add 0.5.2 main changes

.github/workflows/rclrs_jazzy.yml

@@ -0,0 +1,21 @@
+name: rclrs_jazzy
+
+on:
+  push:
+    branches:
+      - rclrs
+  pull_request:
+    branches:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_jazzy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_rclrs_jazzy --tag rclrs_jazzy
+      - run: docker run rclrs_jazzy cargo test --features derive,nalgebra,rayon

Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "ros_pointcloud2"
-version = "0.5.0-rc.1"
+version = "0.5.1"
 edition = "2021"
 authors = ["Christopher Sieh <stelzo@steado.de>"]
 description = "Customizable conversions for working with sensor_msgs/PointCloud2."
@@ -27,37 +27,39 @@ exclude = [
   "**/docs/**",
   "**/doc/**",
 ]
-rust-version = "1.63"
+rust-version = "1.77"
 
 [dependencies]
-rosrust_msg = { version = "0.1", optional = true }
+rosrust_msg = { version = "0.1.8", optional = true }
-rosrust = { version = "0.9.11", optional = true }
+rosrust = { version = "0.9.12", optional = true }
-r2r = { version = "0.8.4", optional = true }
+r2r = { version = "0.9", optional = true }
 rayon = { version = "1", optional = true }
-nalgebra = { version = "0.32.5", optional = true, default-features = false }
+nalgebra = { version = "0.33", optional = true, default-features = false }
-rpcl2_derive = { path = "rpcl2_derive", optional = true }
+rpcl2-derive = { version = "0.4", optional = true }
-type-layout = { path = "type-layout", optional = true }
+memoffset = { version = "0.9", optional = true }
+serde = { version = "1.0", features = ["derive"], optional = true }
+
+sensor_msgs = { version = "*", optional = true }
+std_msgs = { version = "*", optional = true }
+builtin_interfaces = { version = "*", optional = true }
 
 [dev-dependencies]
-rand = "0.8"
 criterion = { version = "0.5", features = ["html_reports"] }
-
+pretty_assertions = "1.0"
-[[bench]]
-name = "roundtrip"
-harness = false
 
 [features]
+serde = ["dep:serde", "nalgebra/serde-serialize-no-std"]
+rclrs_msg = ["dep:sensor_msgs", "dep:std_msgs", "dep:builtin_interfaces"]
 rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
 r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
-derive = ["dep:rpcl2_derive", "dep:type-layout"]
+derive = ["dep:rpcl2-derive", "dep:memoffset"]
 nalgebra = ["dep:nalgebra"]
 std = ["nalgebra/std"]
 
-default = ["std", "derive"]
+default = ["std", "rclrs_msg"]
 
 [package.metadata.docs.rs]
-features = ["derive", "nalgebra", "rayon"]
+features = ["derive", "nalgebra", "rayon", "serde"]
 default-target = "x86_64-unknown-linux-gnu"
 rustdoc-args = ["--cfg", "docsrs"]
-

README.md

@@ -1,6 +1,3 @@
-> [!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.
-
 <p align="center">
   <h3 align="center">ROS PointCloud2</h3>
   <p align="center">A PointCloud2 message conversion library.</p>
@@ -10,7 +7,7 @@
 
 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_pointcloud2/0.5.0-rc.1/) 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_pointcloud2/0.5.2/) for a complete guide.
 
 ## Quickstart
 
@@ -60,9 +57,9 @@ You can use `rosrust` and `r2r` by enabling the respective feature:
 
 ```toml
 [dependencies]
-ros_pointcloud2 = { version = "*", features = ["r2r_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["r2r_msg"]}
 # or
-ros_pointcloud2 = { version = "*", features = ["rosrust_msg", "derive"]}
+ros_pointcloud2 = { version = "*", features = ["rosrust_msg"]}
 ```
 
 ### rclrs (ros2_rust)
@@ -71,7 +68,7 @@ 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 = "v0.5.0-rc.1_rclrs" }
+ros_pointcloud2 = { git = "https://github.com/stelzo/ros_pointcloud2", tag = "v0.5.2_rclrs" }
 ```
 
 Also, indicate the following dependencies to your linker inside the `package.xml` of your package.
@@ -87,30 +84,21 @@ Please open an issue or PR if you need other integrations.
 ## Performance
 
 This library offers a speed up when compared to PointCloudLibrary (PCL) conversions but the specific factor depends heavily on the use case and system.
-The `_vec` conversions are on average ~6x faster than PCL while the single core iteration `_iter` functions are around ~2x faster.
+See [this repository](https://github.com/stelzo/ros_pcl_conv_bench) for a detailed benchmark.
-Parallelization with `_par_iter` gives a ~9x speed up compared to an OpenMP accelerated PCL pipeline.
-
-The results are measured on an Intel i7-14700 with benchmarks from [this repository](https://github.com/stelzo/ros_pcl_conv_bench).
 
 For minimizing the conversion overhead in general, always use the functions that best fit your use case.
 
-## `no_std` Environments
+### License
 
-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.
+<sup>
+Licensed under either of <a href="LICENSE-APACHE">Apache License, Version
+2.0</a> or <a href="LICENSE-MIT">MIT license</a> at your option.
+</sup>
 
-## License
+<br>
 
-Licensed under either of
+<sub>
-
+Unless you explicitly state otherwise, any contribution intentionally submitted
-- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)
+for inclusion in this crate by you, as defined in the Apache-2.0 license, shall
-- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)
+be dual licensed as above, without any additional terms or conditions.
-
+</sub>
-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.

