Squashed 'vendor/ruvector/' content from commit b64c2172

git-subtree-dir: vendor/ruvector
git-subtree-split: b64c21726f2bb37286d9ee36a7869fef60cc6900

crates/agentic-robotics-core/src/message.rs

@@ -0,0 +1,119 @@
+//! Message definitions and traits
+
+use serde::{Deserialize, Serialize};
+use rkyv::{Archive, Deserialize as RkyvDeserialize, Serialize as RkyvSerialize};
+
+/// Message trait for ROS3 messages
+pub trait Message: Serialize + for<'de> Deserialize<'de> + Send + Sync + 'static {
+    /// Message type name
+    fn type_name() -> &'static str;
+
+    /// Message version
+    fn version() -> &'static str {
+        "1.0"
+    }
+}
+
+/// Implement Message for serde_json::Value for generic JSON messages
+impl Message for serde_json::Value {
+    fn type_name() -> &'static str {
+        "std_msgs/Json"
+    }
+}
+
+/// Robot state message
+#[derive(Debug, Clone, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
+pub struct RobotState {
+    pub position: [f64; 3],
+    pub velocity: [f64; 3],
+    pub timestamp: i64,
+}
+
+impl Message for RobotState {
+    fn type_name() -> &'static str {
+        "ros3_msgs/RobotState"
+    }
+}
+
+impl Default for RobotState {
+    fn default() -> Self {
+        Self {
+            position: [0.0; 3],
+            velocity: [0.0; 3],
+            timestamp: 0,
+        }
+    }
+}
+
+/// 3D Point
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
+pub struct Point3D {
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+/// Point cloud message
+#[derive(Debug, Clone, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
+pub struct PointCloud {
+    pub points: Vec<Point3D>,
+    pub intensities: Vec<f32>,
+    pub timestamp: i64,
+}
+
+impl Message for PointCloud {
+    fn type_name() -> &'static str {
+        "ros3_msgs/PointCloud"
+    }
+}
+
+impl Default for PointCloud {
+    fn default() -> Self {
+        Self {
+            points: Vec::new(),
+            intensities: Vec::new(),
+            timestamp: 0,
+        }
+    }
+}
+
+/// Pose message
+#[derive(Debug, Clone, Serialize, Deserialize, Archive, RkyvSerialize, RkyvDeserialize)]
+pub struct Pose {
+    pub position: [f64; 3],
+    pub orientation: [f64; 4], // Quaternion [x, y, z, w]
+}
+
+impl Message for Pose {
+    fn type_name() -> &'static str {
+        "ros3_msgs/Pose"
+    }
+}
+
+impl Default for Pose {
+    fn default() -> Self {
+        Self {
+            position: [0.0; 3],
+            orientation: [0.0, 0.0, 0.0, 1.0], // Identity quaternion
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_robot_state() {
+        let state = RobotState::default();
+        assert_eq!(state.position, [0.0; 3]);
+        assert_eq!(RobotState::type_name(), "ros3_msgs/RobotState");
+    }
+
+    #[test]
+    fn test_point_cloud() {
+        let cloud = PointCloud::default();
+        assert_eq!(cloud.points.len(), 0);
+        assert_eq!(PointCloud::type_name(), "ros3_msgs/PointCloud");
+    }
+}