Pull it together.

CMakeLists.txt

@@ -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})

include/j7s_diagnostics_ros/conversions.hpp

@@ -1,9 +1,9 @@
 #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);
 
@@ -11,10 +11,18 @@ 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);
+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);
 
 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);

j7s_diagnostics_cxx/Cargo.lock

@@ -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",

j7s_diagnostics_cxx/Cargo.toml

@@ -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"

j7s_diagnostics_cxx/src/lib.rs

@@ -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()?)
     }

src/conversions.cpp

@@ -39,7 +39,8 @@ 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;
 
@@ -59,10 +60,10 @@ 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();
 
@@ -86,6 +87,19 @@ j7s_diagnostics_cxx::DiagnosticStatus fromMsg(const diagnostic_msgs::msg::Diagno
     return toReturn;
 }
 
+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;
@@ -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;
+}

src/test.cpp

@@ -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"));
+    diagnostic_msgs::msg::DiagnosticStatus status;
-    if(my_string->is_some())
+    status.name = name;
-    {
+    status.level = level;
-        auto as_string = my_string->value();
+
-        std::cout << as_string.c_str() << std::endl;
+    return status;
 }
 
-    auto my_map = j7s_diagnostics_cxx::StringMap::build();
+std::string levelToString(uint8_t level)
-    my_map->insert(rust::String("a"), rust::String("b"));
+{
+    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;
 }