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2
.github/workflows/tests.yml vendored
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@ -23,6 +23,6 @@ jobs:
rustc --version rustc --version
cargo --version cargo --version
- name: Linting - name: Linting
run: cargo clippy --all-targets -- -D warnings run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings
- name: Tests - name: Tests
run: cargo test --features derive,nalgebra,rayon run: cargo test --features derive,nalgebra,rayon

8
Cargo.toml
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@ -1,11 +1,11 @@
[package] [package]
name = "ros_pointcloud2" name = "ros_pointcloud2"
version = "1.0.0-rc.1" version = "0.5.0-rc.1"
edition = "2021" edition = "2021"
authors = ["Christopher Sieh <stelzo@steado.de>"] authors = ["Christopher Sieh <stelzo@steado.de>"]
description = "Customizable conversions for working with sensor_msgs/PointCloud2." description = "Customizable conversions for working with sensor_msgs/PointCloud2."
repository = "https://github.com/stelzo/ros_pointcloud2" repository = "https://github.com/stelzo/ros_pointcloud2"
license = "MIT" license = "MIT OR Apache-2.0"
keywords = ["ros", "pointcloud2", "pointcloud", "message"] keywords = ["ros", "pointcloud2", "pointcloud", "message"]
categories = [ categories = [
"science::robotics", "science::robotics",
@ -35,7 +35,7 @@ r2r = { version = "0.8.4", optional = true }
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }
nalgebra = { version = "0", optional = true } nalgebra = { version = "0", optional = true }
rpcl2_derive = { path = "./rpcl2_derive", optional = true } rpcl2_derive = { path = "./rpcl2_derive", optional = true }
type-layout = { git = "https://github.com/stelzo/type-layout", branch = "syn2", optional = true } type-layout = { path = "type-layout", optional = true }
sensor_msgs = { version = "*", optional = true } sensor_msgs = { version = "*", optional = true }
std_msgs = { version = "*", optional = true } std_msgs = { version = "*", optional = true }
@ -63,3 +63,5 @@ default = ["derive", "std", "rclrs_msg"]
[package.metadata.docs.rs] [package.metadata.docs.rs]
features = ["derive", "nalgebra", "rayon"] features = ["derive", "nalgebra", "rayon"]
default-target = "x86_64-unknown-linux-gnu" default-target = "x86_64-unknown-linux-gnu"
rustdoc-args = ["--cfg", "docsrs"]

201
LICENSE-APACHE Normal file
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@ -0,0 +1,201 @@
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2
LICENSE → LICENSE-MIT
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@ -1,6 +1,6 @@
The MIT License (MIT) The MIT License (MIT)
Copyright (c) 2023 Christopher Sieh Copyright (c) 2024 Christopher Sieh
Permission is hereby granted, free of charge, to any person obtaining a copy Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal of this software and associated documentation files (the "Software"), to deal

