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feat: Add array support #39

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merged 1 commit into from
Aug 1, 2024
Merged

feat: Add array support #39

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10 changes: 5 additions & 5 deletions examples/opc_ua/rapid-clock.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ fn rapid_clock() {

fn add_timed_variable(server: &mut Server, namespace: u16) {
// These will be the node ids of the new variables
let ticks_since_launch_node_id = NodeId::new(namespace, "ticks_since_launch");
let ticks_since_launch_node_id = NodeId::new(namespace, "100111");

let address_space = server.address_space();

Expand All @@ -39,9 +39,9 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
let _ = address_space.add_variables(
vec![Variable::new(
&ticks_since_launch_node_id,
"ticks_since_launch",
"ticks_since_launch",
0i32,
"joint_positions",
"joint_positions",
vec![0.0f64; 6],
)],
&rapid_folder_id,
);
Expand All @@ -54,7 +54,7 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
let ticks_in_100_ns = now.ticks();
let _ = address_space.set_variable_value(
ticks_since_launch_node_id.clone(),
ticks_in_100_ns as i32,
vec![ticks_in_100_ns as f64; 6],
&now,
&now,
);
Expand Down
15 changes: 12 additions & 3 deletions src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,18 @@ fn main() -> Result<(), RclrsError> {
let provider = Arc::clone(&joint_state_publisher);
move |x: Variant| {
println!("Value = {:?}", &x);
let data_value: f64 = x
.try_into()
.expect("This should have been encapsulated f64 but wasn't.");
let mut data_value: Vec<f64> = vec![];
match x {
Variant::Array(unwrapped) => {
unwrapped.values.into_iter().for_each(|value| {
let unpacked_value = value
.as_f64()
.expect("This should have been encapsulated f64 but wasn't.");
data_value.push(unpacked_value)
});
}
_ => panic!("Expected an array"),
};
let j_msg = create_joint_state_msg(data_value);
provider
.publish_data(&j_msg)
Expand Down
8 changes: 4 additions & 4 deletions src/ros_publisher.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ impl<T: RosMessage> RosPublisher<T> {
}
}

pub fn create_joint_state_msg(data: f64) -> JointStateMsg {
pub fn create_joint_state_msg(data: Vec<f64>) -> JointStateMsg {
let system_timestamp = SystemTime::now().duration_since(UNIX_EPOCH).unwrap();
// Workaround for https://github.com/ros2-rust/ros2_rust/issues/385
let time_msgs = TimeMsg {
Expand All @@ -39,9 +39,9 @@ pub fn create_joint_state_msg(data: f64) -> JointStateMsg {
frame_id: "0".to_string(),
},
name: vec!["Test Joint States".to_string()],
position: vec![data, 3.0],
velocity: vec![2.0, 3.3],
effort: vec![],
position: data,
velocity: vec![0.0; 6],
effort: vec![0.0; 6],
};
joint_state_msg
}
8 changes: 4 additions & 4 deletions tests/helpers/opc_ua_publisher_single_linear.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -38,9 +38,9 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
let _ = address_space.add_variables(
vec![Variable::new(
&ticks_since_launch_node_id,
"ticks_since_launch",
"ticks_since_launch",
0i32,
"joint_positions",
"joint_positions",
vec![0.0f64; 6],
)],
&rapid_folder_id,
);
Expand All @@ -53,7 +53,7 @@ fn add_timed_variable(server: &mut Server, namespace: u16) {
let ticks_in_100_ns = now.ticks();
let _ = address_space.set_variable_value(
ticks_since_launch_node_id.clone(),
ticks_in_100_ns as i32,
vec![ticks_in_100_ns as f64; 6],
&now,
&now,
);
Expand Down
2 changes: 1 addition & 1 deletion tests/test_simple_opc_ua_subscriber.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ async fn test_simple_subscriber_receives_data_changes() {
.expect("Failed to read line from client")
{
println!("Subscriber stdout: {}", line);
if line.contains("Value = Int32(") {
if line.contains("Value = Array(Array { value_type: Double") {
found_ticks_since_launch_changed_times += 1;
if found_ticks_since_launch_changed_times == expected_changed_times {
return found_ticks_since_launch_changed_times;
Expand Down