benches/roundtrip.rs

@@ -1,695 +0,0 @@
-use criterion::{black_box, criterion_group, criterion_main, Criterion};
-use ros_pointcloud2::prelude::*;
-
-use rand::Rng;
-
-pub type PointXYZB = PointXYZINormal;
-
-pub fn distance_to_origin(point: &PointXYZ) -> f32 {
-    ((point.x.powi(2)) + (point.y.powi(2)) + (point.z.powi(2))).sqrt()
-}
-
-pub fn dot_product(point1: &PointXYZ, point2: &PointXYZ) -> f32 {
-    point1.x * point2.x + point1.y * point2.y + point1.z * point2.z
-}
-
-pub fn cross_product(point1: &PointXYZ, point2: &PointXYZ) -> PointXYZ {
-    PointXYZ {
-        x: point1.y * point2.z - point1.z * point2.y,
-        y: point1.z * point2.x - point1.x * point2.z,
-        z: point1.x * point2.y - point1.y * point2.x,
-    }
-}
-
-pub fn scalar_multiply(point: &PointXYZ, scalar: f32) -> PointXYZ {
-    PointXYZ {
-        x: point.x * scalar,
-        y: point.y * scalar,
-        z: point.z * scalar,
-    }
-}
-
-pub fn magnitude_squared(point: &PointXYZ) -> f32 {
-    (point.x.powi(2)) + (point.y.powi(2)) + (point.z.powi(2))
-}
-
-pub fn reflection_through_plane(
-    point: &PointXYZ,
-    normal: &PointXYZ,
-    point_on_plane: &PointXYZ,
-) -> PointXYZ {
-    PointXYZ {
-        x: point.x
-            - 2.0
-                * ((point.x - point_on_plane.x) * normal.x
-                    + (point.y - point_on_plane.y) * normal.y
-                    + (point.z - point_on_plane.z) * normal.z),
-        y: point.y
-            - 2.0
-                * ((point.x - point_on_plane.x) * normal.x
-                    + (point.y - point_on_plane.y) * normal.y
-                    + (point.z - point_on_plane.z) * normal.z),
-        z: point.z
-            - 2.0
-                * ((point.x - point_on_plane.x) * normal.x
-                    + (point.y - point_on_plane.y) * normal.y
-                    + (point.z - point_on_plane.z) * normal.z),
-    }
-}
-
-pub fn rotation_about_x(point: &PointXYZ, angle: f32) -> PointXYZ {
-    let c = f32::cos(angle);
-    let s = f32::sin(angle);
-    PointXYZ {
-        x: point.x,
-        y: point.y * c - point.z * s,
-        z: point.y * s + point.z * c,
-    }
-}
-
-pub fn closest_point_on_line(
-    point: &PointXYZ,
-    line_point: &PointXYZ,
-    line_direction: &PointXYZ,
-) -> PointXYZ {
-    PointXYZ {
-        x: line_point.x
-            + (line_point.x - point.x) * ((line_point.x - point.x).powi(2))
-                / ((line_direction.x * 2.0).powi(2))
-            + (line_direction.y * 2.0) * (point.z - line_point.z)
-                / ((line_direction.z * 2.0).powi(2)),
-        y: line_point.y
-            + (line_point.y - point.y) * ((line_point.y - point.y).powi(2))
-                / ((line_direction.y * 2.0).powi(2))
-            + (line_direction.x * 2.0) * (point.x - line_point.x)
-                / ((line_direction.x * 2.0).powi(2)),
-        z: line_point.z
-            + (line_point.z - point.z) * ((line_point.z - point.z).powi(2))
-                / ((line_direction.z * 2.0).powi(2))
-            + (line_direction.y * 2.0) * (point.y - line_point.y)
-                / ((line_direction.y * 2.0).powi(2)),
-    }
-}
-
-fn minus(point1: &PointXYZ, point2: &PointXYZ) -> PointXYZ {
-    PointXYZ {
-        x: point1.x - point2.x,
-        y: point1.y - point2.y,
-        z: point1.z - point2.z,
-    }
-}
-
-pub fn generate_random_pointcloud(num_points: usize, min: f32, max: f32) -> Vec<PointXYZB> {
-    let mut rng = rand::thread_rng();
-    let mut pointcloud = Vec::with_capacity(num_points);
-    for _ in 0..num_points {
-        let point = PointXYZB {
-            x: rng.gen_range(min..max),
-            y: rng.gen_range(min..max),
-            z: rng.gen_range(min..max),
-            ..Default::default()
-        };
-        pointcloud.push(point);
-    }
-    pointcloud
-}
-
-pub fn heavy_computing(point: &PointXYZ, iterations: u32) -> f32 {
-    let mut result = distance_to_origin(point);
-    for _ in 0..iterations {
-        result += dot_product(
-            point,
-            &PointXYZ {
-                x: 1.0,
-                y: 2.0,
-                z: 3.0,
-            },
-        );
-        result += cross_product(
-            point,
-            &PointXYZ {
-                x: 4.0,
-                y: 5.0,
-                z: 6.0,
-            },
-        )
-        .x;
-        result = result + (result * 10.0).sqrt();
-        let reflected_point = reflection_through_plane(
-            point,
-            &PointXYZ {
-                x: 7.0,
-                y: 8.0,
-                z: 9.0,
-            },
-            &PointXYZ {
-                x: 3.0,
-                y: 4.0,
-                z: 5.0,
-            },
-        );
-        let rotated_point = rotation_about_x(
-            &PointXYZ {
-                x: 10.0,
-                y: 11.0,
-                z: 12.0,
-            },
-            std::f32::consts::PI / 2.0,
-        );
-
-        result += magnitude_squared(&minus(&reflected_point, &rotated_point));
-    }
-    result
-}
-
-#[cfg(feature = "derive")]
-fn roundtrip_vec(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap();
-    let total: Vec<PointXYZ> = internal_msg.try_into_vec().unwrap();
-    orig_len == total.len()
-}
-
-fn roundtrip(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_iter()
-        .unwrap()
-        .collect::<Vec<PointXYZ>>();
-    orig_len == total.len()
-}
-
-#[cfg(feature = "derive")]
-fn roundtrip_filter_vec(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap();
-    let total = internal_msg
-        .try_into_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| distance_to_origin(point) < 69.9)
-        .fold(PointXYZ::default(), |acc, point| PointXYZ {
-            x: acc.x + point.x,
-            y: acc.y + point.y,
-            z: acc.z + point.z,
-        });
-    orig_len == total.x as usize
-}
-
-fn roundtrip_filter(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| distance_to_origin(point) < 69.9)
-        .fold(PointXYZ::default(), |acc, point| PointXYZ {
-            x: acc.x + point.x,
-            y: acc.y + point.y,
-            z: acc.z + point.z,
-        });
-    orig_len == total.x as usize
-}
-
-fn roundtrip_computing(cloud: Vec<PointXYZB>) -> bool {
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_iter()
-        .unwrap()
-        .map(|point: PointXYZ| heavy_computing(&point, 100))
-        .sum::<f32>();
-    total > 0.0
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_computing_par(cloud: Vec<PointXYZB>) -> bool {
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .map(|point: PointXYZ| heavy_computing(&point, 100))
-        .sum::<f32>();
-    total > 0.0
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_computing_par_par(cloud: Vec<PointXYZB>) -> bool {
-    let internal_msg = PointCloud2Msg::try_from_par_iter(cloud.into_par_iter()).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .map(|point: PointXYZ| heavy_computing(&point, 100))
-        .sum::<f32>();
-    total > 0.0
-}
-
-#[cfg(feature = "derive")]
-fn roundtrip_computing_vec(cloud: Vec<PointXYZB>) -> bool {
-    let internal_msg = PointCloud2Msg::try_from_vec(cloud).unwrap();
-    let total: f32 = internal_msg
-        .try_into_vec()
-        .unwrap()
-        .into_iter()
-        .map(|point: PointXYZ| heavy_computing(&point, 100))
-        .sum();
-    total > 0.0
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_par(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .collect::<Vec<PointXYZ>>();
-    orig_len != total.len()
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_par_par(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_par_iter(cloud.into_par_iter()).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .collect::<Vec<PointXYZ>>();
-    orig_len != total.len()
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_filter_par(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len: usize = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| distance_to_origin(point) < 69.9)
-        .reduce(PointXYZ::default, |acc, point| PointXYZ {
-            x: acc.x + point.x,
-            y: acc.y + point.y,
-            z: acc.z + point.z,
-        });
-    orig_len == total.x as usize
