rosrust/
raw_message.rs

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1use crate::{Message, RosMsg, ServicePair};
2use std::io;
3
4#[derive(Clone, Debug, Default, PartialEq)]
5pub struct RawMessage(pub Vec<u8>);
6
7#[derive(Clone, Debug, PartialEq)]
8pub struct RawMessageDescription {
9    pub msg_definition: String,
10    pub md5sum: String,
11    pub msg_type: String,
12}
13
14impl RawMessageDescription {
15    pub fn from_message<T: Message>() -> Self {
16        Self {
17            msg_definition: T::msg_definition(),
18            md5sum: T::md5sum(),
19            msg_type: T::msg_type(),
20        }
21    }
22}
23
24impl Message for RawMessage {
25    fn msg_definition() -> String {
26        "*".into()
27    }
28
29    fn md5sum() -> String {
30        "*".into()
31    }
32
33    fn msg_type() -> String {
34        "*".into()
35    }
36}
37
38impl RosMsg for RawMessage {
39    fn encode<W: io::Write>(&self, mut w: W) -> io::Result<()> {
40        w.write_all(&self.0)
41    }
42
43    fn decode<R: io::Read>(mut r: R) -> io::Result<Self> {
44        let mut data = vec![];
45        r.read_to_end(&mut data)?;
46        Ok(Self(data))
47    }
48}
49
50impl ServicePair for RawMessage {
51    type Request = RawMessage;
52    type Response = RawMessage;
53}
rosrust/raw_message.rs

rosrust/
raw_message.rs
