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Fix clippy warnings

This commit is contained in:
aeon 2022-11-25 00:40:39 +08:00
parent abdf2f5343
commit 6096deec5b
9 changed files with 77 additions and 73 deletions
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2
r2r/src/action_common.rs
View File

@ -1,5 +1,5 @@
/// The status of a goal.
#[derive(Debug, Copy, Clone, PartialEq)]
#[derive(Debug, Copy, Clone, PartialEq, Eq)]
pub enum GoalStatus {
Unknown,
Accepted,

2
r2r/src/clients.rs
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@ -113,7 +113,7 @@ impl UntypedClient_ {
&mut self,
msg: serde_json::Value,
) -> Result<impl Future<Output = Result<Result<serde_json::Value>>>> {
let mut native_msg = (self.service_type.make_request_msg)();
let native_msg = (self.service_type.make_request_msg)();
native_msg.from_json(msg)?;
let mut seq_no = 0i64;

2
r2r/src/context.rs
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@ -102,7 +102,7 @@ mod tests {
use super::*;
#[test]
fn test_context_drop() -> () {
fn test_context_drop() {
{
let ctx = Context::create().unwrap();
assert!(ctx.is_valid());

46
r2r/src/msg_types.rs
View File

@ -196,7 +196,7 @@ impl UntypedActionSupport {
serde_json::from_value(goal).expect("TODO: move this error handling");
let request_msg = T::make_goal_request_msg(goal_id, goal_msg);
let json = serde_json::to_value(request_msg).expect("TODO: move this error handling");
let mut native_untyped = WrappedNativeMsgUntyped::new::<
let native_untyped = WrappedNativeMsgUntyped::new::<
<<T as WrappedActionTypeSupport>::SendGoal as WrappedServiceTypeSupport>::Request,
>();
native_untyped
@ -239,7 +239,7 @@ impl UntypedActionSupport {
let request_msg = T::make_result_request_msg(uuid_msg);
let json = serde_json::to_value(request_msg).expect("TODO: move this error handling");
let mut native_untyped = WrappedNativeMsgUntyped::new::<
let native_untyped = WrappedNativeMsgUntyped::new::<
<<T as WrappedActionTypeSupport>::GetResult as WrappedServiceTypeSupport>::Request,
>();
@ -322,7 +322,7 @@ impl WrappedNativeMsgUntyped {
})
}
pub fn from_json(&mut self, json: serde_json::Value) -> Result<()> {
pub fn from_json(&self, json: serde_json::Value) -> Result<()> {
(self.msg_from_json)(self.msg, json).map_err(|serde_err| Error::SerdeError {
err: serde_err.to_string(),
})
@ -556,7 +556,7 @@ mod tests {
msg.positions.push(39.0);
msg.positions.push(34.0);
let mut new_native = WrappedNativeMsg::<JointTrajectoryPoint>::from(&msg);
unsafe { *((*new_native).positions.data) = 88.9 };
unsafe { *new_native.positions.data = 88.9 };
let new_msg = JointTrajectoryPoint::from_native(&new_native);
println!("{:#?}", new_msg);
assert_ne!(msg, new_msg);
@ -569,7 +569,7 @@ mod tests {
msg.positions.push(34.0);
let json = serde_json::to_value(msg.clone()).unwrap();
let mut native =
let native =
WrappedNativeMsgUntyped::new_from("trajectory_msgs/msg/JointTrajectoryPoint").unwrap();
native.from_json(json.clone()).unwrap();
let json2 = native.to_json().unwrap();
@ -597,14 +597,13 @@ mod tests {
"float32_value": 3.14
}"#;
let mut native =
WrappedNativeMsgUntyped::new_from("test_msgs/msg/Defaults").unwrap();
let native = WrappedNativeMsgUntyped::new_from("test_msgs/msg/Defaults").unwrap();
let v: serde_json::Value = serde_json::from_str(json).unwrap();
native.from_json(v).expect("could make default msg");
let json2 = native.to_json().unwrap();
let msg2: test_msgs::msg::Defaults = serde_json::from_value(json2).unwrap();
assert_eq!(msg2.bool_value, true); // the default
assert!(msg2.bool_value); // the default
assert_eq!(msg2.byte_value, 255); // from our json
assert_eq!(msg2.char_value, 100); // the default
assert_eq!(msg2.float32_value, 3.14); // from our json
@ -612,7 +611,7 @@ mod tests {
#[cfg(r2r__test_msgs__msg__Arrays)]
#[test]
fn test_test_msgs_array() -> () {
fn test_test_msgs_array() {
let mut msg = test_msgs::msg::Arrays::default();
println!("msg: {:?}", msg.string_values);
msg.string_values = vec!["hej".to_string(), "hopp".to_string(), "stropp".to_string()];
@ -626,7 +625,7 @@ mod tests {
#[cfg(r2r__test_msgs__msg__Arrays)]
#[test]
#[should_panic]
fn test_test_msgs_array_too_few_elems() -> () {
fn test_test_msgs_array_too_few_elems() {
let mut msg = test_msgs::msg::Arrays::default();
println!("msg: {:?}", msg.string_values);
msg.string_values = vec!["hej".to_string(), "hopp".to_string()];
@ -635,7 +634,7 @@ mod tests {
#[cfg(r2r__test_msgs__msg__WStrings)]
#[test]
fn test_test_msgs_wstring() -> () {
fn test_test_msgs_wstring() {
let mut msg = test_msgs::msg::WStrings::default();
let rust_str = "ハローワールド";
msg.wstring_value = rust_str.to_string();
@ -649,15 +648,19 @@ mod tests {
#[test]
fn test_service_msgs() {
use example_interfaces::srv::AddTwoInts;
let mut req = AddTwoInts::Request::default();
req.a = 5;
let req = AddTwoInts::Request {
a: 5,
..Default::default()
};
let rn = WrappedNativeMsg::<_>::from(&req);
let req2 = AddTwoInts::Request::from_native(&rn);
println!("req2 {:?}", req2);
assert_eq!(req, req2);
let mut resp = AddTwoInts::Response::default();
resp.sum = 5;
let resp = AddTwoInts::Response {
sum: 5,
..Default::default()
};
let rn = WrappedNativeMsg::<_>::from(&resp);
let resp2 = AddTwoInts::Response::from_native(&rn);
println!("resp {:?}", resp2);
@ -678,22 +681,23 @@ mod tests {
#[test]
fn test_action_msgs() {
use example_interfaces::action::Fibonacci;
let mut goal = Fibonacci::Goal::default();
goal.order = 5;
let goal = Fibonacci::Goal { order: 5 };
let gn = WrappedNativeMsg::<_>::from(&goal);
let goal2 = Fibonacci::Goal::from_native(&gn);
println!("goal2 {:?}", goal2);
assert_eq!(goal, goal2);
let mut res = Fibonacci::Result::default();
res.sequence = vec![1, 2, 3];
let res = Fibonacci::Result {
sequence: vec![1, 2, 3],
};
let rn = WrappedNativeMsg::<_>::from(&res);
let res2 = Fibonacci::Result::from_native(&rn);
println!("res2 {:?}", res2);
assert_eq!(res, res2);
let mut fb = Fibonacci::Feedback::default();
fb.sequence = vec![4, 3, 6];
let fb = Fibonacci::Feedback {
sequence: vec![4, 3, 6],
};
let fbn = WrappedNativeMsg::<_>::from(&fb);
let fb2 = Fibonacci::Feedback::from_native(&fbn);
println!("feedback2 {:?}", fb2);

