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Licensing and tidy (#20) 

* add cfg docs

* move to dual license, inline crate for syn2

* specify licensing

* prepare version

* tidy

* format quickstart
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4
.github/workflows/tests.yml vendored
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@ -23,6 +23,8 @@ 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
- name: no_std Tests
run: cargo test --no-default-features --features nalgebra

15
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",
@ -17,6 +17,7 @@ readme = "README.md"
documentation = "https://docs.rs/ros_pointcloud2" documentation = "https://docs.rs/ros_pointcloud2"
homepage = "https://github.com/stelzo/ros_pointcloud2" homepage = "https://github.com/stelzo/ros_pointcloud2"
exclude = [ exclude = [
"**/.github/**",
"**/tests/**", "**/tests/**",
"**/examples/**", "**/examples/**",
"**/benches/**", "**/benches/**",
@ -33,9 +34,9 @@ rosrust_msg = { version = "0.1", optional = true }
rosrust = { version = "0.9.11", optional = true } rosrust = { version = "0.9.11", optional = true }
r2r = { version = "0.8.4", optional = true } r2r = { version = "0.8.4", optional = true }
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }
nalgebra = { version = "0", optional = true } nalgebra = { version = "0.32.5", optional = true, default-features = false }
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 }
[dev-dependencies] [dev-dependencies]
rand = "0.8" rand = "0.8"
@ -51,9 +52,9 @@ r2r_msg = ["dep:r2r"]
rayon = ["dep:rayon"] rayon = ["dep:rayon"]
derive = ["dep:rpcl2_derive", "dep:type-layout"] derive = ["dep:rpcl2_derive", "dep:type-layout"]
nalgebra = ["dep:nalgebra"] nalgebra = ["dep:nalgebra"]
std = [] std = ["nalgebra/std"]
default = ["derive", "std"] default = ["std", "derive"]
[package.metadata.docs.rs] [package.metadata.docs.rs]
features = ["derive", "nalgebra", "rayon"] features = ["derive", "nalgebra", "rayon"]

201
LICENSE-APACHE Normal file
View File

@ -0,0 +1,201 @@
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2
LICENSE → LICENSE-MIT
View File