28
README.md
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@ -1,6 +1,5 @@
## !! Note !! > [!NOTE]
> This library is currently in preparation for v0.5 with many breaking changes. For the documentation of the current crates.io v0.4.0, visit the [docs](https://docs.rs/ros_pointcloud2/0.4.0/ros_pointcloud2/). Since rclrs still needs a workaround, the version number must be changed to your desired version which supports rclrs (currently only v0.4.0) — regardless of the version number shown in this Readme.
This library is currently in development for v1.0.0, for the documentation of v0.4.0 on crates.io, visit the [docs](https://docs.rs/ros_pointcloud2/0.4.0/ros_pointcloud2/).
<p align="center"> <p align="center">
<h3 align="center">ROS PointCloud2</h3> <h3 align="center">ROS PointCloud2</h3>
@ -11,7 +10,7 @@ This library is currently in development for v1.0.0, for the documentation of v0
ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags. ros_pointcloud2 uses its own type for the message `PointCloud2Msg` to keep the library framework agnostic. ROS1 and ROS2 are supported with feature flags.
Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/1.0.0/ros_pointcloud2/) for a complete guide. Get started with the example below, check out the other use cases in the `examples` folder or see the [Documentation](https://docs.rs/ros_pointcloud2/0.5.0-rc.1/) for a complete guide.
## Quickstart ## Quickstart
@ -72,7 +71,7 @@ Features do not work properly with `rcrls` because the messages are linked exter
```toml ```toml
[dependencies] [dependencies]
ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.4.0_rclrs" } ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.0-rc.1_rclrs" }
``` ```
Also, indicate the following dependencies to your linker inside the `package.xml` of your package. Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
@ -95,10 +94,23 @@ The results are measured on an Intel i7-14700 with benchmarks from [this reposit
For minimizing the conversion overhead in general, always use the functions that best fit your use case. For minimizing the conversion overhead in general, always use the functions that best fit your use case.
## `#[no_std]` ## `no_std` Environments
The `_iter` conversions are compatible with `#[no_std]` environments when an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate. The `_iter` conversions are compatible with `#[no_std]` environments if an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate.
## License ## License
[MIT](https://choosealicense.com/licenses/mit/) Licensed under either of
- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
at your option.
### type-layout
For compatibility reasons, a patched version of `type-layout` is included in this repository. The original crate can be found [here](https://crates.io/crates/type-layout). After the patch is applied on the original `type-layout` crate ([PR](https://github.com/LPGhatguy/type-layout/pull/9)), the local dependency will be changed to the original crate.
`type-layout` is licensed under MIT or Apache-2.0 and Copyright by Lucien Greathouse. The changes are highlighted in the diff of the PR.
### Contribution
Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

14
src/iterator.rs
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@ -4,14 +4,9 @@ use crate::{
RPCL2Point, RPCL2Point,
}; };
#[cfg(not(feature = "std"))]
use alloc::string::String;
#[cfg(not(feature = "std"))]
use alloc::vec::Vec;
#[cfg(not(feature = "std"))]
use alloc::borrow::ToOwned; use alloc::borrow::ToOwned;
use alloc::string::String;
use alloc::vec::Vec;
/// The PointCloudIterator provides a an iterator abstraction of the [`PointCloud2Msg`]. /// The PointCloudIterator provides a an iterator abstraction of the [`PointCloud2Msg`].
/// ///
@ -166,7 +161,7 @@ where
struct ByteBufferView<const N: usize> { struct ByteBufferView<const N: usize> {
#[cfg(feature = "rayon")] #[cfg(feature = "rayon")]
data: std::sync::Arc<[u8]>, data: alloc::sync::Arc<[u8]>,
#[cfg(not(feature = "rayon"))] #[cfg(not(feature = "rayon"))]
data: Vec<u8>, data: Vec<u8>,
start_point_idx: usize, start_point_idx: usize,
@ -189,7 +184,7 @@ impl<const N: usize> ByteBufferView<N> {
) -> Self { ) -> Self {
Self { Self {
#[cfg(feature = "rayon")] #[cfg(feature = "rayon")]
data: std::sync::Arc::<[u8]>::from(data), data: alloc::sync::Arc::<[u8]>::from(data),
#[cfg(not(feature = "rayon"))] #[cfg(not(feature = "rayon"))]
data, data,
start_point_idx, start_point_idx,
@ -380,6 +375,7 @@ where
#[cfg(feature = "rayon")] #[cfg(feature = "rayon")]
mod test { mod test {
#![allow(clippy::unwrap_used)]
#[test] #[test]
fn test_double_ended_iter() { fn test_double_ended_iter() {