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_filter_par_par(cloud: Vec<PointXYZB>) -> bool {
-    let orig_len: usize = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_par_iter(cloud.into_par_iter()).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| distance_to_origin(point) < 69.9)
-        .reduce(PointXYZ::default, |acc, point| PointXYZ {
-            x: acc.x + point.x,
-            y: acc.y + point.y,
-            z: acc.z + point.z,
-        });
-    orig_len == total.x as usize
-}
-
-fn roundtrip_benchmark(c: &mut Criterion) {
-    let cloud_points_16k = generate_random_pointcloud(16_000, f32::MIN / 2.0, f32::MAX / 2.0);
-    let cloud_points_60k = generate_random_pointcloud(60_000, f32::MIN / 2.0, f32::MAX / 2.0);
-    let cloud_points_120k = generate_random_pointcloud(120_000, f32::MIN / 2.0, f32::MAX / 2.0);
-    let cloud_points_500k = generate_random_pointcloud(500_000, f32::MIN / 2.0, f32::MAX / 2.0);
-    let cloud_points_1_5m = generate_random_pointcloud(1_500_000, f32::MIN / 2.0, f32::MAX / 2.0);
-
-    // 16k points (Velodyne with 16 beams)
-
-    // Moving memory
-    c.bench_function("16k iter", |b| {
-        b.iter(|| {
-            black_box(roundtrip(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("16k iter_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("16k iter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par_par(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("16k vec", |b| {
-        b.iter(|| {
-            black_box(roundtrip_vec(cloud_points_16k.clone()));
-        })
-    });
-
-    // Simple distance filter
-    c.bench_function("16k iter_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("16k filter_par", |b| {
-        b.iter(|| {
-            roundtrip_filter_par(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("16k filter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_filter_par_par(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("16k vec_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter_vec(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    // Heavy computing
-    c.bench_function("16k iter_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("16k iter_compute_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("16k iter_compute_par_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par_par(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("16k vec_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing_vec(black_box(cloud_points_16k.clone()));
-        })
-    });
-
-    // 60k points (Ouster with 64 beams)
-
-    // Moving memory
-    c.bench_function("60k iter", |b| {
-        b.iter(|| {
-            black_box(roundtrip(cloud_points_60k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("60k iter_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par(cloud_points_60k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("60k iter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par_par(cloud_points_60k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("60k vec", |b| {
-        b.iter(|| {
-            black_box(roundtrip_vec(cloud_points_60k.clone()));
-        })
-    });
-
-    // 120k points (Ouster with 128 beams)
-
-    // Moving memory
-    c.bench_function("120k iter", |b| {
-        b.iter(|| {
-            black_box(roundtrip(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("120k iter_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("120k iter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par_par(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("120k vec", |b| {
-        b.iter(|| {
-            black_box(roundtrip_vec(cloud_points_120k.clone()));
-        })
-    });
-
-    // Simple distance filter
-    c.bench_function("120k iter_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("120k filter_par", |b| {
-        b.iter(|| {
-            roundtrip_filter_par(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("120k filter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_filter_par_par(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("120k vec_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter_vec(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    // Heavy computing
-    c.bench_function("120k iter_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("120k iter_compute_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("120k iter_compute_par_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par_par(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("120k vec_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing_vec(black_box(cloud_points_120k.clone()));
-        })
-    });
-
-    // 500k points (just to show how it scales)
-
-    // Moving memory
-    c.bench_function("500k iter", |b| {
-        b.iter(|| {
-            black_box(roundtrip(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("500k iter_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("500k iter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par_par(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("500k vec", |b| {
-        b.iter(|| {
-            black_box(roundtrip_vec(cloud_points_500k.clone()));
-        })
-    });
-
-    // Simple distance filter
-    c.bench_function("500k iter_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("500k filter_par", |b| {
-        b.iter(|| {
-            roundtrip_filter_par(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("500k filter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_filter_par_par(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("500k vec_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter_vec(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    // Heavy computing
-    c.bench_function("500k iter_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("500k iter_compute_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("500k iter_compute_par_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par_par(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("500k vec_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing_vec(black_box(cloud_points_500k.clone()));
-        })
-    });
-
-    // 1.5m points (scale of small localmaps in SLAM)
-
-    // Moving memory
-    c.bench_function("1.5m iter", |b| {
-        b.iter(|| {
-            black_box(roundtrip(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("1.5m iter_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("1.5m iter_par_par", |b| {
-        b.iter(|| {
-            black_box(roundtrip_par_par(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("1.5m vec", |b| {
-        b.iter(|| {
-            black_box(roundtrip_vec(cloud_points_1_5m.clone()));
-        })
-    });
-
-    // Simple distance filter
-    c.bench_function("1.5m iter_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter(black_box(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("1.5m iter_par_filter", |b| {
-        b.iter(|| {
-            black_box(roundtrip_filter_par(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("1.5m iter_par_par_filter", |b| {
-        b.iter(|| {
-            black_box(roundtrip_filter_par_par(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("1.5m vec_filter", |b| {
-        b.iter(|| {
-            roundtrip_filter_vec(black_box(cloud_points_1_5m.clone()));
-        })
-    });
-
-    // Heavy computing
-    c.bench_function("1.5m iter_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing(black_box(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("1.5m iter_compute_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par(black_box(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "rayon")]
-    c.bench_function("1.5m iter_compute_par_par", |b| {
-        b.iter(|| {
-            roundtrip_computing_par_par(black_box(cloud_points_1_5m.clone()));
-        })
-    });
-
-    #[cfg(feature = "derive")]
-    c.bench_function("1.5m vec_compute", |b| {
-        b.iter(|| {
-            roundtrip_computing_vec(black_box(cloud_points_1_5m.clone()));
-        })
-    });
-}
-
-criterion_group!(benches, roundtrip_benchmark);
-criterion_main!(benches);

examples/custom_enum_field_filter.rs

@@ -1,159 +0,0 @@
-/// This example demonstrates how to use a custom point with encoded metadata.