4
r2r/src/nodes.rs
View File

@ -145,7 +145,7 @@ impl Node {
for (s, v) in param_names.iter().zip(param_values) {
let s = unsafe { CStr::from_ptr(*s) };
let key = s.to_str().unwrap_or("");
let val = ParameterValue::from_rcl(&*v);
let val = ParameterValue::from_rcl(v);
params.insert(key.to_owned(), val);
}
}
@ -939,7 +939,7 @@ impl Node {
let topic_types: Vec<String> = unsafe {
topic_types
.iter()
.map(|t| CStr::from_ptr(*((*t).data)).to_str().unwrap().to_owned())
.map(|t| CStr::from_ptr(*(t.data)).to_str().unwrap().to_owned())
.collect()
};
res.insert(topic_name, topic_types);

2
r2r/src/publishers.rs
View File

@ -112,7 +112,7 @@ impl PublisherUntyped {
.upgrade()
.ok_or(Error::RCL_RET_PUBLISHER_INVALID)?;
let mut native_msg = WrappedNativeMsgUntyped::new_from(&self.type_)?;
let native_msg = WrappedNativeMsgUntyped::new_from(&self.type_)?;
native_msg.from_json(msg)?;
let result = unsafe {

30
r2r/tests/tokio_testing.rs
View File

@ -27,31 +27,21 @@ async fn tokio_testing() -> Result<(), Box<dyn std::error::Error>> {
});
task::spawn(async move {
loop {
match s_the_no.next().await {
Some(msg) => {
p_new_no
.publish(&r2r::std_msgs::msg::Int32 {
data: msg.data + 10,
})
.unwrap();
}
None => break,
}
while let Some(msg) = s_the_no.next().await {
p_new_no
.publish(&r2r::std_msgs::msg::Int32 {
data: msg.data + 10,
})
.unwrap();
}
});
let s = state.clone();
task::spawn(async move {
loop {
match s_new_no.next().await {
Some(msg) => {
let i = msg.data;
if i == 19 {
*s.lock().unwrap() = 19;
}
}
None => break,
while let Some(msg) = s_new_no.next().await {
let i = msg.data;
if i == 19 {
*s.lock().unwrap() = 19;
}
}
});