38
src/lib.rs
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@ -53,12 +53,13 @@
//! ``` //! ```
//! //!
//! # Features //! # Features
//! - **r2r_msg** — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r). //! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r).
//! - **(rclrs_msg)** — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it needs this [workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust) instead of a feature flag. //! - rosrust_msg — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types.
//! - **rosrust_msg** — Integration with the [rosrust](https://github.com/adnanademovic/rosrust) library for ROS1 message types. //! - (rclrs_msg) — Integration for ROS2 [rclrs](https://github.com/ros2-rust/ros2_rust) but it currently needs [this workaround](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#rclrs-ros2_rust).
//! - **derive** (default) — Needed for the `_vec` functions and helpful custom point derive macros for the [`PointConvertible`] trait. //! - derive *(enabled by default)* — Enables the `_vec` functions and offers helpful custom point derive macros for the [`PointConvertible`] trait.
//! - **rayon** — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature to be enabled. //! - rayon — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
//! - **nalgebra** — When enabled, predefined points offer a `xyz()` getter returning `nalgebra::Point3`. //! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`points::PointXYZ::xyz`]).
//! - std *(enabled by default)* — Use the standard library. Disable *all* features for `no_std` environments.
//! //!
//! # Custom Points //! # Custom Points
//! Implement [`PointConvertible`] for your point with the `derive` feature or manually. //! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
@ -126,6 +127,8 @@
//! } //! }
//! ``` //! ```
#![crate_type = "lib"] #![crate_type = "lib"]
#![cfg_attr(docsrs, feature(doc_cfg))]
#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.1")]
#![warn(clippy::print_stderr)] #![warn(clippy::print_stderr)]
#![warn(clippy::print_stdout)] #![warn(clippy::print_stdout)]
#![warn(clippy::unwrap_used)] #![warn(clippy::unwrap_used)]
@ -136,6 +139,14 @@
#![cfg_attr(not(feature = "std"), no_std)] #![cfg_attr(not(feature = "std"), no_std)]
// Setup an allocator with #[global_allocator] // Setup an allocator with #[global_allocator]
// see: https://doc.rust-lang.org/std/alloc/trait.GlobalAlloc.html // see: https://doc.rust-lang.org/std/alloc/trait.GlobalAlloc.html
#![warn(clippy::unwrap_used)]
#![warn(clippy::cargo)]
#![warn(clippy::std_instead_of_core)]
#![warn(clippy::alloc_instead_of_core)]
#![warn(clippy::std_instead_of_alloc)]
#![cfg_attr(not(feature = "std"), no_std)]
// Setup an allocator with #[global_allocator]
// see: https://doc.rust-lang.org/std/alloc/trait.GlobalAlloc.html
pub mod points; pub mod points;
pub mod prelude; pub mod prelude;
@ -145,16 +156,12 @@ pub mod iterator;
use crate::ros::{HeaderMsg, PointFieldMsg}; use crate::ros::{HeaderMsg, PointFieldMsg};
#[cfg(feature = "derive")]
use core::str::FromStr; use core::str::FromStr;
#[cfg(not(feature = "std"))]
#[macro_use] #[macro_use]
extern crate alloc; extern crate alloc;
#[cfg(not(feature = "std"))]
use alloc::string::String; use alloc::string::String;
#[cfg(not(feature = "std"))]
use alloc::vec::Vec; use alloc::vec::Vec;
/// All errors that can occur while converting to or from the message type. /// All errors that can occur while converting to or from the message type.
@ -551,6 +558,7 @@ impl PointCloud2Msg {
/// Create a PointCloud2Msg from a parallel iterator. Requires the `rayon` and `derive` feature to be enabled. /// Create a PointCloud2Msg from a parallel iterator. Requires the `rayon` and `derive` feature to be enabled.