-/// The use case is a segmentation point cloud where each point holds a label and we want to filter by it.
-/// Since the datatypes for the PointCloud2 message are very limited,
-/// we need to encode the enum into a supported type.
-/// This needs some manual work to tell the library how to encode and decode the enum.
-///
-/// Important Note: This example is only possible with disabled `derive` feature,
-/// because the library (currently) does not know the size of your chosen supported type at compile time.
-/// This makes direct copies impossible.
-use ros_pointcloud2::prelude::*;
-
-#[derive(Debug, PartialEq, Clone, Default, Copy)]
-enum Label {
-    #[default]
-    Human,
-    Deer,
-    Car,
-}
-
-// 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)]
-struct CustomPoint {
-    x: f32,
-    y: f32,
-    z: f32,
-    intensity: f32,
-    my_custom_label: Label,
-}
-
-// Some convenience functions to convert between the enum and u8.
-impl From<Label> for u8 {
-    fn from(label: Label) -> Self {
-        match label {
-            Label::Human => 0,
-            Label::Deer => 1,
-            Label::Car => 2,
-        }
-    }
-}
-
-impl From<u8> for Label {
-    fn from(label: u8) -> Self {
-        match label {
-            0 => Label::Human,
-            1 => Label::Deer,
-            2 => Label::Car,
-            _ => panic!("Invalid label"),
-        }
-    }
-}
-
-impl CustomPoint {
-    fn new(x: f32, y: f32, z: f32, intensity: f32, my_custom_label: Label) -> Self {
-        Self {
-            x,
-            y,
-            z,
-            intensity,
-            my_custom_label,
-        }
-    }
-}
-
-// We implement the PointConvertible trait (needed for every custom point).
-// RPCL2Point is the internal representation. It takes the amount of fields as generic arguments.
-impl From<CustomPoint> for RPCL2Point<5> {
-    fn from(point: CustomPoint) -> Self {
-        [
-            point.x.into(),
-            point.y.into(),
-            point.z.into(),
-            point.intensity.into(),
-            u8::from(point.my_custom_label).into(),
-        ]
-        .into()
-    }
-}
-
-impl From<RPCL2Point<5>> for CustomPoint {
-    fn from(point: RPCL2Point<5>) -> Self {
-        Self::new(
-            point[0].get(),
-            point[1].get(),
-            point[2].get(),
-            point[3].get(),
-            point[4].get(),
-        )
-    }
-}
-
-// Define wow we want to name the fields in the message.
-impl Fields<5> for CustomPoint {
-    fn field_names_ordered() -> [&'static str; 5] {
-        ["x", "y", "z", "intensity", "my_custom_label"]
-    }
-}
-
-// We implemented everything that is needed for PointConvertible so we declare it as a done.
-#[cfg(not(feature = "derive"))]
-impl PointConvertible<5> for CustomPoint {}
-
-// Now we tell the library how to encode and decode the label.
-// You don't need to do this if your CustomPoint has a field that is already supported by PointCloud2.
-impl GetFieldDatatype for Label {
-    fn field_datatype() -> FieldDatatype {
-        FieldDatatype::U8 // Declare that we want to use u8 as the datatype for the label.
-    }
-}
-
-// Again, you don't need this with only supported field types.
-// u8 -> Label
-impl FromBytes for Label {
-    // Technically, PointCloud2 supports big and little endian even though it is rarely used.
-    // 'be' stands for big endian and 'le' for little endian.
-    fn from_be_bytes(bytes: PointDataBuffer) -> Self {
-        u8::from_be_bytes([bytes[0]]).into()
-    }
-
-    fn from_le_bytes(bytes: PointDataBuffer) -> Self {
-        u8::from_le_bytes([bytes[0]]).into()
-    }
-}
-
-// Label -> u8
-impl From<Label> for PointDataBuffer {
-    fn from(label: Label) -> Self {
-        [u8::from(label)].into()
-    }
-}
-
-fn main() {
-    #[cfg(not(feature = "derive"))]
-    {
-        let cloud = vec![
-            CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),
-            CustomPoint::new(4.0, 5.0, 6.0, 7.0, Label::Car),
-            CustomPoint::new(7.0, 8.0, 9.0, 10.0, Label::Human),
-        ];
-
-        println!("Original cloud: {:?}", cloud);
-
-        let msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-
-        println!("filtering by label == Deer");
-        let out = msg
-            .try_into_iter()
-            .unwrap()
-            .filter(|point: &CustomPoint| point.my_custom_label == Label::Deer)
-            .collect::<Vec<_>>();
-
-        println!("Filtered cloud: {:?}", out);
-
-        assert_eq!(
-            vec![CustomPoint::new(1.0, 2.0, 3.0, 4.0, Label::Deer),],
-            out
-        );
-    }
-}

examples/rayon_bench.rs

@@ -1,135 +0,0 @@
-use rand::Rng;
-/// This example implements a naive benchmark for the library so you can evaluate the use of rayon for parallel processing.
-/// It generates a random point cloud and measures the time it takes to iterate over it.
-/// The code works mainly as a showcase. For actual benchmarks, check the `benches` directory or run `cargo bench`.
