Conversion functions.

CMakeLists.txt

@@ -3,6 +3,7 @@ project(j7s_diagnostics_ros CXX)
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
 include(FetchContent)
 
 FetchContent_Declare(
@@ -14,14 +15,11 @@ FetchContent_MakeAvailable(Corrosion)
 
 set(CMAKE_CXX_STANDARD 20)
 
+# Rust bindings.
 corrosion_import_crate(MANIFEST_PATH j7s_diagnostics_cxx/Cargo.toml)
 corrosion_add_cxxbridge(j7s_diagnostics_cxx_bridge
   CRATE j7s_diagnostics_cxx
   FILES lib.rs)
-
-add_executable(test_bin src/test.cpp)
-target_link_libraries(test_bin PRIVATE j7s_diagnostics_cxx_bridge j7s_diagnostics_cxx)
-
 corrosion_install(TARGETS j7s_diagnostics_cxx
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
@@ -29,8 +27,31 @@ corrosion_install(TARGETS j7s_diagnostics_cxx
   RUNTIME DESTINATION bin
 )
 
+# The rest of the stuff.
+# Note that rust/cxx doesn't support shared libraries so
+# this library (and anything that uses it) will have
+# to be statically linked.
+add_library(conversions STATIC src/conversions.cpp)
+target_include_directories(conversions PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_link_libraries(conversions PUBLIC
+            j7s_diagnostics_cxx_bridge
+            j7s_diagnostics_cxx
+            ${diagnostic_msgs_TARGETS}
+)
+
+add_executable(test_bin src/test.cpp)
+target_include_directories(test_bin PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_link_libraries(test_bin PRIVATE
+    conversions
+)
+
 install(TARGETS
-  test_bin
+  conversions
+  #test_bin
   DESTINATION lib/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME})

include/j7s_diagnostics_ros/conversions.hpp

@@ -0,0 +1,20 @@
+#pragma once
+
+#include "j7s_diagnostics_cxx_bridge/lib.h"
+#include <diagnostic_msgs/msg/diagnostic_array.hpp>
+#include <diagnostic_msgs/msg/diagnostic_status.hpp>
+
+
+std::string convertString(const rust::String& rust);
+
+j7s_diagnostics_cxx::DiagnosticLevel convertLevel(const uint8_t rosLevel);
+
+uint8_t convertLevel(const j7s_diagnostics_cxx::DiagnosticLevel& level );
+
+std::vector<diagnostic_msgs::msg::KeyValue> convertValues(const rust::Box<j7s_diagnostics_cxx::StringMap>& map);
+
+rust::Box<j7s_diagnostics_cxx::StringMap> convertValues(const std::vector<diagnostic_msgs::msg::KeyValue>& map);
+
+j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::DiagnosticStatus& msg);
+
+diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus& status);

j7s_diagnostics_cxx/Cargo.lock

@@ -26,9 +26,9 @@ dependencies = [
 
 [[package]]
 name = "clap"
-version = "4.6.2"
+version = "4.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "dd059f9da4f5c36b3787f65d38ccaab1cc315f07b01f89abc8359ee6a8205011"
+checksum = "d91e0c145792ef73a6ad36d27c75ac09f1832222a3c209689d90f534685ee5b7"
 dependencies = [
  "clap_builder",
 ]
@@ -160,7 +160,7 @@ dependencies = [
 [[package]]
 name = "j7s_diagnostics"
 version = "0.1.0"
-source = "git+https://git.jpace121.net/public/j7s_diagnostics.git?branch=main#f40b64151807cbca03a021e66cb3bf3558e4619d"
+source = "git+https://git.jpace121.net/public/j7s_diagnostics.git?branch=main#5f5e9c3b8aa82fd6d14f7a7931604a225fd6b551"
 dependencies = [
  "limbo_graph",
  "thiserror",
@@ -258,9 +258,9 @@ checksum = "7da8b5736845d9f2fcb837ea5d9e2628564b3b043a70948a3f0b778838c5fb4f"
 
 [[package]]
 name = "syn"
-version = "3.0.1"
+version = "3.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5edbec4ed188954a10c12c038215f8ce7606b2d5c973cd8dc43e8795065c5f2f"
+checksum = "53e9bae58849f64dfa4f5d5ae372c8341f7305f82a3868709269343628b659a3"
 dependencies = [
  "proc-macro2",
  "quote",

j7s_diagnostics_cxx/src/lib.rs

@@ -2,7 +2,7 @@
 use anyhow::anyhow;
 use std::collections::BTreeMap;
 
-#[cxx::bridge]
+#[cxx::bridge(namespace = "j7s_diagnostics_cxx")]
 mod ffi {
     // Shared structs whose fields can be seen in both C++ and Rust.
     #[derive(Clone, PartialOrd, PartialEq, Default)]
@@ -21,13 +21,16 @@ mod ffi {
         name: String,
         message: String,
         hardware_id: String,
-        values: Box<StringMap>
+        values: Box<StringMap>,
     }
 
     extern "Rust" {
         // 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++.
+        #[Self = "DiagnosticStatus"]
+        fn build() -> DiagnosticStatus;
+
         type OptionalString;
         #[Self = "OptionalString"]
         fn some(val: String) -> Box<OptionalString>;
@@ -36,12 +39,12 @@ mod ffi {
         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);
+        fn keys(self: &StringMap) -> Vec<String>;
 
         type DiagnosticTree;
         #[Self = "DiagnosticTree"]
@@ -53,12 +56,63 @@ mod ffi {
     }
 }
 
