Module ros2 

The C ABI for the ROS 2 naming and encoding rules.

These wrap [pamoja_ros2] for callers that reach the SDK through the flat C boundary: what makes a topic name legal, what it becomes on the DDS wire, the RIHS type hash that identifies a message definition, and the CDR encoding the payload itself is written in.

None of it needs a ROS 2 installation, which is the point. A gateway can validate a name, derive the DDS topic and the Zenoh key an rmw_zenoh peer subscribes on, and encode a geometry_msgs/msg/Twist without linking against anything from a ROS distribution. Driving a live graph does need one, so the bridge feature stays Rust-only.

Structs

PamojaCdrReader

An opaque handle to a CDR decoder.

PamojaCdrWriter

An opaque handle to a CDR encoder.

PamojaRos2Twist

A body velocity command, matching geometry_msgs/msg/Twist.

PamojaTypeHash

A RIHS01 type hash: the 32-byte digest that identifies a message definition.

PamojaVector3

A three-dimensional vector, matching geometry_msgs/msg/Vector3.

Enums

PamojaEntityKind

The ROS 2 subsystem a name belongs to, which fixes its DDS prefix.

Constants

PAMOJA_TYPE_HASH_LEN

The number of bytes in a RIHS01 type hash digest.

Functions

pamoja_cdr_reader_free^⚠

Releases a CDR decoder handle.

pamoja_cdr_reader_new^⚠

Creates a CDR decoder over encoded bytes.

pamoja_cdr_reader_read_f32^⚠

Reads the next 32-bit float.

pamoja_cdr_reader_read_f64^⚠

Reads the next 64-bit float.

pamoja_cdr_reader_read_i32^⚠

Reads the next 32-bit signed integer.

pamoja_cdr_reader_read_u32^⚠

Reads the next 32-bit unsigned integer.

pamoja_cdr_writer_free^⚠

Releases a CDR encoder handle.

pamoja_cdr_writer_into_bytes^⚠

Takes the encoded bytes, consuming the encoder.

pamoja_cdr_writer_new

Creates a CDR encoder with the encapsulation header already written.

pamoja_cdr_writer_write_f32^⚠

Appends a 32-bit float.

pamoja_cdr_writer_write_f64^⚠

Appends a 64-bit float.

pamoja_cdr_writer_write_i32^⚠

Appends a 32-bit signed integer.

pamoja_cdr_writer_write_u32^⚠

Appends a 32-bit unsigned integer.

pamoja_ros2_dds_topic^⚠

Returns the DDS topic a fully qualified ROS 2 name maps onto.

pamoja_ros2_dds_type_name^⚠

Returns the DDS type name a ROS 2 interface type maps onto.

pamoja_ros2_entity_key^⚠

Builds the Zenoh key an rmw_zenoh peer publishes an entity on.

pamoja_ros2_entity_kind_prefix

Returns the DDS topic prefix a subsystem uses.

pamoja_ros2_name_is_fully_qualified^⚠

Reports whether a name is fully qualified, so it resolves with no namespace.

pamoja_ros2_name_is_valid^⚠

Reports whether a string is a valid ROS 2 topic or service name.

pamoja_ros2_percent_mangle^⚠

Percent-mangles a name the way a DDS partition requires.

pamoja_ros2_twist_from_cdr^⚠

Decodes a twist from its CDR representation.

pamoja_ros2_twist_to_cdr

Encodes a twist into its CDR representation.

pamoja_ros2_type_hash_parse^⚠

Parses a RIHS01 type hash string.

pamoja_ros2_type_hash_to_string

Renders a type hash back to its RIHS01 string.