#[cfg(all(feature = "rayon", feature = "derive"))] #[cfg(all(feature = "rayon", feature = "derive"))]
#[cfg_attr(docsrs, doc(cfg(all(feature = "rayon", feature = "derive"))))]
pub fn try_from_par_iter<const N: usize, C>( pub fn try_from_par_iter<const N: usize, C>(
iterable: impl rayon::iter::ParallelIterator<Item = C>, iterable: impl rayon::iter::ParallelIterator<Item = C>,
) -> Result<Self, MsgConversionError> ) -> Result<Self, MsgConversionError>
@ -578,6 +586,7 @@ impl PointCloud2Msg {
/// # Errors /// # Errors
/// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies. /// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
pub fn try_from_vec<const N: usize, C>(vec: Vec<C>) -> Result<Self, MsgConversionError> pub fn try_from_vec<const N: usize, C>(vec: Vec<C>) -> Result<Self, MsgConversionError>
where where
C: PointConvertible<N>, C: PointConvertible<N>,
@ -666,6 +675,7 @@ impl PointCloud2Msg {
/// # Errors /// # Errors
/// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies. /// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies.
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
pub fn try_into_vec<const N: usize, C>(self) -> Result<Vec<C>, MsgConversionError> pub fn try_into_vec<const N: usize, C>(self) -> Result<Vec<C>, MsgConversionError>
where where
C: PointConvertible<N>, C: PointConvertible<N>,
@ -746,6 +756,7 @@ impl PointCloud2Msg {
/// let cloud_points_out = msg_out.try_into_par_iter().unwrap().collect::<Vec<PointXYZ>>(); /// let cloud_points_out = msg_out.try_into_par_iter().unwrap().collect::<Vec<PointXYZ>>();
/// assert_eq!(2, cloud_points_out.len()); /// assert_eq!(2, cloud_points_out.len());
/// ``` /// ```
#[cfg_attr(docsrs, doc(cfg(feature = "rayon")))]
#[cfg(feature = "rayon")] #[cfg(feature = "rayon")]
pub fn try_into_par_iter<const N: usize, C>( pub fn try_into_par_iter<const N: usize, C>(
self, self,
@ -828,6 +839,7 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
/// ///
/// impl PointConvertible<4> for MyPointXYZI {} /// impl PointConvertible<4> for MyPointXYZI {}
/// ``` /// ```
#[cfg_attr(docsrs, doc(cfg(not(feature = "derive"))))]
#[cfg(not(feature = "derive"))] #[cfg(not(feature = "derive"))]
pub trait PointConvertible<const N: usize>: pub trait PointConvertible<const N: usize>:
From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Clone + Default From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Clone + Default
@ -889,6 +901,7 @@ pub trait PointConvertible<const N: usize>:
/// ///
/// impl PointConvertible<4> for MyPointXYZI {} /// impl PointConvertible<4> for MyPointXYZI {}
/// ``` /// ```
#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
pub trait PointConvertible<const N: usize>: pub trait PointConvertible<const N: usize>:
type_layout::TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default type_layout::TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default
@ -1359,7 +1372,7 @@ impl From<points::RGB> for PointDataBuffer {
} }
/// This trait is used to convert a byte slice to a primitive type. /// This trait is used to convert a byte slice to a primitive type.
/// All [`PointField`] types are supported. /// All [`ros::PointFieldMsg`] types are supported.
pub trait FromBytes: Default + Sized + Copy + GetFieldDatatype + Into<PointDataBuffer> { pub trait FromBytes: Default + Sized + Copy + GetFieldDatatype + Into<PointDataBuffer> {
fn from_be_bytes(bytes: PointDataBuffer) -> Self; fn from_be_bytes(bytes: PointDataBuffer) -> Self;
fn from_le_bytes(bytes: PointDataBuffer) -> Self; fn from_le_bytes(bytes: PointDataBuffer) -> Self;
@ -1465,7 +1478,6 @@ mod tests {
use super::Fields; use super::Fields;
use rpcl2_derive::Fields; use rpcl2_derive::Fields;
#[cfg(not(feature = "std"))]
use alloc::string::String; use alloc::string::String;
#[allow(dead_code)] #[allow(dead_code)]

