatus>> {
+        let statuses = self.graph.export_graph()?;
+        let mut converted_statuses = Vec::new();
+        for status in statuses.iter() {
+            converted_statuses.push(diagnostic_status_from_rust(&status));
+        }
+        Ok(converted_statuses)
     }
 }
 
-fn MyStruct_build(a: f64, b: f64) -> Box<MyStruct> {
+#[derive(Clone)]
-    Box::new(MyStruct::new(a, b))
+pub struct OptionalString {
+    val: Option<String>
 }
 
-pub fn add(a: &f64, b: &f64) -> f64 {
+impl OptionalString {
-    a + b
+    pub fn some(val: String) -> Box<Self> {
+        let raw = Self {
+            val: Some(val)
+        };
+        Box::new(raw)
+    }
+
+    pub fn none() -> Box<Self> {
+        let raw = Self {
+            val: None
+        };
+        Box::new(raw)
+    }
+
+    pub fn is_some(&self) -> bool {
+        self.val.is_some()
+    }
+
+    pub fn value(&self) -> anyhow::Result<String> {
+        match &self.val {
+            None => Err(anyhow!("Option not valid.")),
+            Some(val) => Ok(val.clone()),
+        }
+    }
+}
+
+#[derive(Clone)]
+pub struct StringMap {
+    map: BTreeMap<String, String>
+}
+
+impl StringMap {
+    pub fn build() -> Box<Self> {
+        let raw = Self {
+            map: BTreeMap::<String, String>::new()
+        };
+        Box::new(raw)
+    }
+
+    pub fn get(&self, key: &String) -> Box<OptionalString> {
+       match self.map.get(key) {
+           None => OptionalString::none(),
+           Some(val) => OptionalString::some(val.clone()),
+       }
+    }
+
+    pub fn insert(&mut self, key: String, value: String) {
+        let _ = self.map.insert(key, value);
+    }
+
+    pub fn to_box(self) -> Box<StringMap> {
+        Box::new(self)
+    }
 }

src/test.cpp

@@ -4,10 +4,15 @@
 
 int main(int argc, char *argv[])
 {
-    double result = add(1.0, 2.0);
+    const auto my_string = OptionalString::some(rust::String("test"));
-    std::cout << result << std::endl;
+    if(my_string->is_some())
+    {
+        auto as_string = my_string->value();
+        std::cout << as_string.c_str() << std::endl;
+    }
+
+    auto my_map = StringMap::build();
+    my_map->insert(rust::String("a"), rust::String("b"));
 
-    const auto my_struct = MyStruct_build(3.0, 4.0);
-    std::cout << my_struct->sum() << std::endl;
     return 0;
 }