文件列表:

Sources/CDRCodable/
Tests/CDRCodableTests/
LICENSE
Package.swift

# CDRCodable  A [OMG Common Data Representation (CDR)](https://www.omg.org/spec/DDS-XTypes/) encoder and decoder for Swift `Codable` types. Now can be used with [FastRTPSSwift](https://github.com/DimaRU/FastRTPSSwift), a Swift wrapper for eProsima [FastDDS](https://github.com/eProsima/Fast-DDS) library. ## Requirements - Swift 5.6+ ## Usage ### Encoding Messages ```swift import CDRCodable let encoder = CDREncoder() let value = try! encoder.encode("hello") // Data([6, 0, 0, 0, 0x68, 0x65, 0x6C, 0x6C, 0x6F, 0, 0, 0]) ``` ### Decoding Messages ```swift import CDRCodable let decoder = CDRDecoder() let data = Data([3, 0, 0, 0, 1, 0, 2, 0, 3, 0]) let value = try! decoder.decode([Int16].self, from: data) // [1, 2, 3] ``` ## Installation ### Swift Package Manager Add the CDRCodable package to your target dependencies in `Package.swift`: ```swift import PackageDescription let package = Package( name: "YourProject", dependencies: [ .package( url: "https://github.com/DimaRU/CDRCodable", from: "1.0.0" ), ] ) ``` Then run the `swift build` command to build your project. ## Supported IDL types ### 1. Primitive types The following table shows the basic IDL types supported by CDRCodable and how they are mapped to Swift and C++11. | Swift | C++11 | IDL | | ------- | ----------- | ------------------ | | Int8 | char | char | | UInt8 | uint8\_t | octet | | Int16 | int16\_t | short | | UInt16 | uint16\_t | unsigned short | | Int32 | int32\_t | long | | UInt32 | uint32\_t | unsigned long | | Int64 | int64\_t | long long | | UInt64 | uint64\_t | unsigned long long | | Float | float | float | | Double | double | double | | Float80 | long double | long double | | Bool | bool | boolean | | String | std::string | string | ### 2. Arrays Static size arrays is not supported by CDRCodable directly and needed custom coding. ### 3. Sequences CDRCodable supports sequences, which map between Swift Array and C++ std::vector container. The following table represents how the map between Swift, C++11 and IDL and is handled. | Swift | C++11 | IDL | | --------------- | ------------------------- | ----------------------------- | | `Array` | `std::vector` | `sequence` | | `Array` or `Data` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector`| `sequence` | | `Array` | `std::vector` | `sequence` | | `Array` | `std::vector`| `sequence` | | Array\ | std::vector\ | sequence\ | | Array\ or Data | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | | Array\ | std::vector\ | sequence\ | ### 4. Enumerations | Swift | IDL | |:-------------- |:-------| | enum e: Int32 | enum e | Example: IDL definition: ```IDL enum ESubsystemState { UNKNOWN = 0, INITIALIZED = 1, POSTING = 2, ACTIVE = 3, STANDBY = 4, RECOVERY = 5, DISABLED = 6 }; ``` Swift: ```Swift enum ESubsystemState: Int32, Codable { case unknown = 0 case initialized = 1 case posting = 2 case active = 3 case standby = 4 case recovery = 5 case disabled = 6 } ``` ### 5. Union Union type is not supported by CDRCodable directly and needed custom coding. Example: IDL definition: ```IDL union ControlUnion switch (unsigned long) { case CONTROL_TYPE_S8: char value_int8; case CONTROL_TYPE_S16: short value_int16; case CONTROL_TYPE_S32: long value_int32; case CONTROL_TYPE_S64: long long value_int64; case CONTROL_TYPE_U8: octet value_uint8; case CONTROL_TYPE_U16: unsigned short value_uint16; case CONTROL_TYPE_U32: unsigned long value_uint32; case CONTROL_TYPE_U64: unsigned long long value_uint64; case CONTROL_TYPE_BITMASK: unsigned long value_bitmask; case CONTROL_TYPE_BUTTON: boolean value_button; case CONTROL_TYPE_BOOLEAN: boolean value_boolean; case CONTROL_TYPE_STRING: string<128> value_string; case CONTROL_TYPE_STRING_MENU: