Conversion functions.

src/conversions.cpp

@@ -0,0 +1,99 @@
+#include <j7s_diagnostics_ros/conversions.hpp>
+
+std::string convertString(const rust::String& rust)
+{
+    auto copy = rust;
+    return std::string(copy.c_str());
+}
+
+j7s_diagnostics_cxx::DiagnosticLevel convertLevel(const uint8_t rosLevel)
+{
+    switch(rosLevel)
+    {
+        case diagnostic_msgs::msg::DiagnosticStatus::OK:
+            return j7s_diagnostics_cxx::DiagnosticLevel::OK;
+        case diagnostic_msgs::msg::DiagnosticStatus::WARN:
+            return j7s_diagnostics_cxx::DiagnosticLevel::WARN;
+        case diagnostic_msgs::msg::DiagnosticStatus::ERROR:
+            return j7s_diagnostics_cxx::DiagnosticLevel::ERROR;
+        case diagnostic_msgs::msg::DiagnosticStatus::STALE:
+        default:
+            return j7s_diagnostics_cxx::DiagnosticLevel::STALE;
+    }
+}
+
+uint8_t convertLevel(const j7s_diagnostics_cxx::DiagnosticLevel& level )
+{
+    switch(level)
+    {
+        case j7s_diagnostics_cxx::DiagnosticLevel::OK:
+            return diagnostic_msgs::msg::DiagnosticStatus::OK;
+        case j7s_diagnostics_cxx::DiagnosticLevel::WARN:
+            return diagnostic_msgs::msg::DiagnosticStatus::WARN;
+        case j7s_diagnostics_cxx::DiagnosticLevel::ERROR:
+            return diagnostic_msgs::msg::DiagnosticStatus::ERROR;
+        case j7s_diagnostics_cxx::DiagnosticLevel::STALE:
+        case j7s_diagnostics_cxx::DiagnosticLevel::UNSET:
+        default:
+            return diagnostic_msgs::msg::DiagnosticStatus::STALE;
+    }
+}
+
+std::vector<diagnostic_msgs::msg::KeyValue> convertValues(const rust::Box<j7s_diagnostics_cxx::StringMap>& map)
+{
+    std::vector<diagnostic_msgs::msg::KeyValue> toReturn;
+
+    const rust::Vec<rust::String> keys = map->keys();
+    if(keys.empty())
+    {
+        return toReturn;
+    }
+
+    for(const auto& key : keys)
+    {
+        const auto value = map->get(key);
+        diagnostic_msgs::msg::KeyValue msg;
+        msg.key = convertString(key);
+        msg.value = std::string(value->value().c_str());
+        toReturn.emplace_back(msg);
+    }
+
+    return toReturn;
+
+}
+
+rust::Box<j7s_diagnostics_cxx::StringMap> convertValues(const std::vector<diagnostic_msgs::msg::KeyValue>& map)
+{
+    rust::Box<j7s_diagnostics_cxx::StringMap> toReturn = j7s_diagnostics_cxx::StringMap::build();
+
+    for(const auto& pair: map)
+    {
+        toReturn->insert(rust::String(pair.key), rust::String(pair.value));
+    }
+
+    return toReturn;
+}
+
+j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::DiagnosticStatus& msg)
+{
+    auto toReturn = j7s_diagnostics_cxx::DiagnosticStatus::build();
+    toReturn.level = convertLevel(msg.level);
+    toReturn.name = rust::String(msg.name);
+    toReturn.message = rust::String(msg.message);
+    toReturn.hardware_id = rust::String(msg.hardware_id);
+    toReturn.values = convertValues(msg.values);
+
+    return toReturn;
+}
+
+diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus& status)
+{
+    diagnostic_msgs::msg::DiagnosticStatus toReturn;
+    toReturn.level = convertLevel(status.level);
+    toReturn.name = convertString(status.name);
+    toReturn.message = convertString(status.message);
+    toReturn.hardware_id = convertString(status.hardware_id);
+    toReturn.values = convertValues(status.values);
+
+    return toReturn;
+}

src/test.cpp

@@ -1,17 +1,16 @@
-#include "j7s_diagnostics_cxx_bridge/lib.h"
-
 #include <iostream>
+#include <j7s_diagnostics_ros/conversions.hpp>
 
 int main(int argc, char *argv[])
 {
-    const auto my_string = OptionalString::some(rust::String("test"));
+    const auto my_string = j7s_diagnostics_cxx::OptionalString::some(rust::String("test"));
     if(my_string->is_some())
     {
         auto as_string = my_string->value();
         std::cout << as_string.c_str() << std::endl;
     }
 
-    auto my_map = StringMap::build();
+    auto my_map = j7s_diagnostics_cxx::StringMap::build();
     my_map->insert(rust::String("a"), rust::String("b"));
 
     return 0;