j7s_diagnostics_ros/j7s_diagnostics_cxx/src/lib.rs

#![allow(non_snake_case)]
use anyhow::anyhow;
use std::collections::BTreeMap;

#[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)]
    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" {
        // 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>;
        #[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);
        fn keys(self: &StringMap) -> Vec<String>;

        type DiagnosticTree;
        #[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>>;

    }
}

fn diagnostic_level_to_rust(cpp: &crate::ffi::DiagnosticLevel) -> j7s_diagnostics::DiagnosticLevel {
    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_level_from_rust(
    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)]
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 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));
        }
        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()?)
    }

    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)
    }
}

#[derive(Clone)]
pub struct OptionalString {
    val: Option<String>,
}

impl OptionalString {
    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 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(),
            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)
    }
}