56
r2r_common/src/lib.rs
View File

@ -1,9 +1,9 @@
use itertools::Itertools;
use std::collections::HashMap;
use std::env;
use std::fs::{self, File};
use std::io::Read;
use std::path::Path;
use std::env;
use itertools::Itertools;
pub fn print_cargo_watches() {
println!("cargo:rerun-if-env-changed=AMENT_PREFIX_PATH");
@ -50,14 +50,16 @@ pub fn setup_bindgen_builder() -> bindgen::Builder {
let entries = std::fs::read_dir(path.clone());
if let Ok(e) = entries {
let dirs = e.filter_map(|a| {
let path = a.unwrap().path();
if path.is_dir() {
Some(path)
} else {
None
}
}).collect::<Vec<_>>();
let dirs = e
.filter_map(|a| {
let path = a.unwrap().path();
if path.is_dir() {
Some(path)
} else {
None
}
})
.collect::<Vec<_>>();
builder = dirs.iter().fold(builder, |builder, d| {
// Hack to build rolling after https://github.com/ros2/rcl/pull/959 was merged.
@ -84,18 +86,20 @@ pub fn setup_bindgen_builder() -> bindgen::Builder {
let temp = d.parent().unwrap().to_str().unwrap();
builder.clang_arg(format!("-I{}", temp))
}
} else { builder }
} else {
builder
}
});
}
let lib_path = Path::new(p).join("lib");
lib_path.to_str().map(|s| {
println!("cargo:rustc-link-search=native={}", s);
});
if let Some(s) = lib_path.to_str() {
println!("cargo:rustc-link-search=native={}", s)
}
}
}
return builder;
builder
}
pub fn get_wanted_messages() -> Vec<RosMsg> {
@ -103,7 +107,8 @@ pub fn get_wanted_messages() -> Vec<RosMsg> {
// CMAKE_PACKAGE_DIRS should be a (cmake) list of "cmake" dirs
// e.g. For each dir install/r2r_minimal_node_msgs/share/r2r_minimal_node_msgs/cmake
// we can traverse back and then look for .msg files in msg/ srv/ action/
let dirs = cmake_package_dirs.split(':')
let dirs = cmake_package_dirs
.split(':')
.flat_map(|i| Path::new(i).parent())
.collect::<Vec<_>>();
@ -132,18 +137,22 @@ pub fn get_wanted_messages() -> Vec<RosMsg> {
//
// Suitable to customize with .cargo/config.toml [env] from consumers
// of the r2r package.
let needed_msg_pkgs = &["rcl_interfaces", "builtin_interfaces",
"unique_identifier_msgs", "action_msgs"];
let needed_msg_pkgs = &[
"rcl_interfaces",
"builtin_interfaces",
"unique_identifier_msgs",
"action_msgs",
];
if let Ok(idl_filter) = env::var("IDL_PACKAGE_FILTER") {
let mut idl_packages = idl_filter.split(';').collect::<Vec<&str>>();
for needed in needed_msg_pkgs {
if !idl_packages.contains(&needed) {
if !idl_packages.contains(needed) {
idl_packages.push(needed);
}
}
msgs.into_iter().filter(|msg| {
idl_packages.contains(&msg.module.as_str())
}).collect()
msgs.into_iter()
.filter(|msg| idl_packages.contains(&msg.module.as_str()))
.collect()
} else {
msgs
}
@ -225,7 +234,6 @@ pub fn get_ros_msgs(paths: &[&Path]) -> Vec<String> {
msgs
}
fn get_msgs_in_dir(base: &Path, subdir: &str, package: &str) -> Vec<String> {
let path = base.to_owned();
let path = path.join(subdir);
@ -244,7 +252,7 @@ fn get_msgs_in_dir(base: &Path, subdir: &str, package: &str) -> Vec<String> {
let substr = &filename[0..filename.len() - 4];
msgs.push(format!("{}/{}/{}",package, subdir, substr));
msgs.push(format!("{}/{}/{}", package, subdir, substr));
}
}
msgs

6
r2r_rcl/src/lib.rs
View File

@ -111,8 +111,10 @@ macro_rules! primitive_sequence {
pub fn to_vec(&self) -> Vec<$element_type> {
let mut target = Vec::with_capacity(self.size);
unsafe { target.set_len(self.size); }
unsafe { std::ptr::copy(self.data, target.as_mut_ptr(), self.size); }
unsafe {
std::ptr::copy(self.data, target.as_mut_ptr(), self.size);
target.set_len(self.size);
}
target
}
}