-use std::time::Duration;
-
-use ros_pointcloud2::prelude::*;
-
-pub fn generate_random_pointcloud(num_points: usize, min: f32, max: f32) -> Vec<PointXYZ> {
-    let mut rng = rand::thread_rng();
-    let mut pointcloud = Vec::with_capacity(num_points);
-    for _ in 0..num_points {
-        let point = PointXYZ {
-            x: rng.gen_range(min..max),
-            y: rng.gen_range(min..max),
-            z: rng.gen_range(min..max),
-        };
-        pointcloud.push(point);
-    }
-    pointcloud
-}
-
-fn roundtrip(cloud: Vec<PointXYZ>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_iter()
-        .unwrap()
-        .collect::<Vec<PointXYZ>>();
-    orig_len == total.len()
-}
-
-fn roundtrip_filter(cloud: Vec<PointXYZ>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| {
-            (point.x.powi(2) + point.y.powi(2) + point.z.powi(2)).sqrt() < 1.9
-        })
-        .fold(PointXYZ::default(), |acc, point| PointXYZ {
-            x: acc.x + point.x,
-            y: acc.y + point.y,
-            z: acc.z + point.z,
-        });
-    orig_len == total.x as usize
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_par(cloud: Vec<PointXYZ>) -> bool {
-    let orig_len = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .collect::<Vec<PointXYZ>>();
-    orig_len != total.len()
-}
-
-#[cfg(feature = "rayon")]
-fn roundtrip_filter_par(cloud: Vec<PointXYZ>) -> bool {
-    let orig_len: usize = cloud.len();
-    let internal_msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-    let total = internal_msg
-        .try_into_par_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| {
-            (point.x.powi(2) + point.y.powi(2) + point.z.powi(2)).sqrt() < 1.9
-        })
-        .reduce(PointXYZ::default, |acc, point| PointXYZ {
-            x: acc.x + point.x,
-            y: acc.y + point.y,
-            z: acc.z + point.z,
-        });
-    orig_len == total.x as usize
-}
-
-// call measure_func X times and print the average time
-fn measure_func_avg(
-    num_iterations: u32,
-    pcl_size: usize,
-    func: fn(Vec<PointXYZ>) -> bool,
-) -> Duration {
-    let mut total_time = Duration::new(0, 0);
-    for _ in 0..num_iterations {
-        total_time += measure_func(pcl_size, func);
-    }
-    total_time / num_iterations
-}
-
-fn measure_func<F>(pcl_size: usize, func: F) -> Duration
-where
-    F: Fn(Vec<PointXYZ>) -> bool,
-{
-    let cloud_points = generate_random_pointcloud(pcl_size, f32::MIN / 2.0, f32::MAX / 2.0);
-    let start = std::time::Instant::now();
-    let _ = func(cloud_points);
-    start.elapsed()
-}
-
-fn main() {
-    println!("100k");
-    let how_many = 10_000;
-    let how_often = 1_000;
-
-    let dur = measure_func_avg(how_often, how_many, roundtrip);
-    println!("roundtrip: {:?}", dur);
-
-    #[cfg(feature = "rayon")]
-    let dur = measure_func_avg(how_often, how_many, roundtrip_par);
-    println!("roundtrip_par: {:?}", dur);
-
-    println!("200k");
-    let how_many = 200_000;
-    let how_often = 100;
-
-    let dur = measure_func_avg(how_often, how_many, roundtrip_filter);
-    println!("roundtrip_filter: {:?}", dur);
-
-    #[cfg(feature = "rayon")]
-    let dur = measure_func_avg(how_often, how_many, roundtrip_filter_par);
-    println!("roundtrip_filter_par: {:?}", dur);
-
-    println!("10m");
-    let how_many = 10_000_000;
-    let how_often = 10;
-
-    let dur = measure_func_avg(how_often, how_many, roundtrip_filter);
-    println!("roundtrip_filter: {:?}", dur);
-
-    #[cfg(feature = "rayon")]
-    let dur = measure_func_avg(how_often, how_many, roundtrip_filter_par);
-    println!("roundtrip_filter_par: {:?}", dur);
-}

examples/simple_distance_filter.rs

@@ -1,31 +0,0 @@
-/// This example demonstrates a very simple distance filter with predefined point types.
-/// Note that this example is a simplified version of the custom_enum_field_filter.rs example.
-/// Also, it effectively demonstrates a typesafe byte-to-byte buffer filter with a single iteration.
-///
-/// It also works without any dependencies, making it a good "hello world" example.
-use ros_pointcloud2::prelude::*;
-
-fn main() {
-    let cloud = vec![
-        PointXYZ::new(1.0, 1.0, 1.0),
-        PointXYZ::new(2.0, 2.0, 2.0),
-        PointXYZ::new(3.0, 3.0, 3.0),
-    ];
-
-    println!("Original cloud: {:?}", cloud);
-
-    let msg = PointCloud2Msg::try_from_iter(cloud).unwrap();
-
-    println!("filtering by distance < 1.9m");
-    let out = msg
-        .try_into_iter()
-        .unwrap()
-        .filter(|point: &PointXYZ| {
-            (point.x.powi(2) + point.y.powi(2) + point.z.powi(2)).sqrt() < 1.9
-        })
-        .collect::<Vec<_>>();
-
-    println!("Filtered cloud: {:?}", out);
-
-    assert_eq!(vec![PointXYZ::new(1.0, 1.0, 1.0),], out);
-}

package.xml

@@ -0,0 +1,16 @@
+<package format="3">
+  <name>ros_pointcloud2_tests</name>
+  <version>0.0.0</version>
+  <description>Dummy package for linking messages in crate tests.</description>
+  <maintainer email="user@todo.todo">user</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclrs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>builtin_interfaces</depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

rpcl2_derive/Cargo.toml

@@ -1,12 +0,0 @@
-[package]
-name = "rpcl2_derive"
-version = "0.1.0"
-edition = "2021"
-
-[lib]
-proc-macro = true
-
-[dependencies]
-syn = "2.0"
-quote = "1.0"
-proc-macro2 = "1.0"

rpcl2_derive/src/lib.rs

@@ -1,197 +0,0 @@
-extern crate proc_macro;
-
-use std::collections::HashMap;
-
-use proc_macro::TokenStream;
-use quote::{quote, ToTokens};
-use syn::{parenthesized, parse_macro_input, DeriveInput, LitStr};
-
-fn get_allowed_types() -> HashMap<&'static str, usize> {
-    let mut allowed_datatypes = HashMap::<&'static str, usize>::new();
-    allowed_datatypes.insert("f32", std::mem::size_of::<f32>());
-    allowed_datatypes.insert("f64", std::mem::size_of::<f64>());
-    allowed_datatypes.insert("i32", std::mem::size_of::<i32>());
-    allowed_datatypes.insert("u8", std::mem::size_of::<u8>());
-    allowed_datatypes.insert("u16", std::mem::size_of::<u16>());
-    allowed_datatypes.insert("u32", std::mem::size_of::<u32>());
-    allowed_datatypes.insert("i8", std::mem::size_of::<i8>());
-    allowed_datatypes.insert("i16", std::mem::size_of::<i16>());
-    allowed_datatypes
-}
-
-fn struct_field_rename_array(input: &DeriveInput) -> Vec<String> {
-    let fields = match input.data {
-        syn::Data::Struct(ref data) => match data.fields {
-            syn::Fields::Named(ref fields) => &fields.named,
-            _ => panic!("StructNames can only be derived for structs with named fields"),
-        },
-        _ => panic!("StructNames can only be derived for structs"),
-    };
-
-    let mut field_names = Vec::with_capacity(fields.len());
-    for f in fields.iter() {
-        if f.attrs.len() == 0 {
-            field_names.push(f.ident.as_ref().unwrap().to_token_stream().to_string());
-        } else {
-            f.attrs.iter().for_each(|attr| {
-                if attr.path().is_ident("rpcl2") {
-                    let res = attr.parse_nested_meta(|meta| {
-                        if meta.path.is_ident("rename") {
-                            let new_name;
-                            parenthesized!(new_name in meta.input);
-                            let lit: LitStr = new_name.parse()?;
-                            field_names.push(lit.value());
-                            Ok(())
-                        } else {
-                            panic!("expected `name` attribute");
-                        }
-                    });
-                    if let Err(err) = res {
-                        panic!("Error parsing attribute: {}", err);
-                    }
-                }
-            });
-        }
-    }
-
-    field_names
-}
-
-/// This macro implements the `Fields` trait which is a subset of the `PointConvertible` trait.