unsigned long value_string_menu; case CONTROL_TYPE_INT_MENU: unsigned long value_int_menu; }; ``` Swift ```Swift enum ControlUnion: Codable { case S8(value: Int8) case S16(value: Int16) case S32(value: Int32) case S64(value: Int64) case U8(value: UInt8) case U16(value: UInt16) case U32(value: UInt32) case U64(value: UInt64) case Bitmask(bitmask: UInt32) case Button(button: Bool) case Boolean(value: Bool) case StringValue(value: String) case StringMenu(stringMenu: UInt32) case IntMenu(intMenu: UInt32) init(from decoder: Decoder) throws { var container = try decoder.unkeyedContainer() let selector = try container.decode(UInt32.self) switch selector { case 0: let value = try container.decode(Int8.self) self = .S8(value: value) case 1: let value = try container.decode(Int16.self) self = .S16(value: value) case 2: let value = try container.decode(Int32.self) self = .S32(value: value) case 3: let value = try container.decode(Int64.self) self = .S64(value: value) case 4: let value = try container.decode(UInt8.self) self = .U8(value: value) case 5: let value = try container.decode(UInt16.self) self = .U16(value: value) case 6: let value = try container.decode(UInt32.self) self = .U32(value: value) case 7: let value = try container.decode(UInt64.self) self = .U64(value: value) case 8: let value = try container.decode(UInt32.self) self = .Bitmask(bitmask: value) case 9: let value = try container.decode(Bool.self) self = .Button(button: value) case 10: let value = try container.decode(Bool.self) self = .Boolean(value: value) case 11: let value = try container.decode(String.self) self = .StringValue(value: value) case 12: let value = try container.decode(UInt32.self) self = .StringMenu(stringMenu: value) case 13: let value = try container.decode(UInt32.self) self = .IntMenu(intMenu: value) default: let error = DecodingError.dataCorruptedError(in: container, debugDescription: "Illegal union selector \(selector)") throw error } } func encode(to encoder: Encoder) throws { var container = encoder.singleValueContainer() let selector: UInt32 switch self { case .S8 : selector = 0 case .S16 : selector = 1 case .S32 : selector = 2 case .S64 : selector = 3 case .U8 : selector = 4 case .U16 : selector = 5 case .U32 : selector = 6 case .U64 : selector = 7 case .Bitmask : selector = 8 case .Button : selector = 9 case .Boolean : selector = 10 case .StringValue : selector = 11 case .StringMenu : selector = 12 case .IntMenu : selector = 13 } try container.encode(selector) switch self { case .S8(value: let value): try container.encode(value) case .S16(value: let value): try container.encode(value) case .S32(value: let value): try container.encode(value) case .S64(value: let value): try container.encode(value) case .U8(value: let value): try container.encode(value) case .U16(value: let value): try container.encode(value) case .U32(value: let value): try container.encode(value) case .U64(value: let value): try container.encode(value) case .Bitmask(bitmask: let bitmask): try container.encode(bitmask) case .Button(button: let button): try container.encode(button) case .Boolean(value: let value): try container.encode(value) case .StringValue(value: let value): try container.encode(value) case .StringMenu(stringMenu: let stringMenu): try container.encode(stringMenu) case .IntMenu(intMenu: let intMenu): try container.encode(intMenu) } } } ``` ### 6. Struct `struct` may be coded as Swift `struct` or `class`. Example: IDL definition: ```IDL struct TridentControlTarget { string id; float pitch; float yaw; float thrust; float lift; }; ``` ```Swift struct TridentControlTarget: Codable { let id: String let pitch: Float let yaw: Float let thrust: Float let lift: Float } ``` ## License MIT

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