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more assert for indexing safety

This commit is contained in:
stelzo 2024-05-21 12:00:28 +02:00
parent eb186e87e6
commit aa17a9d676
1 changed files with 7 additions and 5 deletions
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12
rpcl2/src/lib.rs
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@ -129,6 +129,7 @@
#![warn(clippy::print_stderr)] #![warn(clippy::print_stderr)]
#![warn(clippy::print_stdout)] #![warn(clippy::print_stdout)]
#![warn(clippy::unwrap_used)] #![warn(clippy::unwrap_used)]
#![warn(clippy::expect_used)]
#![warn(clippy::cargo)] #![warn(clippy::cargo)]
#![warn(clippy::std_instead_of_core)] #![warn(clippy::std_instead_of_core)]
#![warn(clippy::alloc_instead_of_core)] #![warn(clippy::alloc_instead_of_core)]
@ -492,12 +493,13 @@ impl PointCloud2Msg {
let field_names = ordered_field_names::<N, C>(); let field_names = ordered_field_names::<N, C>();
debug_assert!(field_names.len() == N); debug_assert!(field_names.len() == N);
let layout = KnownLayoutInfo::try_from(C::layout())?; let target_layout = KnownLayoutInfo::try_from(C::layout())?;
debug_assert!(field_names.len() <= layout.fields.len()); debug_assert!(field_names.len() <= target_layout.fields.len());
debug_assert!(self.fields.len() <= target_layout.fields.len());
let mut offset: u32 = 0; let mut offset: u32 = 0;
let mut field_counter = 0; let mut field_counter = 0;
for f in layout.fields.iter() { for f in target_layout.fields.iter() {
match f { match f {
PointField::Field { PointField::Field {
datatype, datatype,
@ -913,13 +915,13 @@ pub trait PointConvertible<const N: usize>:
fn layout() -> LayoutDescription; fn layout() -> LayoutDescription;
} }
#[derive(Debug)] #[derive(Debug, Clone)]
enum PointField { enum PointField {
Padding(u32), Padding(u32),
Field { size: u32, datatype: u8, count: u32 }, Field { size: u32, datatype: u8, count: u32 },
} }
#[derive(Debug)] #[derive(Debug, Clone)]
struct KnownLayoutInfo { struct KnownLayoutInfo {
fields: Vec<PointField>, fields: Vec<PointField>,
} }