@ -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

32
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
@ -39,8 +38,8 @@ let processed_cloud = in_msg.try_into_iter().unwrap()
// Some logic here ... // Some logic here ...
point point
}) })
.collect::<Vec<_>>(); .collect::<Vec<_>>();
``` ```
## Integrations ## Integrations
@ -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. Only `nalgebra` can be added as an additional feature in this case.
## 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() {

35
src/lib.rs
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@ -3,24 +3,24 @@
//! The library provides the [`PointCloud2Msg`] type, which implements conversions to and from `Vec` and (parallel) iterators. //! The library provides the [`PointCloud2Msg`] type, which implements conversions to and from `Vec` and (parallel) iterators.
//! //!
//! Vector conversions are optimized for direct copy. They are useful when you just move similar data around. They are usually a good default. //! Vector conversions are optimized for direct copy. They are useful when you just move similar data around. They are usually a good default.
//! - [`PointCloud2Msg::try_from_vec`] requires `derive` feature (enabled by default) //! - [`try_from_vec`](PointCloud2Msg::try_from_vec) requires `derive` feature (enabled by default)
//! - [`PointCloud2Msg::try_into_vec`] requires `derive` feature (enabled by default) //! - [`try_into_vec`](PointCloud2Msg::try_into_vec) requires `derive` feature (enabled by default)
//! //!
//! You can use the iterator functions for more control over the conversion process. //! You can use the iterator functions for more control over the conversion process.
//! - [`PointCloud2Msg::try_from_iter`] //! - [`try_from_iter`](PointCloud2Msg::try_from_iter)
//! - [`PointCloud2Msg::try_into_iter`] //! - [`try_into_iter`](PointCloud2Msg::try_into_iter)
//! //!
//! These feature predictable performance but they do not scale well with large clouds. Learn more about that in the [performance section](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#performance) of the repository. //! These feature predictable performance but they do not scale well with large clouds. Learn more about that in the [performance section](https://github.com/stelzo/ros_pointcloud2?tab=readme-ov-file#performance) of the repository.
//! The iterators are useful when your conversions are more complex than a simple copy or you the cloud is small enough. //! The iterators are useful when your conversions are more complex than a simple copy or you the cloud is small enough.
//! //!
//! When the cloud is getting larger or you are doing a lot of processing per point, switch to the parallel iterators. //! When the cloud is getting larger or you are doing a lot of processing per point, switch to the parallel iterators.
//! - [`PointCloud2Msg::try_into_par_iter`] requires `rayon` feature //! - [`try_into_par_iter`](PointCloud2Msg::try_into_par_iter) requires `rayon` feature
//! - [`PointCloud2Msg::try_from_par_iter`] requires `rayon` + `derive` feature //! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` + `derive` feature
//! //!
//! For ROS interoperability, there are integrations avialable with feature flags. If you miss a message type, please open an issue or a PR. //! For ROS interoperability, there are integrations avialable with feature flags. If you miss a message type, please open an issue or a PR.
//! See the [`ros`] module for more information on how to integrate more libraries. //! See the [`ros`] module for more information on how to integrate more libraries.
//! //!
//! Common point types like [`points::PointXYZ`] or [`points::PointXYZI`] are provided. You can easily add any additional custom type. //! Common point types like [`PointXYZ`](points::PointXYZ) or [`PointXYZI`](points::PointXYZI) are provided. See the full list [`here`](points). You can easily add any additional custom type.
//! See [custom_enum_field_filter.rs](https://github.com/stelzo/ros_pointcloud2/blob/main/examples/custom_enum_field_filter.rs) for an example. //! See [custom_enum_field_filter.rs](https://github.com/stelzo/ros_pointcloud2/blob/main/examples/custom_enum_field_filter.rs) for an example.
//! //!
//! # Minimal Example //! # Minimal Example
@ -58,8 +58,8 @@
//! - (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). //! - (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 *(enabled by default)* — Enables the `_vec` functions and offers 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. //! - rayon — Parallel iterator support for `_par_iter` functions. [`PointCloud2Msg::try_from_par_iter`] additionally needs the 'derive' feature.
//! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`points::PointXYZ::xyz`]). //! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`xyz`](points::PointXYZ::xyz)).
//! - std *(enabled by default)* — Use the standard library. Disable *all* features for `no_std` environments. //! - std *(enabled by default)* — Use the standard library. `no_std` only works standalone or with the 'nalgebra' feature.
//! //!
//! # 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.
@ -128,7 +128,7 @@
//! ``` //! ```
#![crate_type = "lib"] #![crate_type = "lib"]
#![cfg_attr(docsrs, feature(doc_cfg))] #![cfg_attr(docsrs, feature(doc_cfg))]
#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/1.0.0-rc.1")] #![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)]
@ -148,16 +148,12 @@ 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.
@ -1104,7 +1100,7 @@ impl From<i16> for PointData {
} }
} }
/// Datatypes from the [`ros::PointFieldMsg`]. /// Datatypes from the [`PointFieldMsg`].
#[derive(Default, Clone, Debug, PartialEq, Copy)] #[derive(Default, Clone, Debug, PartialEq, Copy)]
pub enum FieldDatatype { pub enum FieldDatatype {
F32, F32,
@ -1118,7 +1114,7 @@ pub enum FieldDatatype {
I16, I16,
/// While RGB is not officially supported by ROS, it is used in the tooling as a packed f32. /// While RGB is not officially supported by ROS, it is used in the tooling as a packed f32.
/// To make it easy to work with and avoid packing code, the [`points::RGB`] union is supported here and handled like a f32. /// To make it easy to work with and avoid packing code, the [`RGB`](points::RGB) union is supported here and handled like a f32.
RGB, RGB,
} }
@ -1266,7 +1262,7 @@ impl TryFrom<&ros::PointFieldMsg> for FieldDatatype {
/// Byte buffer alias for endian-aware point data reading and writing. /// Byte buffer alias for endian-aware point data reading and writing.
/// ///
/// It uses a fixed size buffer of 8 bytes since the largest supported datatype for [`ros::PointFieldMsg`] is f64. /// It uses a fixed size buffer of 8 bytes since the largest supported datatype for [`PointFieldMsg`] is f64.
pub struct PointDataBuffer([u8; 8]); pub struct PointDataBuffer([u8; 8]);
impl core::ops::Index<usize> for PointDataBuffer { impl core::ops::Index<usize> for PointDataBuffer {
@ -1368,7 +1364,7 @@ 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 [`ros::PointFieldMsg`] types are supported. /// All [`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;
@ -1474,7 +1470,6 @@ 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)]

2
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.

5
src/ros.rs
View File

@ -3,7 +3,7 @@
//! This intermediate layer allows various ROS libraries to be integrated to the conversion process. //! This intermediate layer allows various ROS libraries to be integrated to the conversion process.
//! //!
//! There are 2 functions needed to be implemented for a new ROS message library: //! There are 2 functions needed to be implemented for a new ROS message library:
//! - `From` for converting from the library-generated message to [`crate::PointCloud2Msg`]. //! - `From` for converting from the library-generated message to [`PointCloud2Msg`](crate::PointCloud2Msg).
//! ``` //! ```
//! #[cfg(feature = "fancy_ros_msg")] //! #[cfg(feature = "fancy_ros_msg")]
//! impl From<fancy_ros::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg { //! impl From<fancy_ros::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
@ -13,7 +13,7 @@
//! } //! }
//! ``` //! ```
//! //!
//! - `From` for converting from the [`crate::PointCloud2Msg`] to the library-generated message type. //! - `From` for converting from the [`PointCloud2Msg`](crate::PointCloud2Msg) to the library-generated message type.
//! ``` //! ```
//! #[cfg(feature = "fancy_ros_msg")] //! #[cfg(feature = "fancy_ros_msg")]
//! impl From<crate::PointCloud2Msg> for fancy_ros::sensor_msgs::msg::PointCloud2 { //! impl From<crate::PointCloud2Msg> for fancy_ros::sensor_msgs::msg::PointCloud2 {
@ -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 @@
i Apache License
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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
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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
View File

@ -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"),
}
}