From 94b35cc8227b8a6ddc9e00176570b2395bfd5248 Mon Sep 17 00:00:00 2001 From: stelzo Date: Wed, 15 May 2024 21:47:04 +0200 Subject: [PATCH 1/2] add cfg docs (#19) --- Cargo.toml | 2 ++ src/lib.rs | 23 ++++++++++++++++------- src/points.rs | 18 ++++++++++++++++++ 3 files changed, 36 insertions(+), 7 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 063fed5..6f18424 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -58,3 +58,5 @@ default = ["derive", "std"] [package.metadata.docs.rs] features = ["derive", "nalgebra", "rayon"] default-target = "x86_64-unknown-linux-gnu" +rustdoc-args = ["--cfg", "docsrs"] + diff --git a/src/lib.rs b/src/lib.rs index 443e9ad..4851259 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -53,12 +53,13 @@ //! ``` //! //! # Features -//! - **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. -//! - **derive** (default) — Needed for the `_vec` functions and 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. -//! - **nalgebra** — When enabled, predefined points offer a `xyz()` getter returning `nalgebra::Point3`. +//! - r2r_msg — Integration for the ROS2 library [r2r](https://github.com/sequenceplanner/r2r). +//! - 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 *(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. +//! - 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 //! Implement [`PointConvertible`] for your point with the `derive` feature or manually. @@ -126,6 +127,8 @@ //! } //! ``` #![crate_type = "lib"] +#![cfg_attr(docsrs, feature(doc_cfg))] +#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/1.0.0-rc.1")] #![warn(clippy::print_stderr)] #![warn(clippy::print_stdout)] #![warn(clippy::unwrap_used)] @@ -551,6 +554,7 @@ impl PointCloud2Msg { /// Create a PointCloud2Msg from a parallel iterator. Requires the `rayon` and `derive` feature to be enabled. #[cfg(all(feature = "rayon", feature = "derive"))] + #[cfg_attr(docsrs, doc(cfg(all(feature = "rayon", feature = "derive"))))] pub fn try_from_par_iter( iterable: impl rayon::iter::ParallelIterator, ) -> Result @@ -578,6 +582,7 @@ impl PointCloud2Msg { /// # Errors /// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies. #[cfg(feature = "derive")] + #[cfg_attr(docsrs, doc(cfg(feature = "derive")))] pub fn try_from_vec(vec: Vec) -> Result where C: PointConvertible, @@ -666,6 +671,7 @@ impl PointCloud2Msg { /// # Errors /// Returns an error if the byte buffer does not match the expected layout or the message contains other discrepancies. #[cfg(feature = "derive")] + #[cfg_attr(docsrs, doc(cfg(feature = "derive")))] pub fn try_into_vec(self) -> Result, MsgConversionError> where C: PointConvertible, @@ -746,6 +752,7 @@ impl PointCloud2Msg { /// let cloud_points_out = msg_out.try_into_par_iter().unwrap().collect::>(); /// assert_eq!(2, cloud_points_out.len()); /// ``` + #[cfg_attr(docsrs, doc(cfg(feature = "rayon")))] #[cfg(feature = "rayon")] pub fn try_into_par_iter( self, @@ -828,6 +835,7 @@ impl From<[PointData; N]> for RPCL2Point { /// /// impl PointConvertible<4> for MyPointXYZI {} /// ``` +#[cfg_attr(docsrs, doc(cfg(not(feature = "derive"))))] #[cfg(not(feature = "derive"))] pub trait PointConvertible: From> + Into> + Fields + Clone + Default @@ -889,6 +897,7 @@ pub trait PointConvertible: /// /// impl PointConvertible<4> for MyPointXYZI {} /// ``` +#[cfg_attr(docsrs, doc(cfg(feature = "derive")))] #[cfg(feature = "derive")] pub trait PointConvertible: type_layout::TypeLayout + From> + Into> + Fields + Default @@ -1359,7 +1368,7 @@ impl From for PointDataBuffer { } /// 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 { fn from_be_bytes(bytes: PointDataBuffer) -> Self; fn from_le_bytes(bytes: PointDataBuffer) -> Self; diff --git a/src/points.rs b/src/points.rs index b452bb4..d6ffa6b 100644 --- a/src/points.rs +++ b/src/points.rs @@ -144,7 +144,9 @@ impl PointXYZ { Self { x, y, z } } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } @@ -190,7 +192,9 @@ impl PointXYZI { Self { x, y, z, intensity } } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } @@ -247,7 +251,9 @@ impl PointXYZL { Self { x, y, z, label } } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } @@ -321,7 +327,9 @@ impl PointXYZRGB { self.rgb.b() } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } @@ -397,7 +405,9 @@ impl PointXYZRGBA { self.rgb.b() } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } @@ -491,7 +501,9 @@ impl PointXYZRGBNormal { self.rgb.b() } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { 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_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } @@ -664,7 +678,9 @@ impl PointXYZRGBL { self.rgb.b() } + /// Get the coordinates as a nalgebra Point3. #[cfg(feature = "nalgebra")] + #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { 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_attr(docsrs, doc(cfg(feature = "nalgebra")))] pub fn xyz(&self) -> nalgebra::Point3 { nalgebra::Point3::new(self.x, self.y, self.z) } From 6c5a849c3304bbb87721a98f8379c3fe1ab3b3ec Mon Sep 17 00:00:00 2001 From: stelzo Date: Wed, 15 May 2024 23:59:36 +0200 Subject: [PATCH 2/2] Licensing and tidy (#20) * add cfg docs * move to dual license, inline crate for syn2 * specify licensing * prepare version * tidy * format quickstart --- .github/workflows/tests.yml | 4 +- Cargo.toml | 15 +- LICENSE-APACHE | 201 +++++++++++++++++++++ LICENSE => LICENSE-MIT | 2 +- README.md | 32 ++-- src/iterator.rs | 14 +- src/lib.rs | 35 ++-- src/points.rs | 2 +- src/ros.rs | 5 +- type-layout/Cargo.toml | 27 +++ type-layout/LICENSE-APACHE | 201 +++++++++++++++++++++ type-layout/LICENSE-MIT | 19 ++ type-layout/src/lib.rs | 204 ++++++++++++++++++++++ type-layout/type-layout-derive/Cargo.toml | 18 ++ type-layout/type-layout-derive/src/lib.rs | 93 ++++++++++ 15 files changed, 820 insertions(+), 52 deletions(-) create mode 100644 LICENSE-APACHE rename LICENSE => LICENSE-MIT (95%) create mode 100644 type-layout/Cargo.toml create mode 100644 type-layout/LICENSE-APACHE create mode 100644 type-layout/LICENSE-MIT create mode 100644 type-layout/src/lib.rs create mode 100644 type-layout/type-layout-derive/Cargo.toml create mode 100644 type-layout/type-layout-derive/src/lib.rs diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml index c15a23f..09572fe 100644 --- a/.github/workflows/tests.yml +++ b/.github/workflows/tests.yml @@ -23,6 +23,8 @@ jobs: rustc --version cargo --version - name: Linting - run: cargo clippy --all-targets -- -D warnings + run: cargo clippy --all-targets --features derive,nalgebra,rayon -- -D warnings - name: Tests run: cargo test --features derive,nalgebra,rayon + - name: no_std Tests + run: cargo test --no-default-features --features nalgebra diff --git a/Cargo.toml b/Cargo.toml index 6f18424..2b81959 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,11 +1,11 @@ [package] name = "ros_pointcloud2" -version = "1.0.0-rc.1" +version = "0.5.0-rc.1" edition = "2021" authors = ["Christopher Sieh "] description = "Customizable conversions for working with sensor_msgs/PointCloud2." repository = "https://github.com/stelzo/ros_pointcloud2" -license = "MIT" +license = "MIT OR Apache-2.0" keywords = ["ros", "pointcloud2", "pointcloud", "message"] categories = [ "science::robotics", @@ -17,6 +17,7 @@ readme = "README.md" documentation = "https://docs.rs/ros_pointcloud2" homepage = "https://github.com/stelzo/ros_pointcloud2" exclude = [ + "**/.github/**", "**/tests/**", "**/examples/**", "**/benches/**", @@ -33,9 +34,9 @@ rosrust_msg = { version = "0.1", optional = true } rosrust = { version = "0.9.11", optional = true } r2r = { version = "0.8.4", optional = true } rayon = { version = "1", optional = true } -nalgebra = { version = "0", optional = true } -rpcl2_derive = { path = "./rpcl2_derive", optional = true } -type-layout = { git = "https://github.com/stelzo/type-layout", branch = "syn2", optional = true } +nalgebra = { version = "0.32.5", optional = true, default-features = false } +rpcl2_derive = { path = "rpcl2_derive", optional = true } +type-layout = { path = "type-layout", optional = true } [dev-dependencies] rand = "0.8" @@ -51,9 +52,9 @@ r2r_msg = ["dep:r2r"] rayon = ["dep:rayon"] derive = ["dep:rpcl2_derive", "dep:type-layout"] nalgebra = ["dep:nalgebra"] -std = [] +std = ["nalgebra/std"] -default = ["derive", "std"] +default = ["std", "derive"] [package.metadata.docs.rs] features = ["derive", "nalgebra", "rayon"] diff --git a/LICENSE-APACHE b/LICENSE-APACHE new file mode 100644 index 0000000..d42ecff --- /dev/null +++ b/LICENSE-APACHE @@ -0,0 +1,201 @@ +i Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/LICENSE b/LICENSE-MIT similarity index 95% rename from LICENSE rename to LICENSE-MIT index 0ceb3c6..1bcdf6f 100644 --- a/LICENSE +++ b/LICENSE-MIT @@ -1,6 +1,6 @@ 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 of this software and associated documentation files (the "Software"), to deal diff --git a/README.md b/README.md index ae1d811..803f0c3 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,5 @@ -## !! Note !! - -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/). +> [!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.

ROS PointCloud2

@@ -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. -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 @@ -39,8 +38,8 @@ let processed_cloud = in_msg.try_into_iter().unwrap() // Some logic here ... point - }) - .collect::>(); + }) + .collect::>(); ``` ## Integrations @@ -72,7 +71,7 @@ Features do not work properly with `rcrls` because the messages are linked exter ```toml [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. @@ -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. -## `#[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 -[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. diff --git a/src/iterator.rs b/src/iterator.rs index 938d256..7e6b7c7 100644 --- a/src/iterator.rs +++ b/src/iterator.rs @@ -4,14 +4,9 @@ use crate::{ 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::string::String; +use alloc::vec::Vec; /// The PointCloudIterator provides a an iterator abstraction of the [`PointCloud2Msg`]. /// @@ -166,7 +161,7 @@ where struct ByteBufferView { #[cfg(feature = "rayon")] - data: std::sync::Arc<[u8]>, + data: alloc::sync::Arc<[u8]>, #[cfg(not(feature = "rayon"))] data: Vec, start_point_idx: usize, @@ -189,7 +184,7 @@ impl ByteBufferView { ) -> Self { Self { #[cfg(feature = "rayon")] - data: std::sync::Arc::<[u8]>::from(data), + data: alloc::sync::Arc::<[u8]>::from(data), #[cfg(not(feature = "rayon"))] data, start_point_idx, @@ -380,6 +375,7 @@ where #[cfg(feature = "rayon")] mod test { + #![allow(clippy::unwrap_used)] #[test] fn test_double_ended_iter() { diff --git a/src/lib.rs b/src/lib.rs index 4851259..f0347eb 100644 --- a/src/lib.rs +++ b/src/lib.rs @@ -3,24 +3,24 @@ //! 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. -//! - [`PointCloud2Msg::try_from_vec`] requires `derive` feature (enabled by default) -//! - [`PointCloud2Msg::try_into_vec`] requires `derive` feature (enabled by default) +//! - [`try_from_vec`](PointCloud2Msg::try_from_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. -//! - [`PointCloud2Msg::try_from_iter`] -//! - [`PointCloud2Msg::try_into_iter`] +//! - [`try_from_iter`](PointCloud2Msg::try_from_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. //! 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. -//! - [`PointCloud2Msg::try_into_par_iter`] requires `rayon` feature -//! - [`PointCloud2Msg::try_from_par_iter`] requires `rayon` + `derive` feature +//! - [`try_into_par_iter`](PointCloud2Msg::try_into_par_iter) requires `rayon` 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. //! 