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Pull it together.

This commit is contained in:
James Pace 2026-07-26 07:28:20 -04:00
parent d1314797a5
commit f5adbb59a4
7 changed files with 111 additions and 33 deletions
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4
CMakeLists.txt
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@ -4,6 +4,7 @@ project(j7s_diagnostics_ros CXX)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(diagnostic_msgs REQUIRED)
find_package(fmt REQUIRED)
include(FetchContent)
FetchContent_Declare(
@ -38,6 +39,7 @@ target_include_directories(conversions PUBLIC
target_link_libraries(conversions PUBLIC
j7s_diagnostics_cxx_bridge
j7s_diagnostics_cxx
fmt
${diagnostic_msgs_TARGETS}
)
@ -51,7 +53,7 @@ target_link_libraries(test_bin PRIVATE
install(TARGETS
conversions
#test_bin
test_bin
DESTINATION lib/${PROJECT_NAME})
ament_export_targets(export_${PROJECT_NAME})

22
include/j7s_diagnostics_ros/conversions.hpp
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@ -1,20 +1,28 @@
#pragma once
#include "j7s_diagnostics_cxx_bridge/lib.h"
#include <diagnostic_msgs/msg/diagnostic_array.hpp>
#include <diagnostic_msgs/msg/diagnostic_status.hpp>
#include "j7s_diagnostics_cxx_bridge/lib.h"
std::string convertString(const rust::String& rust);
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 );
uint8_t convertLevel(const j7s_diagnostics_cxx::DiagnosticLevel & level);
std::vector<diagnostic_msgs::msg::KeyValue> convertValues(const rust::Box<j7s_diagnostics_cxx::StringMap>& map);
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);
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);
j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::DiagnosticStatus & msg);
diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus& status);
diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus & status);
rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> fromMsg(
const diagnostic_msgs::msg::DiagnosticArray & msg);
diagnostic_msgs::msg::DiagnosticArray toMsg(
const rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> & statuses);

5
j7s_diagnostics_cxx/Cargo.lock generated
View File

@ -16,9 +16,9 @@ checksum = "330a5ed07fa54e4702c9d6c4174f74427fc0ef6e214bbd677ae50a5099946470"
[[package]]
name = "cc"
version = "1.3.0"
version = "1.4.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c89588d05638b5b4594a3348a2d6c20277e43a7f5c5202b05cc56888475a47b8"
checksum = "5add81bb678e6cb321aff7fa0dc7689ad82b112dbc032cea19f91d6b8e3582b9"
dependencies = [
"find-msvc-tools",
"shlex",
@ -160,7 +160,6 @@ dependencies = [
[[package]]
name = "j7s_diagnostics"
version = "0.1.0"
source = "git+https://git.jpace121.net/public/j7s_diagnostics.git?branch=main#5f5e9c3b8aa82fd6d14f7a7931604a225fd6b551"
dependencies = [
"limbo_graph",
"thiserror",

2
j7s_diagnostics_cxx/Cargo.toml
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@ -9,7 +9,7 @@ crate-type = ["staticlib"]
[dependencies]
anyhow = "1.0.103"
cxx = "1.0"
j7s_diagnostics = { branch = "main", git="https://git.jpace121.net/public/j7s_diagnostics.git" }
j7s_diagnostics = { path="../../j7s_diagnostics/" }
[build-dependencies]
cxx-build = "1.0"

5
j7s_diagnostics_cxx/src/lib.rs
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@ -50,6 +50,7 @@ mod ffi {
#[Self = "DiagnosticTree"]
fn build() -> Box<DiagnosticTree>;
fn add_statuses(self: &mut DiagnosticTree, statuses: &Vec<DiagnosticStatus>) -> Result<()>;
fn add_status(self: &mut DiagnosticTree, status: &DiagnosticStatus) -> Result<()>;
fn reconcile(self: &mut DiagnosticTree) -> Result<()>;
fn aggregate(self: &DiagnosticTree) -> Result<Vec<DiagnosticStatus>>;
@ -138,6 +139,10 @@ impl DiagnosticTree {
Ok(self.graph.add_status_vec(&converted_statuses)?)
}
fn add_status(self: &mut DiagnosticTree, status: &crate::ffi::DiagnosticStatus) -> anyhow::Result<()> {
Ok(self.graph.add_status(diagnostic_status_to_rust(&status))?)
}
pub fn reconcile(self: &mut DiagnosticTree) -> anyhow::Result<()> {
Ok(self.graph.reconcile_levels()?)
}

