feat(messages): add control lifecycle contracts

generate.sh

@@ -35,15 +35,21 @@ rm -rf "$SCRIPT_DIR/generated/lua_lcm_msgs"
 echo -e "\033[32mLCM -> Lua done\033[0m"
 
 # Generate TypeScript bindings
-rm -rf "$SCRIPT_DIR/generated/ts_lcm_msgs"
+# Only the per-package directories are generated; anything else in there is
+# hand-written, so clear the packages instead of the whole tree.
+mkdir -p "$SCRIPT_DIR/generated/ts_lcm_msgs"
+find "$SCRIPT_DIR/generated/ts_lcm_msgs" -mindepth 1 -maxdepth 1 -type d -exec rm -rf {} +
 deno run --allow-read --allow-write "$SCRIPT_DIR/tools/ts/gen/mod.ts" -q -o "$SCRIPT_DIR/generated/ts_lcm_msgs" "$SCRIPT_DIR/lcm_types"/*.lcm
 # Copy to msgs package (for JSR publishing - symlinks not supported)
 rm -rf "$SCRIPT_DIR/tools/ts/msgs/generated"
-cp -r "$SCRIPT_DIR/generated/ts_lcm_msgs" "$SCRIPT_DIR/tools/ts/msgs/generated"
+mkdir -p "$SCRIPT_DIR/tools/ts/msgs/generated"
+cp -r "$SCRIPT_DIR/generated/ts_lcm_msgs"/*/ "$SCRIPT_DIR/tools/ts/msgs/generated/"
 echo -e "\033[32mLCM -> TypeScript done\033[0m"
 
 # Generate Rust bindings
-rm -rf "$SCRIPT_DIR/generated/rust_lcm_msgs"
+# The generator owns src/ and Cargo.toml; tests/, Cargo.lock and .gitignore are
+# hand-written, so only clear src/ rather than the whole crate.
+rm -rf "$SCRIPT_DIR/generated/rust_lcm_msgs/src"
 python3 "$SCRIPT_DIR/tools/rust/lcm_rust_gen.py" "$SCRIPT_DIR/lcm_types" -o "$SCRIPT_DIR/generated/rust_lcm_msgs"
 (cd "$SCRIPT_DIR/generated/rust_lcm_msgs" && cargo check --quiet)
 echo -e "\033[32mLCM -> Rust done\033[0m"