20
src/points.rs
View File

@ -4,7 +4,7 @@ use crate::{Fields, PointConvertible, RPCL2Point};
#[cfg(feature = "derive")] #[cfg(feature = "derive")]
use type_layout::TypeLayout; use type_layout::TypeLayout;
#[cfg(all(not(feature = "std"), feature = "derive"))] #[cfg(feature = "derive")]
use alloc::vec::Vec; use alloc::vec::Vec;
/// A packed RGB color encoding as used in ROS tools. /// A packed RGB color encoding as used in ROS tools.
@ -144,7 +144,9 @@ impl PointXYZ {
Self { x, y, z } Self { x, y, z }
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -190,7 +192,9 @@ impl PointXYZI {
Self { x, y, z, intensity } Self { x, y, z, intensity }
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -247,7 +251,9 @@ impl PointXYZL {
Self { x, y, z, label } Self { x, y, z, label }
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -321,7 +327,9 @@ impl PointXYZRGB {
self.rgb.b() self.rgb.b()
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -397,7 +405,9 @@ impl PointXYZRGBA {
self.rgb.b() self.rgb.b()
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -491,7 +501,9 @@ impl PointXYZRGBNormal {
self.rgb.b() self.rgb.b()
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -574,7 +586,9 @@ impl PointXYZINormal {
} }
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -664,7 +678,9 @@ impl PointXYZRGBL {
self.rgb.b() self.rgb.b()
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }
@ -730,7 +746,9 @@ impl PointXYZNormal {
} }
} }
/// Get the coordinates as a nalgebra Point3.
#[cfg(feature = "nalgebra")] #[cfg(feature = "nalgebra")]
#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
pub fn xyz(&self) -> nalgebra::Point3<f32> { pub fn xyz(&self) -> nalgebra::Point3<f32> {
nalgebra::Point3::new(self.x, self.y, self.z) nalgebra::Point3::new(self.x, self.y, self.z)
} }

1
src/ros.rs
View File

@ -23,7 +23,6 @@
//! } //! }
//! ``` //! ```
#[cfg(not(feature = "std"))]
use alloc::string::String; use alloc::string::String;
/// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages. /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.

27
type-layout/Cargo.toml Normal file
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@ -0,0 +1,27 @@
[package]
name = "type-layout"
description = "Derivable trait to view the layout of a struct, useful for debugging."
version = "0.2.0"
edition = "2018"
authors = ["Lucien Greathouse <me@lpghatguy.com>"]
documentation = "https://docs.rs/type-layout"
homepage = "https://github.com/LPGhatguy/type-layout"
repository = "https://github.com/LPGhatguy/type-layout"
readme = "README.md"
keywords = ["layout", "struct", "type"]
license = "MIT OR Apache-2.0"
rust-version = "1.60.0"
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[features]
serde1 = ["serde"]
[workspace]
members = ["type-layout-derive", "try-crate"]
[dependencies]
type-layout-derive = { version = "0.2.0", path = "type-layout-derive" }
memoffset = "0.5"
serde = { version = "1.0.116", features = ["derive"], optional = true }

201
type-layout/LICENSE-APACHE Normal file
View File

@ -0,0 +1,201 @@
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APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
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replaced with your own identifying information. (Don't include
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19
type-layout/LICENSE-MIT Normal file
View File

@ -0,0 +1,19 @@
Copyright (c) 2020 Lucien Greathouse
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