51
src/conversions.cpp
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@ -1,6 +1,6 @@
#include <j7s_diagnostics_ros/conversions.hpp>
std::string convertString(const rust::String& rust)
std::string convertString(const rust::String & rust)
{
auto copy = rust;
return std::string(copy.c_str());
@ -8,7 +8,7 @@ std::string convertString(const rust::String& rust)
j7s_diagnostics_cxx::DiagnosticLevel convertLevel(const uint8_t rosLevel)
{
switch(rosLevel)
switch (rosLevel)
{
case diagnostic_msgs::msg::DiagnosticStatus::OK:
return j7s_diagnostics_cxx::DiagnosticLevel::OK;
@ -22,9 +22,9 @@ j7s_diagnostics_cxx::DiagnosticLevel convertLevel(const uint8_t rosLevel)
}
}
uint8_t convertLevel(const j7s_diagnostics_cxx::DiagnosticLevel& level )
uint8_t convertLevel(const j7s_diagnostics_cxx::DiagnosticLevel & level)
{
switch(level)
switch (level)
{
case j7s_diagnostics_cxx::DiagnosticLevel::OK:
return diagnostic_msgs::msg::DiagnosticStatus::OK;
@ -39,17 +39,18 @@ uint8_t convertLevel(const j7s_diagnostics_cxx::DiagnosticLevel& level )
}
}
std::vector<diagnostic_msgs::msg::KeyValue> convertValues(const rust::Box<j7s_diagnostics_cxx::StringMap>& map)
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())
if (keys.empty())
{
return toReturn;
}
for(const auto& key : keys)
for (const auto & key : keys)
{
const auto value = map->get(key);
diagnostic_msgs::msg::KeyValue msg;
@ -59,14 +60,14 @@ std::vector<diagnostic_msgs::msg::KeyValue> convertValues(const rust::Box<j7s_di
}
return toReturn;
}
rust::Box<j7s_diagnostics_cxx::StringMap> convertValues(const std::vector<diagnostic_msgs::msg::KeyValue>& map)
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)
for (const auto & pair : map)
{
toReturn->insert(rust::String(pair.key), rust::String(pair.value));
}
@ -74,7 +75,7 @@ rust::Box<j7s_diagnostics_cxx::StringMap> convertValues(const std::vector<diagno
return toReturn;
}
j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::DiagnosticStatus& msg)
j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::DiagnosticStatus & msg)
{
auto toReturn = j7s_diagnostics_cxx::DiagnosticStatus::build();
toReturn.level = convertLevel(msg.level);
@ -86,7 +87,20 @@ j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::Diagno
return toReturn;
}
diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus& status)
rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> fromMsg(
const diagnostic_msgs::msg::DiagnosticArray & msg)
{
rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> toReturn;
toReturn.reserve(msg.status.size());
for (const auto & rosMsg : msg.status)
{
toReturn.emplace_back(fromMsg(rosMsg));
}
return toReturn;
}
diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::DiagnosticStatus & status)
{
diagnostic_msgs::msg::DiagnosticStatus toReturn;
toReturn.level = convertLevel(status.level);
@ -97,3 +111,16 @@ diagnostic_msgs::msg::DiagnosticStatus toMsg(const j7s_diagnostics_cxx::Diagnost
return toReturn;
}
diagnostic_msgs::msg::DiagnosticArray toMsg(
const rust::Vec<j7s_diagnostics_cxx::DiagnosticStatus> & statuses)
{
diagnostic_msgs::msg::DiagnosticArray msg;
msg.status.reserve(statuses.size());
for (const auto & status : statuses)
{
msg.status.emplace_back(toMsg(status));
}
return msg;
}

55
src/test.cpp
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@ -1,17 +1,54 @@
#include <fmt/core.h>
#include <iostream>
#include <j7s_diagnostics_ros/conversions.hpp>
int main(int argc, char *argv[])
diagnostic_msgs::msg::DiagnosticStatus make_test_status(const std::string & name, uint8_t level)
{
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;
}
diagnostic_msgs::msg::DiagnosticStatus status;
status.name = name;
status.level = level;
auto my_map = j7s_diagnostics_cxx::StringMap::build();
my_map->insert(rust::String("a"), rust::String("b"));
return status;
}
std::string levelToString(uint8_t level)
{
switch (level)
{
case diagnostic_msgs::msg::DiagnosticStatus::OK:
return "OK";
case diagnostic_msgs::msg::DiagnosticStatus::WARN:
return "WARN";
case diagnostic_msgs::msg::DiagnosticStatus::ERROR:
return "ERROR";
case diagnostic_msgs::msg::DiagnosticStatus::STALE:
return "STALE";
default:
return "N/A";
}
}
int main(int argc, char * argv[])
{
diagnostic_msgs::msg::DiagnosticArray diagArray;
diagArray.status.emplace_back(
make_test_status("a", diagnostic_msgs::msg::DiagnosticStatus::OK));
diagArray.status.emplace_back(
make_test_status("a/b", diagnostic_msgs::msg::DiagnosticStatus::WARN));
diagArray.status.emplace_back(
make_test_status("a/c", diagnostic_msgs::msg::DiagnosticStatus::OK));
diagArray.status.emplace_back(
make_test_status("a/c/d", diagnostic_msgs::msg::DiagnosticStatus::OK));
auto tree = j7s_diagnostics_cxx::DiagnosticTree::build();
tree->add_statuses(fromMsg(diagArray));
tree->reconcile();
const auto aggregate = toMsg(tree->aggregate());
for (const auto & status : aggregate.status)
{
fmt::println("Name: {} Level: {}", status.name, levelToString(status.level));
}
return 0;
}