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unsafe conv, fix exhaustive source

This commit is contained in:
stelzo 2024-06-21 13:22:35 +02:00
parent 925522ea82
commit 94991c720b
8 changed files with 68 additions and 37 deletions
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7
CHANGELOG.md
View File

@ -1,5 +1,12 @@
# Changelog
## v0.5.0-rc.3 -> v0.5.0
- `PointConvertible` trait is now `unsafe` since the offset is used for raw memory access, where safety can not be guaranteed by the compiler.
- std::error -> core::error for nightly clippy
- Fixes a bug when attempting to write larger types than available in the message. This now results in a `ExhaustedSource` error.
- Adds `repr(C)` to docs where custom conversions are explained to encourage best practices for raw type descriptions.
## v0.5.0-rc.2 -> v0.5.0-rc.3
- Bump r2r to 0.9.

2
rpcl2-derive/Cargo.toml
View File

@ -1,7 +1,7 @@
[package]
name = "rpcl2-derive"
description = "Derive macros for ros_pointcloud2 crate."
version = "0.2.0"
version = "0.3.0"
edition = "2021"
authors = ["Christopher Sieh <stelzo@steado.de>"]
homepage = "https://github.com/stelzo/ros_pointcloud2"

2
rpcl2-derive/src/lib.rs
View File

@ -109,7 +109,7 @@ pub fn ros_point_derive(input: TokenStream) -> TokenStream {
let layout = layout_of_type(&name, &input.data);
let expanded = quote! {
impl #impl_generics ::ros_pointcloud2::PointConvertible<#field_len_token> for #name #ty_generics #where_clause {
unsafe impl #impl_generics ::ros_pointcloud2::PointConvertible<#field_len_token> for #name #ty_generics #where_clause {
fn layout() -> ::ros_pointcloud2::LayoutDescription {
let mut last_field_end = 0;
let mut fields = Vec::new();

4
rpcl2/Cargo.toml
View File

@ -1,6 +1,6 @@
[package]
name = "ros_pointcloud2"
version = "0.5.0-rc.3"
version = "0.5.0"
edition = "2021"
authors = ["Christopher Sieh <stelzo@steado.de>"]
description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@ -36,7 +36,7 @@ rosrust = { version = "0.9.11", optional = true }
r2r = { version = "0.9", optional = true }
rayon = { version = "1", optional = true }
nalgebra = { version = "0.32", optional = true, default-features = false }
rpcl2-derive = { version = "0.2", optional = true, path = "../rpcl2-derive" }
rpcl2-derive = { version = "0.3", optional = true, path = "../rpcl2-derive" }
memoffset = { version = "0.9", optional = true }
[dev-dependencies]

4
rpcl2/examples/custom_enum_field_filter.rs
View File

@ -20,7 +20,7 @@ enum Label {
// Define a custom point with an enum.
// This is normally not supported by PointCloud2 but we will explain the library how to handle it.
#[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)]
#[repr(C, align(4))]
struct CustomPoint {
x: f32,
y: f32,
@ -91,7 +91,7 @@ impl From<RPCL2Point<5>> for CustomPoint {
}
// C representation of the struct hardcoded without using the derive feature.
impl PointConvertible<5> for CustomPoint {
unsafe impl PointConvertible<5> for CustomPoint {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),

