rclex

// clang-format off
#include "string.h"
#include "../../../macros.h"
#include "../../../resource_types.h"
#include "../../../terms.h"

#include <erl_nif.h>

#include <rosidl_runtime_c/message_type_support_struct.h>
#include <rosidl_runtime_c/primitives_sequence.h>
#include <rosidl_runtime_c/primitives_sequence_functions.h>
#include <rosidl_runtime_c/string.h>
#include <rosidl_runtime_c/string_functions.h>

#include <std_msgs/msg/detail/string__functions.h>
#include <std_msgs/msg/detail/string__struct.h>
#include <std_msgs/msg/detail/string__type_support.h>

#include <stddef.h>
#include <stdint.h>
#include <string.h>

ERL_NIF_TERM nif_std_msgs_msg_string_type_support(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {
  ignore_unused(argv);

  if (argc != 0) return enif_make_badarg(env);

  const rosidl_message_type_support_t *ts_p = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String);
  rosidl_message_type_support_t *obj = enif_alloc_resource(rt_rosidl_message_type_support_t, sizeof(rosidl_message_type_support_t));
  *obj = *ts_p;
  ERL_NIF_TERM term = enif_make_resource(env, obj);
  enif_release_resource(obj);

  return term;
}

ERL_NIF_TERM nif_std_msgs_msg_string_create(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {
  ignore_unused(argv);

  if (argc != 0) return enif_make_badarg(env);

  std_msgs__msg__String *message_p = std_msgs__msg__String__create();
  if (message_p == NULL) return raise(env, __FILE__, __LINE__);

  void **obj = enif_alloc_resource(rt_ros_message, sizeof(void *));
  *obj = (void *)message_p;
  ERL_NIF_TERM term = enif_make_resource(env, obj);
  enif_release_resource(obj);

  return term;
}

ERL_NIF_TERM nif_std_msgs_msg_string_destroy(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {
  if (argc != 1) return enif_make_badarg(env);

  void **ros_message_pp;
  if (!enif_get_resource(env, argv[0], rt_ros_message, (void **)&ros_message_pp))
    return enif_make_badarg(env);

  std_msgs__msg__String *message_p = (std_msgs__msg__String *)*ros_message_pp;
  std_msgs__msg__String__destroy(message_p);

  return atom_ok;
}

ERL_NIF_TERM nif_std_msgs_msg_string_set(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {
  if (argc != 2) return enif_make_badarg(env);

  void **ros_message_pp;
  if (!enif_get_resource(env, argv[0], rt_ros_message, (void **)&ros_message_pp))
    return enif_make_badarg(env);

  std_msgs__msg__String *message_p = (std_msgs__msg__String *)*ros_message_pp;

  int arity;
  const ERL_NIF_TERM *tuple;
  if (!enif_get_tuple(env, argv[1], &arity, &tuple)) return enif_make_badarg(env);

  unsigned int data_length;
#if (ERL_NIF_MAJOR_VERSION == 2 && ERL_NIF_MINOR_VERSION >= 17) // OTP-26 and later
  if (!enif_get_string_length(env, tuple[0], &data_length, ERL_NIF_LATIN1))
    return enif_make_badarg(env);
#else
  if (!enif_get_list_length(env, tuple[0], &data_length))
    return enif_make_badarg(env);
#endif

  char data[data_length + 1];
  if (enif_get_string(env, tuple[0], data, data_length + 1, ERL_NIF_LATIN1) <= 0)
    return enif_make_badarg(env);

  if (!rosidl_runtime_c__String__assign(&(message_p->data), data))
    return raise(env, __FILE__, __LINE__);

  return atom_ok;
}

ERL_NIF_TERM nif_std_msgs_msg_string_get(ErlNifEnv *env, int argc, const ERL_NIF_TERM argv[]) {
  if (argc != 1) return enif_make_badarg(env);

  void **ros_message_pp;
  if (!enif_get_resource(env, argv[0], rt_ros_message, (void **)&ros_message_pp))
    return enif_make_badarg(env);

  std_msgs__msg__String *message_p = (std_msgs__msg__String *)*ros_message_pp;

  return enif_make_tuple(env, 1,
    enif_make_string(env, message_p->data.data, ERL_NIF_LATIN1)
  );
}
// clang-format on