204
type-layout/src/lib.rs Normal file
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@ -0,0 +1,204 @@
/*!
[![GitHub CI Status](https://github.com/LPGhatguy/type-layout/workflows/CI/badge.svg)](https://github.com/LPGhatguy/type-layout/actions)
[![type-layout on crates.io](https://img.shields.io/crates/v/type-layout.svg)](https://crates.io/crates/type-layout)
[![type-layout docs](https://img.shields.io/badge/docs-docs.rs-orange.svg)](https://docs.rs/type-layout)
type-layout is a type layout debugging aid, providing a `#[derive]`able trait
that reports:
- The type's name, size, and minimum alignment
- Each field's name, type, offset, and size
- Padding due to alignment requirements
**type-layout currently only functions on structs with named fields.** This is a
temporary limitation.
## Examples
The layout of types is only defined if they're `#[repr(C)]`. This crate works on
non-`#[repr(C)]` types, but their layout is unpredictable.
```rust
use type_layout::TypeLayout;
#[derive(TypeLayout)]
#[repr(C)]
struct Foo {
a: u8,
b: u32,
}
println!("{}", Foo::type_layout());
// prints:
// Foo (size 8, alignment 4)
// | Offset | Name | Size |
// | ------ | --------- | ---- |
// | 0 | a | 1 |
// | 1 | [padding] | 3 |
// | 4 | b | 4 |
```
Over-aligned types have trailing padding, which can be a source of bugs in some
FFI scenarios:
```rust
use type_layout::TypeLayout;
#[derive(TypeLayout)]
#[repr(C, align(128))]
struct OverAligned {
value: u8,
}
println!("{}", OverAligned::type_layout());
// prints:
// OverAligned (size 128, alignment 128)
// | Offset | Name | Size |
// | ------ | --------- | ---- |
// | 0 | value | 1 |
// | 1 | [padding] | 127 |
```
## Minimum Supported Rust Version (MSRV)
type-layout supports Rust 1.34.1 and newer. Until type-layout reaches 1.0,
changes to the MSRV will require major version bumps. After 1.0, MSRV changes
will only require minor version bumps, but will need significant justification.
*/
use std::borrow::Cow;
use std::fmt::{self, Display};
use std::str;
pub use type_layout_derive::TypeLayout;
#[doc(hidden)]
pub use memoffset;
pub trait TypeLayout {
fn type_layout() -> TypeLayoutInfo;
}
#[derive(Debug)]
#[cfg_attr(feature = "serde1", derive(serde::Serialize, serde::Deserialize))]
pub struct TypeLayoutInfo {
pub name: Cow<'static, str>,
pub size: usize,
pub alignment: usize,
pub fields: Vec<Field>,
}
#[derive(Debug)]
#[cfg_attr(feature = "serde1", derive(serde::Serialize, serde::Deserialize))]
pub enum Field {
Field {
name: Cow<'static, str>,
ty: Cow<'static, str>,
size: usize,
},
Padding {
size: usize,
},
}
impl fmt::Display for TypeLayoutInfo {
fn fmt(&self, formatter: &mut fmt::Formatter) -> fmt::Result {
writeln!(
formatter,
"{} (size {}, alignment {})",
self.name, self.size, self.alignment
)?;
let longest_name = self
.fields
.iter()
.map(|field| match field {
Field::Field { name, .. } => name.len(),
Field::Padding { .. } => "[padding]".len(),
})
.max()
.unwrap_or(1);
let widths = RowWidths {
offset: "Offset".len(),
name: longest_name,
size: "Size".len(),
};
write_row(
formatter,
widths,
Row {
offset: "Offset",
name: "Name",
size: "Size",
},
)?;
write_row(
formatter,
widths,
Row {
offset: "------",
name: str::repeat("-", longest_name),
size: "----",
},
)?;
let mut offset = 0;
for field in &self.fields {
match field {
Field::Field { name, size, .. } => {
write_row(formatter, widths, Row { offset, name, size })?;
offset += size;
}
Field::Padding { size } => {
write_row(
formatter,
widths,
Row {
offset,
name: "[padding]",
size,
},
)?;
offset += size;
}
}
}
Ok(())
}
}
#[derive(Clone, Copy)]
struct RowWidths {
offset: usize,
name: usize,
size: usize,
}
struct Row<O, N, S> {
offset: O,
name: N,
size: S,
}
fn write_row<O: Display, N: Display, S: Display>(
formatter: &mut fmt::Formatter,
widths: RowWidths,
row: Row<O, N, S>,
) -> fmt::Result {
writeln!(
formatter,
"| {:<offset_width$} | {:<name_width$} | {:<size_width$} |",
row.offset,
row.name,
row.size,
offset_width = widths.offset,
name_width = widths.name,
size_width = widths.size
)
}