-/// It is useful for points that convert the `From` trait themselves but want to use this macro for not repeating the field names.
-///
-/// You can rename the fields with the `rename` attribute.
-///
-/// Use the rename attribute if your struct field name should be different to the ROS field name.
-#[proc_macro_derive(Fields, attributes(rpcl2))]
-pub fn ros_point_fields_derive(input: TokenStream) -> TokenStream {
-    let input = parse_macro_input!(input as DeriveInput);
-    let struct_name = &input.ident;
-
-    let field_names = struct_field_rename_array(&input)
-        .into_iter()
-        .map(|field_name| {
-            quote! { #field_name }
-        });
-
-    let field_names_len = field_names.len();
-
-    let expanded = quote! {
-        impl Fields<#field_names_len> for #struct_name {
-            fn field_names_ordered() -> [&'static str; #field_names_len] {
-                [
-                    #(#field_names,)*
-                ]
-            }
-        }
-    };
-
-    // Return the generated implementation
-    expanded.into()
-}
-
-/// This macro implements the `PointConvertible` trait for your struct so you can use your point for the PointCloud2 conversion.
-///
-/// The struct field names are used in the message if you do not use the `rename` attribute for a custom name.
-///
-/// Note that the repr(C) attribute is required for the struct to work efficiently with C++ PCL.
-/// With Rust layout optimizations, the struct might not work with the PCL library but the message still conforms to the description of PointCloud2.
-/// Furthermore, Rust layout can lead to smaller messages to be send over the network.
-///
-#[proc_macro_derive(PointConvertible, attributes(rpcl2))]
-pub fn ros_point_derive(input: TokenStream) -> TokenStream {
-    let input = parse_macro_input!(input as DeriveInput);
-    let name = input.clone().ident;
-
-    let fields = match input.data {
-        syn::Data::Struct(ref data) => data.fields.clone(),
-        _ => {
-            return syn::Error::new_spanned(input, "Only structs are supported")
-                .to_compile_error()
-                .into()
-        }
-    };
-
-    let allowed_datatypes = get_allowed_types();
-
-    if fields.is_empty() {
-        return syn::Error::new_spanned(input, "No fields found")
-            .to_compile_error()
-            .into();
-    }
-
-    for field in fields.iter() {
-        let ty = field.ty.to_token_stream().to_string();
-        if !allowed_datatypes.contains_key(&ty.as_str()) {
-            return syn::Error::new_spanned(field, "Field type not allowed")
-                .to_compile_error()
-                .into();
-        }
-    }
-
-    let field_len_token: usize = fields.len();
-
-    let field_names = struct_field_rename_array(&input)
-        .into_iter()
-        .map(|field_name| {
-            quote! { #field_name }
-        });
-
-    let field_impl = quote! {
-        impl ros_pointcloud2::Fields<#field_len_token> for #name {
-            fn field_names_ordered() -> [&'static str; #field_len_token] {
-                [
-                    #(#field_names,)*
-                ]
-            }
-        }
-    };
-
-    let field_names_get = fields
-        .iter()
-        .enumerate()
-        .map(|(idx, f)| {
-            let field_name = f.ident.as_ref().unwrap();
-            quote! { #field_name: point[#idx].get() }
-        })
-        .collect::<Vec<_>>();
-
-    let from_my_point = quote! {
-        impl From<ros_pointcloud2::RPCL2Point<#field_len_token>> for #name {
-            fn from(point: ros_pointcloud2::RPCL2Point<#field_len_token>) -> Self {
-                Self {
-                    #(#field_names_get,)*
-                }
-            }
-        }
-    };
-
-    let field_names_into = fields
-        .iter()
-        .map(|f| {
-            let field_name = f.ident.as_ref().unwrap();
-            quote! { point.#field_name.into() }
-        })
-        .collect::<Vec<_>>();
-
-    let from_custom_point = quote! {
-        impl From<#name> for ros_pointcloud2::RPCL2Point<#field_len_token> {
-            fn from(point: #name) -> Self {
-                [ #(#field_names_into,)* ].into()
-            }
-        }
-    };
-
-    let convertible = quote! {
-        impl ros_pointcloud2::PointConvertible<#field_len_token> for #name {}
-    };
-
-    let out = TokenStream::from(quote! {
-        #field_impl
-        #from_my_point
-        #from_custom_point
-        #convertible
-    });
-
-    TokenStream::from(out)
-}

src/iterator.rs

@@ -1,6 +1,6 @@
 //! Iterator implementations for [`PointCloud2Msg`] including a parallel iterator for rayon.
 use crate::{
-    Endian, FieldDatatype, Fields, MsgConversionError, PointCloud2Msg, PointConvertible, PointData,
+    Endian, FieldDatatype, MsgConversionError, PointCloud2Msg, PointConvertible, PointData,
     RPCL2Point,
 };
 
@@ -27,12 +27,12 @@ use alloc::vec::Vec;
 ///
 pub struct PointCloudIterator<const N: usize, C>
 where
-    C: Fields<N>,
+    C: PointConvertible<N>,
 {
     iteration: usize,
     iteration_back: usize,
     data: ByteBufferView<N>,
-    phantom_c: core::marker::PhantomData<C>, // internally used for pdata names array
+    _phantom: core::marker::PhantomData<C>,
 }
 
 #[cfg(feature = "rayon")]
@@ -250,7 +250,7 @@ impl<const N: usize> ByteBufferView<N> {
 
 impl<const N: usize, C> TryFrom<PointCloud2Msg> for PointCloudIterator<N, C>
 where
-    C: Fields<N>,
+    C: PointConvertible<N>,
 {
     type Error = MsgConversionError;
 
@@ -260,10 +260,10 @@ where
     /// The theoretical time complexity is O(n) where n is the number of fields defined in the message for a single point which is typically small.