39
rpcl2/src/lib.rs
View File

@ -67,6 +67,7 @@
//! ## Derive (recommended)
//! ```ignore
//! #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible)]
//! #[repr(C, align(4))]
//! pub struct MyPointXYZI {
//! pub x: f32,
//! pub y: f32,
@ -81,6 +82,7 @@
//! use ros_pointcloud2::prelude::*;
//!
//! #[derive(Clone, Debug, PartialEq, Copy, Default)]
//! #[repr(C, align(4))]
//! pub struct MyPointXYZI {
//! pub x: f32,
//! pub y: f32,
@ -106,7 +108,7 @@
//! }
//! }
//!
//! impl PointConvertible<4> for MyPointXYZI {
//! unsafe impl PointConvertible<4> for MyPointXYZI {
//! fn layout() -> LayoutDescription {
//! LayoutDescription::new(&[
//! LayoutField::new("x", "f32", 4),
@ -169,6 +171,7 @@ pub enum MsgConversionError {
FieldsNotFound(Vec<String>),
UnsupportedFieldCount,
NumberConversion,
ExhaustedSource,
}
impl From<core::num::TryFromIntError> for MsgConversionError {
@ -212,13 +215,18 @@ impl core::fmt::Display for MsgConversionError {
MsgConversionError::NumberConversion => {
write!(f, "The number is too large to be converted into a PointCloud2 supported datatype.")
}
MsgConversionError::ExhaustedSource => {
write!(
f,
"The conversion requests more data from the source type than is available."
)
}
}
}
}
#[cfg(feature = "std")]
impl std::error::Error for MsgConversionError {
fn source(&self) -> Option<&(dyn std::error::Error + 'static)> {
impl core::error::Error for MsgConversionError {
fn source(&self) -> Option<&(dyn core::error::Error + 'static)> {
None
}
}
@ -487,13 +495,9 @@ impl PointCloud2Msg {
where
C: PointConvertible<N>,
{
let point: RPCL2Point<N> = C::default().into();
debug_assert!(point.fields.len() == N);
let field_names = ordered_field_names::<N, C>();
debug_assert!(field_names.len() == N);
let target_layout = KnownLayoutInfo::try_from(C::layout())?;
debug_assert!(field_names.len() <= target_layout.fields.len());
debug_assert!(self.fields.len() <= target_layout.fields.len());
@ -506,8 +510,12 @@ impl PointCloud2Msg {
size,
count,
} => {
let msg_f = &self.fields[field_counter];
let f_translated = &field_names[field_counter];
if field_counter >= self.fields.len() || field_counter >= field_names.len() {
return Err(MsgConversionError::ExhaustedSource);
}
let msg_f = unsafe { self.fields.get_unchecked(field_counter) };
let f_translated = unsafe { field_names.get_unchecked(field_counter) };
field_counter += 1;
if msg_f.name != *f_translated
@ -533,7 +541,7 @@ impl PointCloud2Msg {
})
}
/// Create a [`PointCloud2Msg`] from any iterable type.
/// Create a [`PointCloud2Msg`] from any iterable type that implements [`PointConvertible`].
///
/// # Example
/// ```
@ -897,7 +905,7 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
/// }
/// }
///
/// impl PointConvertible<4> for MyPointXYZL {
/// unsafe impl PointConvertible<4> for MyPointXYZL {
/// fn layout() -> LayoutDescription {
/// LayoutDescription::new(&[
/// LayoutField::new("x", "f32", 4),
@ -909,7 +917,10 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
/// }
/// }
/// ```
pub trait PointConvertible<const N: usize>:
/// # Safety
/// The layout is used for raw memory interpretation, where safety can not be guaranteed by the compiler.
/// Take care when implementing the layout, especially in combination with `#[repr]` or use the `derive` feature when possible to prevent common errors.
pub unsafe trait PointConvertible<const N: usize>:
From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Default + Sized
{
fn layout() -> LayoutDescription;

