asterism 0.5.0 → 0.7.0

data/lib/asterism/cruby.rb

@@ -9,12 +9,53 @@ module Asterism
   ROS::TYPE_PATH.replace([MSGS_DIR])
 
   module Codec
-    # CRuby's msgpack packs binary (ASCII-8BIT) Strings, such as payloads
-    # that came from Zenoh, as the bin type. The mruby MessagePack of the
-    # boards reads only the str type, so every String goes as str
-    # (compatibility mode), which is what the boards send too.
+    INT_MIN = -(2**63)
+    INT_MAX = 2**63 - 1
+
+    # msgpack-ruby packs a binary (ASCII-8BIT) String, such as a payload
+    # that came from Zenoh or File.binread, as a bin and any other String
+    # as a str (docs/protocol.md 3.1): no compatibility mode.
     def self.pack(v)
-      ::MessagePack.pack(check(v), compatibility_mode: true)
+      ::MessagePack.pack(check(v))
+    end
+
+    class << self
+      alias_method :check_portable, :check
+
+      # An Integer outside the signed 64-bit range cannot be sent (the
+      # other implementations cannot hold it): EncodeError, before sending.
+      def check(v, depth = 0)
+        if v.is_a?(Integer) && (v < INT_MIN || v > INT_MAX)
+          raise ::Asterism::EncodeError, "Integer #{v} is outside the signed 64-bit range"
+        end
+        return v if v.is_a?(Integer)
+        check_portable(v, depth)
+      end
+
+      alias_method :unpack_portable, :unpack
+
+      # Also nil for an integer above 2^63-1 (msgpack-ruby reads a uint64;
+      # the protocol carries signed 64-bit integers only).
+      def unpack(bytes)
+        v = unpack_portable(bytes)
+        return v unless bytes&.b&.include?("\xcf".b)
+        int64_only?(v) ? v : nil
+      end
+
+      def int64_only?(v)
+        case v
+        when Integer then v <= INT_MAX
+        when Array then v.all? { int64_only?(_1) }
+        when Hash then v.all? { |k, x| int64_only?(k) && int64_only?(x) }
+        else true
+        end
+      end
+
+      # A text field of the protocol is a str, whatever the String's
+      # encoding was.
+      def text(s)
+        s.to_s.dup.force_encoding(Encoding::UTF_8)
+      end
     end
   end
 
@@ -62,7 +103,10 @@ module Asterism
     end
   end
 
-  def self.error_reply(klass, message)
-    ::MessagePack.pack(["error", klass.to_s, message.to_s], compatibility_mode: true)
+  # The calls being answered, per thread: an exposed method runs on the
+  # thread that answers (the receiving thread, or whatever polls), and
+  # Asterism.current_call on another thread is not inside that call.
+  def self.call_stack
+    Thread.current[:asterism_call_stack] ||= []
   end
 end

data/lib/asterism/version.rb

@@ -1,6 +1,7 @@
 module Asterism
   # The gem's version (the CRuby gem asterism). The Zenoh binding it needs
-  # is in asterism.gemspec (asterism-zenoh ~> 0.4.0 for 0.5.0: the bindings
-  # did not change; see CHANGELOG.md).
-  VERSION = "0.5.0"
+  # is in asterism.gemspec (asterism-zenoh ~> 0.4.0 for 0.5.0 to 0.7.0:
+  # the bindings did not change; see CHANGELOG.md). 0.7.0 speaks wire
+  # protocol 1 only (Asterism::PROTOCOL, docs/protocol.md).
+  VERSION = "0.7.0"
 end