18
type-layout/type-layout-derive/Cargo.toml Normal file
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@ -0,0 +1,18 @@
[package]
name = "type-layout-derive"
description = "Derive macro implementation for type-layout crate"
version = "0.2.0"
edition = "2018"
authors = ["Lucien Greathouse <me@lpghatguy.com>"]
homepage = "https://github.com/LPGhatguy/type-layout"
license = "MIT OR Apache-2.0"
[lib]
proc-macro = true
# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
[dependencies]
syn = "2"
quote = "1.0.7"
proc-macro2 = "1.0.21"

93
type-layout/type-layout-derive/src/lib.rs Normal file
View File

@ -0,0 +1,93 @@
extern crate proc_macro;
use proc_macro::TokenStream;
use proc_macro2::{Ident, Literal};
use quote::{quote, quote_spanned, ToTokens};
use syn::{parse_macro_input, spanned::Spanned, Data, DeriveInput, Fields};
#[proc_macro_derive(TypeLayout)]
pub fn derive_type_layout(input: TokenStream) -> TokenStream {
// Parse the input tokens into a syntax tree
let input = parse_macro_input!(input as DeriveInput);
// Used in the quasi-quotation below as `#name`.
let name = input.ident;
let name_str = Literal::string(&name.to_string());
let (impl_generics, ty_generics, where_clause) = input.generics.split_for_impl();
let layout = layout_of_type(&name, &input.data);
// Build the output, possibly using quasi-quotation
let expanded = quote! {
impl #impl_generics ::type_layout::TypeLayout for #name #ty_generics #where_clause {
fn type_layout() -> ::type_layout::TypeLayoutInfo {
let mut last_field_end = 0;
let mut fields = Vec::new();
#layout
::type_layout::TypeLayoutInfo {
name: ::std::borrow::Cow::Borrowed(#name_str),
size: std::mem::size_of::<#name>(),
alignment: ::std::mem::align_of::<#name>(),
fields,
}
}
}
};
// Hand the output tokens back to the compiler
TokenStream::from(expanded)
}
fn layout_of_type(struct_name: &Ident, data: &Data) -> proc_macro2::TokenStream {
match data {
Data::Struct(data) => match &data.fields {
Fields::Named(fields) => {
let values = fields.named.iter().map(|field| {
let field_name = field.ident.as_ref().unwrap();
let field_name_str = Literal::string(&field_name.to_string());
let field_ty = &field.ty;
let field_ty_str = Literal::string(&field_ty.to_token_stream().to_string());
quote_spanned! { field.span() =>
#[allow(unused_assignments)]
{
let size = ::std::mem::size_of::<#field_ty>();
let offset = ::type_layout::memoffset::offset_of!(#struct_name, #field_name);
if offset > last_field_end {
fields.push(::type_layout::Field::Padding {
size: offset - last_field_end
});
}
fields.push(::type_layout::Field::Field {
name: ::std::borrow::Cow::Borrowed(#field_name_str),
ty: ::std::borrow::Cow::Borrowed(#field_ty_str),
size,
});
last_field_end = offset + size;
}
}
});
quote! {
#(#values)*
let struct_size = ::std::mem::size_of::<#struct_name>();
if struct_size > last_field_end {
fields.push(::type_layout::Field::Padding {
size: struct_size - last_field_end,
});
}
}
}
Fields::Unnamed(_) => unimplemented!(),
Fields::Unit => unimplemented!(),
},
Data::Enum(_) | Data::Union(_) => unimplemented!("type-layout only supports structs"),
}
}