generated/cpp_lcm_msgs/dimos_control_msgs/CommandProfile.hpp

@@ -0,0 +1,245 @@
+/** THIS IS AN AUTOMATICALLY GENERATED FILE.  DO NOT MODIFY
+ * BY HAND!!
+ *
+ * Generated by lcm-gen 1.5.2
+ **/
+
+#ifndef __dimos_control_msgs_CommandProfile_hpp__
+#define __dimos_control_msgs_CommandProfile_hpp__
+
+#include <lcm/lcm_coretypes.h>
+
+#include <string>
+#include <vector>
+
+namespace dimos_control_msgs
+{
+
+class CommandProfile
+{
+    public:
+        std::string name;
+
+        int32_t    required_fields_length;
+
+        int32_t    optional_fields_length;
+
+        /**
+         * LCM Type: string[required_fields_length]
+         */
+        std::vector< std::string > required_fields;
+
+        /**
+         * LCM Type: string[optional_fields_length]
+         */
+        std::vector< std::string > optional_fields;
+
+        int8_t     uniform_across_resources;
+
+    public:
+        /**
+         * Encode a message into binary form.
+         *
+         * @param buf The output buffer.
+         * @param offset Encoding starts at thie byte offset into @p buf.
+         * @param maxlen Maximum number of bytes to write.  This should generally be
+         *  equal to getEncodedSize().
+         * @return The number of bytes encoded, or <0 on error.
+         */
+        inline int encode(void *buf, int offset, int maxlen) const;
+
+        /**
+         * Check how many bytes are required to encode this message.
+         */
+        inline int getEncodedSize() const;
+
+        /**
+         * Decode a message from binary form into this instance.
+         *
+         * @param buf The buffer containing the encoded message.
+         * @param offset The byte offset into @p buf where the encoded message starts.
+         * @param maxlen The maximum number of bytes to read while decoding.
+         * @return The number of bytes decoded, or <0 if an error occured.
+         */
+        inline int decode(const void *buf, int offset, int maxlen);
+
+        /**
+         * Retrieve the 64-bit fingerprint identifying the structure of the message.
+         * Note that the fingerprint is the same for all instances of the same
+         * message type, and is a fingerprint on the message type definition, not on
+         * the message contents.
+         */
+        inline static int64_t getHash();
+
+        /**
+         * Returns "CommandProfile"
+         */
+        inline static const char* getTypeName();
+
+        // LCM support functions. Users should not call these
+        inline int _encodeNoHash(void *buf, int offset, int maxlen) const;
+        inline int _getEncodedSizeNoHash() const;
+        inline int _decodeNoHash(const void *buf, int offset, int maxlen);
+        inline static uint64_t _computeHash(const __lcm_hash_ptr *p);
+};
+
+int CommandProfile::encode(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+    int64_t hash = getHash();
+
+    tlen = __int64_t_encode_array(buf, offset + pos, maxlen - pos, &hash, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = this->_encodeNoHash(buf, offset + pos, maxlen - pos);
+    if (tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int CommandProfile::decode(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, thislen;
+
+    int64_t msg_hash;
+    thislen = __int64_t_decode_array(buf, offset + pos, maxlen - pos, &msg_hash, 1);
+    if (thislen < 0) return thislen; else pos += thislen;
+    if (msg_hash != getHash()) return -1;
+
+    thislen = this->_decodeNoHash(buf, offset + pos, maxlen - pos);
+    if (thislen < 0) return thislen; else pos += thislen;
+
+    return pos;
+}
+
+int CommandProfile::getEncodedSize() const
+{
+    return 8 + _getEncodedSizeNoHash();
+}
+
+int64_t CommandProfile::getHash()
+{
+    static int64_t hash = static_cast<int64_t>(_computeHash(NULL));
+    return hash;
+}
+
+const char* CommandProfile::getTypeName()
+{
+    return "CommandProfile";
+}
+
+int CommandProfile::_encodeNoHash(void *buf, int offset, int maxlen) const
+{
+    int pos = 0, tlen;
+
+    char* name_cstr = const_cast<char*>(this->name.c_str());
+    tlen = __string_encode_array(
+        buf, offset + pos, maxlen - pos, &name_cstr, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->required_fields_length, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int32_t_encode_array(buf, offset + pos, maxlen - pos, &this->optional_fields_length, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    for (int a0 = 0; a0 < this->required_fields_length; a0++) {
+        char* __cstr = const_cast<char*>(this->required_fields[a0].c_str());
+        tlen = __string_encode_array(
+            buf, offset + pos, maxlen - pos, &__cstr, 1);
+        if(tlen < 0) return tlen; else pos += tlen;
+    }
+
+    for (int a0 = 0; a0 < this->optional_fields_length; a0++) {
+        char* __cstr = const_cast<char*>(this->optional_fields[a0].c_str());
+        tlen = __string_encode_array(
+            buf, offset + pos, maxlen - pos, &__cstr, 1);
+        if(tlen < 0) return tlen; else pos += tlen;
+    }
+
+    tlen = __boolean_encode_array(buf, offset + pos, maxlen - pos, &this->uniform_across_resources, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int CommandProfile::_decodeNoHash(const void *buf, int offset, int maxlen)
+{
+    int pos = 0, tlen;
+
+    int32_t __name_len__;
+    tlen = __int32_t_decode_array(
+        buf, offset + pos, maxlen - pos, &__name_len__, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+    if(__name_len__ > maxlen - pos) return -1;
+    this->name.assign(
+        static_cast<const char*>(buf) + offset + pos, __name_len__ - 1);
+    pos += __name_len__;
+
+    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->required_fields_length, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    tlen = __int32_t_decode_array(buf, offset + pos, maxlen - pos, &this->optional_fields_length, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    try {
+        this->required_fields.resize(this->required_fields_length);
+    } catch (...) {
+        return -1;
+    }
+    for (int a0 = 0; a0 < this->required_fields_length; a0++) {
+        int32_t __elem_len;
+        tlen = __int32_t_decode_array(
+            buf, offset + pos, maxlen - pos, &__elem_len, 1);
+        if(tlen < 0) return tlen; else pos += tlen;
+        if(__elem_len > maxlen - pos) return -1;
+        this->required_fields[a0].assign(static_cast<const char*>(buf) + offset + pos, __elem_len -  1);
+        pos += __elem_len;
+    }
+
+    try {
+        this->optional_fields.resize(this->optional_fields_length);
+    } catch (...) {
+        return -1;
+    }
+    for (int a0 = 0; a0 < this->optional_fields_length; a0++) {
+        int32_t __elem_len;
+        tlen = __int32_t_decode_array(
+            buf, offset + pos, maxlen - pos, &__elem_len, 1);
+        if(tlen < 0) return tlen; else pos += tlen;
+        if(__elem_len > maxlen - pos) return -1;
+        this->optional_fields[a0].assign(static_cast<const char*>(buf) + offset + pos, __elem_len -  1);
+        pos += __elem_len;
+    }
+
+    tlen = __boolean_decode_array(buf, offset + pos, maxlen - pos, &this->uniform_across_resources, 1);
+    if(tlen < 0) return tlen; else pos += tlen;
+
+    return pos;
+}
+
+int CommandProfile::_getEncodedSizeNoHash() const
+{
+    int enc_size = 0;
+    enc_size += this->name.size() + 4 + 1;
+    enc_size += __int32_t_encoded_array_size(NULL, 1);
+    enc_size += __int32_t_encoded_array_size(NULL, 1);
+    for (int a0 = 0; a0 < this->required_fields_length; a0++) {
+        enc_size += this->required_fields[a0].size() + 4 + 1;
+    }
+    for (int a0 = 0; a0 < this->optional_fields_length; a0++) {
+        enc_size += this->optional_fields[a0].size() + 4 + 1;
+    }
+    enc_size += __boolean_encoded_array_size(NULL, 1);
+    return enc_size;
+}
+
+uint64_t CommandProfile::_computeHash(const __lcm_hash_ptr *)
+{
+    uint64_t hash = 0x38538e7a9d86eb4aLL;
+    return (hash<<1) + ((hash>>63)&1);
+}
+
+}
+
+#endif