-fn diagnostic_status_to_rust(cpp: &crate::ffi::DiagnosticStatus) -> j7s_diagnostics::DiagnosticStatus {
+fn diagnostic_level_to_rust(cpp: &crate::ffi::DiagnosticLevel) -> j7s_diagnostics::DiagnosticLevel {
-    todo!()
+    match cpp {
+        &crate::ffi::DiagnosticLevel::UNSET => j7s_diagnostics::DiagnosticLevel::UNSET,
+        &crate::ffi::DiagnosticLevel::OK => j7s_diagnostics::DiagnosticLevel::OK,
+        &crate::ffi::DiagnosticLevel::WARN => j7s_diagnostics::DiagnosticLevel::WARN,
+        &crate::ffi::DiagnosticLevel::ERROR => j7s_diagnostics::DiagnosticLevel::ERROR,
+        &crate::ffi::DiagnosticLevel::STALE => j7s_diagnostics::DiagnosticLevel::STALE,
+        _ => j7s_diagnostics::DiagnosticLevel::UNSET,
+    }
 }
 
-fn diagnostic_status_from_rust(rust: &j7s_diagnostics::DiagnosticStatus) -> crate::ffi::DiagnosticStatus {
+fn diagnostic_level_from_rust(
-    todo!()
+    rust: &j7s_diagnostics::DiagnosticLevel,
+) -> crate::ffi::DiagnosticLevel {
+    match rust {
+        &j7s_diagnostics::DiagnosticLevel::UNSET => crate::ffi::DiagnosticLevel::UNSET,
+        &j7s_diagnostics::DiagnosticLevel::OK => crate::ffi::DiagnosticLevel::OK,
+        &j7s_diagnostics::DiagnosticLevel::WARN => crate::ffi::DiagnosticLevel::WARN,
+        &j7s_diagnostics::DiagnosticLevel::ERROR => crate::ffi::DiagnosticLevel::ERROR,
+        &j7s_diagnostics::DiagnosticLevel::STALE => crate::ffi::DiagnosticLevel::STALE,
+    }
+}
+
+fn diagnostic_status_to_rust(
+    cpp: &crate::ffi::DiagnosticStatus,
+) -> j7s_diagnostics::DiagnosticStatus {
+    j7s_diagnostics::DiagnosticStatus::new(
+        diagnostic_level_to_rust(&cpp.level),
+        cpp.name.clone(),
+        cpp.message.clone(),
+        cpp.hardware_id.clone(),
+        cpp.values.to_btree(),
+    )
+}
+
+fn diagnostic_status_from_rust(
+    rust: &j7s_diagnostics::DiagnosticStatus,
+) -> crate::ffi::DiagnosticStatus {
+    crate::ffi::DiagnosticStatus {
+        level: diagnostic_level_from_rust(&rust.level()),
+        name: rust.name(),
+        message: rust.message(),
+        hardware_id: rust.hardware_id(),
+        values: Box::new(StringMap::from_btree(rust.values())),
+    }
+}
+
+impl crate::ffi::DiagnosticStatus {
+    fn build() -> Self {
+        Self {
+            level: crate::ffi::DiagnosticLevel::default(),
+            name: String::default(),
+            message: String::default(),
+            hardware_id: String::default(),
+            values: StringMap::build(),
+        }
+    }
 }
 
 #[derive(Clone)]
@@ -69,13 +123,14 @@ pub struct DiagnosticTree {
 impl DiagnosticTree {
     pub fn build() -> Box<DiagnosticTree> {
         let graph = j7s_diagnostics::DiagnosticGraph::new();
-        let tree = DiagnosticTree {
+        let tree = DiagnosticTree { graph: graph };
-            graph: graph
-        };
         Box::new(tree)
     }
 
-    pub fn add_statuses(self: &mut DiagnosticTree, statuses: &Vec<crate::ffi::DiagnosticStatus>) -> anyhow::Result<()> {
+    pub fn add_statuses(
+        self: &mut DiagnosticTree,
+        statuses: &Vec<crate::ffi::DiagnosticStatus>,
+    ) -> anyhow::Result<()> {
         let mut converted_statuses = Vec::new();
         for status in statuses.iter() {
             converted_statuses.push(diagnostic_status_to_rust(&status));
@@ -99,21 +154,17 @@ impl DiagnosticTree {
 
 #[derive(Clone)]
 pub struct OptionalString {
-    val: Option<String>
+    val: Option<String>,
 }
 
 impl OptionalString {
     pub fn some(val: String) -> Box<Self> {
-        let raw = Self {
+        let raw = Self { val: Some(val) };
-            val: Some(val)
-        };
         Box::new(raw)
     }
 
     pub fn none() -> Box<Self> {
-        let raw = Self {
+        let raw = Self { val: None };
-            val: None
-        };
         Box::new(raw)
     }
 
@@ -131,17 +182,29 @@ impl OptionalString {
 
 #[derive(Clone)]
 pub struct StringMap {
-    map: BTreeMap<String, String>
+    map: BTreeMap<String, String>,
 }
 
 impl StringMap {
     pub fn build() -> Box<Self> {
         let raw = Self {
-            map: BTreeMap::<String, String>::new()
+            map: BTreeMap::<String, String>::new(),
         };
         Box::new(raw)
     }
 
+    pub fn from_btree(map: BTreeMap<String, String>) -> Self {
+        Self { map: map }
+    }
+
+    fn keys(&self) -> Vec<String> {
+        self.map.keys().map(|s| s.clone()).collect()
+    }
+
+    pub fn to_btree(&self) -> BTreeMap<String, String> {
+        self.map.clone()
+    }
+
     pub fn get(&self, key: &String) -> Box<OptionalString> {
         match self.map.get(key) {
             None => OptionalString::none(),

package.xml

@@ -9,6 +9,8 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>diagnostic_msgs</depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

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;