     /// It therefore has a constant time complexity O(1) for practical purposes.
     fn try_from(cloud: PointCloud2Msg) -> Result<Self, Self::Error> {
-        let mut pdata_with_offsets = vec![(String::default(), FieldDatatype::default(), 0); N];
+        let fields_only = crate::ordered_field_names::<N, C>();
 
-        let not_found_fieldnames = C::field_names_ordered()
+        let not_found_fieldnames = fields_only
-            .into_iter()
+            .iter()
             .map(|name| {
                 let found = cloud.fields.iter().any(|field| field.name == *name);
                 (name, found)
@@ -279,14 +279,14 @@ where
             return Err(MsgConversionError::FieldsNotFound(names_not_found));
         }
 
-        let ordered_fieldnames = C::field_names_ordered();
+        let mut pdata_with_offsets = Vec::with_capacity(N);
-        for (field, with_offset) in cloud.fields.iter().zip(pdata_with_offsets.iter_mut()) {
+        for field in cloud.fields.iter() {
-            if ordered_fieldnames.contains(&field.name.as_str()) {
+            if fields_only.contains(&field.name) {
-                *with_offset = (
+                pdata_with_offsets.push((
                     field.name.clone(),
                     field.datatype.try_into()?,
                     field.offset as usize,
-                );
+                ));
             }
         }
 
@@ -318,9 +318,16 @@ where
             return Err(MsgConversionError::DataLengthMismatch);
         }
 
-        let last_offset = offsets.last().expect("Dimensionality is 0.");
+        let last_offset = match offsets.last() {
+            Some(offset) => *offset,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
+
+        let last_pdata = match pdata.last() {
+            Some(pdata) => pdata,
+            None => return Err(MsgConversionError::DataLengthMismatch),
+        };
 
-        let last_pdata = pdata.last().expect("Dimensionality is 0.");
         let size_with_last_pdata = last_offset + last_pdata.1.size();
         if size_with_last_pdata > point_step_size {
             return Err(MsgConversionError::DataLengthMismatch);
@@ -342,14 +349,14 @@ where
             iteration: 0,
             iteration_back: cloud_length - 1,
             data,
-            phantom_c: core::marker::PhantomData,
+            _phantom: core::marker::PhantomData,
         })
     }
 }
 
 impl<const N: usize, C> PointCloudIterator<N, C>
 where
-    C: Fields<N>,
+    C: PointConvertible<N>,
 {
     #[inline]
     #[must_use]
@@ -358,7 +365,7 @@ where
             iteration: 0,
             iteration_back: data.len() - 1,
             data,
-            phantom_c: core::marker::PhantomData,
+            _phantom: core::marker::PhantomData,
         }
     }
 

src/lib.rs

@@ -3,19 +3,19 @@
 //! 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.
-//! - [`try_from_vec`](PointCloud2Msg::try_from_vec) requires `derive` feature (enabled by default)
+//! - [`try_from_vec`](PointCloud2Msg::try_from_vec)
-//! - [`try_into_vec`](PointCloud2Msg::try_into_vec) requires `derive` feature (enabled by default)
+//! - [`try_into_vec`](PointCloud2Msg::try_into_vec)
 //!
 //! You can use the iterator functions for more control over the conversion process.
 //! - [`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.
+//! The iterators are useful when your conversions are more complex than a simple copy or 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.
 //! - [`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
+//! - [`try_from_par_iter`](PointCloud2Msg::try_from_par_iter) requires `rayon` 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.
@@ -56,24 +56,37 @@
 //! - 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.
+//! - derive — Offers implementations for the [`PointConvertible`] trait needed for custom points.
-//! - 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.
 //! - 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.
+//! - std *(enabled by default)* — Omit this feature to use this library in no_std environments. ROS integrations and 'rayon' will not work with no_std.
 //!
 //! # Custom Points
 //! Implement [`PointConvertible`] for your point with the `derive` feature or manually.
 //!
-//! ```
+//! ## Derive (recommended)
-//! use ros_pointcloud2::prelude::*;
+//! ```ignore
-//!
+//! #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible)]
-//! #[cfg_attr(feature = "derive", derive(PointConvertible, TypeLayout))]
+//! #[repr(C, align(4))]
-//! #[derive(Clone, Debug, PartialEq, Copy, Default)]
+//! pub struct MyPointXYZI {
+//!     pub x: f32,
+//!     pub y: f32,
+//!     pub z: f32,
+//!     #[rpcl2(rename("i"))]
+//!     pub intensity: f32,
+//! }
+//! ```
+//!
+//! ## Manual
+//! ```
+//! use ros_pointcloud2::prelude::*;
+//!
+//! #[derive(Clone, Debug, PartialEq, Copy, Default)]
+//! #[repr(C, align(4))]
 //! pub struct MyPointXYZI {
 //!     pub x: f32,
 //!     pub y: f32,
 //!     pub z: f32,
-//!     #[cfg_attr(feature = "derive", rpcl2(rename("i")))]
 //!     pub intensity: f32,
 //! }
 //!
@@ -83,30 +96,28 @@
 //!     }
 //! }
 //!
-//! // Manual implementation of PointConvertible without derive.
-//! #[cfg(not(feature = "derive"))]
-//! impl Fields<4> for MyPointXYZI {
-//!     fn field_names_ordered() -> [&'static str; 4] {
-//!         ["x", "y", "z", "i"] // Note the different field name for intensity.
-//!     }
-//! }
-//!
-//! #[cfg(not(feature = "derive"))]
 //! impl From<RPCL2Point<4>> for MyPointXYZI {
 //!     fn from(point: RPCL2Point<4>) -> Self {
 //!         Self::new(point[0].get(), point[1].get(), point[2].get(), point[3].get())
 //!     }
 //! }
 //!