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. //! //! # 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). //! - 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. -//! - 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. +//! - nalgebra — Predefined points offer a nalgebra typed getter for coordinates (e.g. [`xyz`](points::PointXYZ::xyz)). +//! - std *(enabled by default)* — Use the standard library. `no_std` only works standalone or with the 'nalgebra' feature. //! //! # Custom Points //! Implement [`PointConvertible`] for your point with the `derive` feature or manually. @@ -128,7 +128,7 @@ //! ``` #![crate_type = "lib"] #![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_stdout)] #![warn(clippy::unwrap_used)] @@ -148,16 +148,12 @@ pub mod iterator; use crate::ros::{HeaderMsg, PointFieldMsg}; +#[cfg(feature = "derive")] use core::str::FromStr; -#[cfg(not(feature = "std"))] #[macro_use] extern crate alloc; - -#[cfg(not(feature = "std"))] use alloc::string::String; - -#[cfg(not(feature = "std"))] use alloc::vec::Vec; /// All errors that can occur while converting to or from the message type. @@ -1104,7 +1100,7 @@ impl From for PointData { } } -/// Datatypes from the [`ros::PointFieldMsg`]. +/// Datatypes from the [`PointFieldMsg`]. #[derive(Default, Clone, Debug, PartialEq, Copy)] pub enum FieldDatatype { F32, @@ -1118,7 +1114,7 @@ pub enum FieldDatatype { I16, /// 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, } @@ -1266,7 +1262,7 @@ impl TryFrom<&ros::PointFieldMsg> for FieldDatatype { /// 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]); impl core::ops::Index for PointDataBuffer { @@ -1368,7 +1364,7 @@ impl From for PointDataBuffer { } /// 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 { fn from_be_bytes(bytes: PointDataBuffer) -> Self; fn from_le_bytes(bytes: PointDataBuffer) -> Self; @@ -1474,7 +1470,6 @@ mod tests { use super::Fields; use rpcl2_derive::Fields; - #[cfg(not(feature = "std"))] use alloc::string::String; #[allow(dead_code)] diff --git a/src/points.rs b/src/points.rs index d6ffa6b..9c8d0af 100644 --- a/src/points.rs +++ b/src/points.rs @@ -4,7 +4,7 @@ use crate::{Fields, PointConvertible, RPCL2Point}; #[cfg(feature = "derive")] use type_layout::TypeLayout; -#[cfg(all(not(feature = "std"), feature = "derive"))] +#[cfg(feature = "derive")] use alloc::vec::Vec; /// A packed RGB color encoding as used in ROS tools. diff --git a/src/ros.rs b/src/ros.rs index 91fec8f..b2b395b 100644 --- a/src/ros.rs +++ b/src/ros.rs @@ -3,7 +3,7 @@ //! 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: -//! - `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")] //! impl From 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")] //! impl From for fancy_ros::sensor_msgs::msg::PointCloud2 { @@ -23,7 +23,6 @@ //! } //! ``` -#[cfg(not(feature = "std"))] use alloc::string::String; /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages. diff --git a/type-layout/Cargo.toml b/type-layout/Cargo.toml new file mode 100644 index 0000000..c4d7fc7 --- /dev/null +++ b/type-layout/Cargo.toml @@ -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 "] +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 } diff --git a/type-layout/LICENSE-APACHE b/type-layout/LICENSE-APACHE new file mode 100644 index 0000000..d42ecff --- /dev/null +++ b/type-layout/LICENSE-APACHE @@ -0,0 +1,201 @@ +i Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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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. \ No newline at end of file diff --git a/type-layout/src/lib.rs b/type-layout/src/lib.rs new file mode 100644 index 0000000..af8d7b3 --- /dev/null +++ b/type-layout/src/lib.rs @@ -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, +} + +#[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 { + offset: O, + name: N, + size: S, +} + +fn write_row( + formatter: &mut fmt::Formatter, + widths: RowWidths, + row: Row, +) -> fmt::Result { + writeln!( + formatter, + "| {:"] +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" diff --git a/type-layout/type-layout-derive/src/lib.rs b/type-layout/type-layout-derive/src/lib.rs new file mode 100644 index 0000000..a031c6e --- /dev/null +++ b/type-layout/type-layout-derive/src/lib.rs @@ -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"), + } +}