[Barry-Xu-2018]

Description

Add base64 encode and decode functionality. This is necessary when configuring binary data in YAML files.

The related issue is ros2/rcl#1256.

Is this user-facing behavior change?

No.

Did you use Generative AI?

Yes. The GitHub Copilot (Claude Sonnet 4.5) is used to generate code comments, some parts of the code, and test code.

Additional Information

[Copilot]

Pull request overview

This PR adds base64 encoding and decoding functionality to rcutils, which is needed for handling binary data in YAML configuration files (as referenced in ros2/rcl#1256).

Changes:

• Adds two new public functions: decode_base64 and encode_base64 for converting between binary data and base64-encoded strings
• Includes comprehensive test coverage with valid/invalid input cases, edge cases, and round-trip testing
• Updates CMakeLists.txt to include the new source file and test

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 8 comments.

File	Description
include/rcutils/base64.h	Defines the public API for base64 encoding/decoding functions with documentation
src/base64.c	Implements the base64 encoding and decoding algorithms with error handling
test/test_base64.cpp	Provides comprehensive test coverage including valid inputs, error cases, and round-trip tests
CMakeLists.txt	Adds base64.c to the build and registers the test suite

---

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[ahcorde]

Pulls: #533
Gist: https://gist.githubusercontent.com/ahcorde/afbbac17f63a3ca58f9ad7f090b3c834/raw/86e6e577f0405d95df24a0618dba1b16b833379a/ros2.repos
BUILD args: --packages-above-and-dependencies rcutils
TEST args: --packages-above rcutils
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18092

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[Barry-Xu-2018]

The failure of Linux/Linux-rhel was due to an internal CI issue and needs to be re-executed.
The failure of Windows is

C:\ci\ws\src\Barry-Xu-2018\rcutils\src\base64.c(20,1): fatal error C1083: Cannot open include file: 'pthread.h': No such file or directory [C:\ci\ws\build\rcutils\rcutils.vcxproj]

I will fix it.

[Barry-Xu-2018]

Due to code changes, I re-run all the tests.
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18105

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[ahcorde]

https://github.com/Mergifyio backport kilted jazzy humble

[mergify]

backport kilted jazzy humble

✅ Backports have been created

Details

• #535 Add base64 encoding and decoding functions with tests (backport #533) has been created for branch kilted
• #536 Add base64 encoding and decoding functions with tests (backport #533) has been created for branch jazzy
• #537 Add base64 encoding and decoding functions with tests (backport #533) has been created for branch humble but encountered conflicts

Cherry-pick of f322436 has failed:

On branch mergify/bp/humble/pr-533
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit f322436.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	new file:   include/rcutils/base64.h
	new file:   src/base64.c
	new file:   test/test_base64.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   CMakeLists.txt

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[fujitatomoya]

@ahcorde i was doing review this, but one step behind... lgtm.

[fujitatomoya]

@Barry-Xu-2018 @ahcorde do we need to backport this function to downstream? i do not think downstream does not need this function. if that is not going to be used, maybe we do not need to backport this? i think the question is that are we going to backport tag support to the downstream?

[ahcorde]

Feel free to close them, I thought we should backport this.

[fujitatomoya]

@Barry-Xu-2018 what do you think?

[Barry-Xu-2018]

@fujitatomoya @ahcorde

Yes. I don't think it's necessary to port it to the already released versions. This change was added to provide new support for the YAML binary tag.