18
rpcl2/src/points.rs
View File

@ -160,7 +160,7 @@ impl From<PointXYZ> for RPCL2Point<3> {
}
}
impl PointConvertible<3> for PointXYZ {
unsafe impl PointConvertible<3> for PointXYZ {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -221,7 +221,7 @@ impl From<PointXYZI> for RPCL2Point<4> {
}
}
impl PointConvertible<4> for PointXYZI {
unsafe impl PointConvertible<4> for PointXYZI {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -282,7 +282,7 @@ impl From<PointXYZL> for RPCL2Point<4> {
}
}
impl PointConvertible<4> for PointXYZL {
unsafe impl PointConvertible<4> for PointXYZL {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -360,7 +360,7 @@ impl From<PointXYZRGB> for RPCL2Point<4> {
}
}
impl PointConvertible<4> for PointXYZRGB {
unsafe impl PointConvertible<4> for PointXYZRGB {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -442,7 +442,7 @@ impl From<PointXYZRGBA> for RPCL2Point<5> {
}
}
impl PointConvertible<5> for PointXYZRGBA {
unsafe impl PointConvertible<5> for PointXYZRGBA {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -546,7 +546,7 @@ impl From<PointXYZRGBNormal> for RPCL2Point<7> {
}
}
impl PointConvertible<7> for PointXYZRGBNormal {
unsafe impl PointConvertible<7> for PointXYZRGBNormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -637,7 +637,7 @@ impl From<PointXYZINormal> for RPCL2Point<7> {
}
}
impl PointConvertible<7> for PointXYZINormal {
unsafe impl PointConvertible<7> for PointXYZINormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -728,7 +728,7 @@ impl From<PointXYZRGBL> for RPCL2Point<5> {
}
}
impl PointConvertible<5> for PointXYZRGBL {
unsafe impl PointConvertible<5> for PointXYZRGBL {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -805,7 +805,7 @@ impl From<PointXYZNormal> for RPCL2Point<6> {
}
}
impl PointConvertible<6> for PointXYZNormal {
unsafe impl PointConvertible<6> for PointXYZNormal {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),

29
rpcl2/tests/e2e_test.rs
View File

@ -56,6 +56,19 @@ fn write_cloud() {
let msg = PointCloud2Msg::try_from_iter(cloud);
assert!(msg.is_ok());
}
/*
#[test]
fn collect_vec() {
let cloud = vec![
PointXYZ::new(0.0, 1.0, 5.0),
PointXYZ::new(1.0, 1.5, 5.0),
PointXYZ::new(1.3, 1.6, 5.7),
PointXYZ::new(f32::MAX, f32::MIN, f32::MAX),
]
.into_iter();
let msg: Result<PointCloud2Msg, MsgConversionError> = cloud.collect();
}*/
#[test]
fn write_cloud_from_vec() {
@ -131,7 +144,7 @@ fn conv_cloud_par_par_iter() {
#[cfg(feature = "derive")]
fn custom_xyz_f32() {
#[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)]
#[repr(C, align(4))]
struct CustomPoint {
x: f32,
y: f32,
@ -154,7 +167,7 @@ fn custom_xyz_f32() {
}
}
impl PointConvertible<3> for CustomPoint {
unsafe impl PointConvertible<3> for CustomPoint {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -216,7 +229,7 @@ fn custom_xyzi_f32() {
];
#[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)]
#[repr(C, align(4))]
struct CustomPointXYZI {
x: f32,
y: f32,
@ -247,7 +260,7 @@ fn custom_xyzi_f32() {
}
}
impl PointConvertible<4> for CustomPointXYZI {
unsafe impl PointConvertible<4> for CustomPointXYZI {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -266,7 +279,7 @@ fn custom_xyzi_f32() {
#[cfg(feature = "derive")]
fn custom_rgba_f32() {
#[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)]
#[repr(C, align(4))]
struct CustomPoint {
x: f32,
y: f32,
@ -306,7 +319,7 @@ fn custom_rgba_f32() {
}
}
impl PointConvertible<7> for CustomPoint {
unsafe impl PointConvertible<7> for CustomPoint {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),
@ -557,7 +570,7 @@ fn write_xyzi_read_xyz_vec() {
#[test]
fn write_less_than_available() {
#[derive(Debug, PartialEq, Clone, Default)]
#[repr(C)]
#[repr(C, align(4))]
struct CustomPoint {
x: f32,
y: f32,
@ -582,7 +595,7 @@ fn write_less_than_available() {
}
}
impl PointConvertible<3> for CustomPoint {
unsafe impl PointConvertible<3> for CustomPoint {
fn layout() -> LayoutDescription {
LayoutDescription::new(&[
LayoutField::new("x", "f32", 4),