-//! #[cfg(not(feature = "derive"))]
 //! impl From<MyPointXYZI> for RPCL2Point<4> {
 //!     fn from(point: MyPointXYZI) -> Self {
 //!         [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into()
 //!     }
 //! }
 //!
-//! #[cfg(not(feature = "derive"))]
+//! unsafe impl PointConvertible<4> for MyPointXYZI {
-//! impl PointConvertible<4> for MyPointXYZI {}
+//!     fn layout() -> LayoutDescription {
+//!         LayoutDescription::new(&[
+//!             LayoutField::new("x", "f32", 4),
+//!             LayoutField::new("y", "f32", 4),
+//!             LayoutField::new("z", "f32", 4),
+//!             LayoutField::new("intensity", "f32", 4),
+//!         ])
+//!     }
+//! }
 //!
 //! let first_p = MyPointXYZI::new(1.0, 2.0, 3.0, 0.5);
 //! let cloud_points = vec![first_p, MyPointXYZI::new(4.0, 5.0, 6.0, 0.5)];
@@ -114,24 +125,13 @@
 //! let cloud_points_out: Vec<MyPointXYZI> = msg_out.try_into_iter().unwrap().collect();
 //! assert_eq!(first_p, *cloud_points_out.first().unwrap());
 //! ```
-//!
-//! An example without `#[cfg_attr]` looks like this:
-//! ```ignore
-//! #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible, TypeLayout)]
-//! pub struct MyPointXYZI {
-//!     pub x: f32,
-//!     pub y: f32,
-//!     pub z: f32,
-//!     #[rpcl2(rename("i"))]
-//!     pub intensity: f32,
-//! }
-//! ```
 #![crate_type = "lib"]
 #![cfg_attr(docsrs, feature(doc_cfg))]
-#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.0-rc.1")]
+#![doc(html_root_url = "https://docs.rs/ros_pointcloud2/0.5.1")]
 #![warn(clippy::print_stderr)]
 #![warn(clippy::print_stdout)]
 #![warn(clippy::unwrap_used)]
+#![warn(clippy::expect_used)]
 #![warn(clippy::cargo)]
 #![warn(clippy::std_instead_of_core)]
 #![warn(clippy::alloc_instead_of_core)]
@@ -148,7 +148,13 @@ pub mod iterator;
 
 use crate::ros::{HeaderMsg, PointFieldMsg};
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 #[cfg(feature = "derive")]
+#[doc(hidden)]
+pub use memoffset;
+
 use core::str::FromStr;
 
 #[macro_use]
@@ -168,6 +174,7 @@ pub enum MsgConversionError {
     FieldsNotFound(Vec<String>),
     UnsupportedFieldCount,
     NumberConversion,
+    ExhaustedSource,
 }
 
 impl From<core::num::TryFromIntError> for MsgConversionError {
@@ -211,10 +218,17 @@ 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."
+                )
+            }
         }
     }
 }
 
+#[allow(clippy::std_instead_of_core)] // will be stable soon (https://github.com/rust-lang/rust/issues/103765)
 #[cfg(feature = "std")]
 impl std::error::Error for MsgConversionError {
     fn source(&self) -> Option<&(dyn std::error::Error + 'static)> {
@@ -222,7 +236,6 @@ impl std::error::Error for MsgConversionError {
     }
 }
 
-#[cfg(feature = "derive")]
 fn system_endian() -> Endian {
     if cfg!(target_endian = "big") {
         Endian::Big
@@ -233,11 +246,49 @@ fn system_endian() -> Endian {
     }
 }
 
+/// Description of the memory layout of a type with named fields.
+#[derive(Clone, Debug)]
+pub struct LayoutDescription(Vec<LayoutField>);
+
+impl LayoutDescription {
+    pub fn new(fields: &[LayoutField]) -> Self {
+        Self(fields.into())
+    }
+}
+
+/// Enum to describe the field type and size in a padded or unpadded layout.
+#[derive(Clone, Debug)]
+pub enum LayoutField {
+    Field {
+        name: alloc::borrow::Cow<'static, str>,
+        ty: alloc::borrow::Cow<'static, str>,
+        size: usize,
+    },
+    Padding {
+        size: usize,
+    },
+}
+
+impl LayoutField {
+    pub fn new(name: &'static str, ty: &'static str, size: usize) -> Self {
+        LayoutField::Field {
+            name: name.into(),
+            ty: ty.into(),
+            size,
+        }
+    }
+
+    pub fn padding(size: usize) -> Self {
+        LayoutField::Padding { size }
+    }
+}
+
 /// The intermediate point cloud type for ROS integrations.
 ///
 /// To assert consistency, the type should be build with the [`PointCloud2MsgBuilder`].
 /// See the offical [ROS message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointCloud2.html) for more information on the fields.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointCloud2Msg {
     pub header: HeaderMsg,
     pub dimensions: CloudDimensions,
@@ -251,6 +302,7 @@ pub struct PointCloud2Msg {
 
 /// Endianess encoding hint for the message.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Endian {
     Big,
     #[default]
@@ -259,13 +311,13 @@ pub enum Endian {
 
 /// Density flag for the message. Writing sparse point clouds is not supported.
 #[derive(Default, Clone, Debug, PartialEq, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum Denseness {
     #[default]
     Dense,
     Sparse,
 }
 
-#[cfg(feature = "derive")]
 enum ByteSimilarity {
     Equal,
     Overlapping,
@@ -415,41 +467,67 @@ impl PointCloud2MsgBuilder {
 
 /// Dimensions of the point cloud as width and height.
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct CloudDimensions {
     pub width: u32,
     pub height: u32,
 }
 
+fn ordered_field_names<const N: usize, C: PointConvertible<N>>() -> Vec<String> {
+    C::layout()
+        .0
+        .iter()
+        .filter(|field| {
+            matches!(
+                field,
+                LayoutField::Field {
+                    name: _,
+                    ty: _,
+                    size: _,
+                }
+            )
+        })
+        .map(|field| match field {
+            LayoutField::Field {
+                name,
+                ty: _,
+                size: _,
+            } => name.as_ref().into(),
+            _ => unreachable!("Fields must be filtered before."),
+        })
+        .collect()
+}
+
 impl PointCloud2Msg {
-    #[cfg(feature = "derive")]
     #[inline]
     fn byte_similarity<const N: usize, C>(&self) -> Result<ByteSimilarity, MsgConversionError>
     where
         C: PointConvertible<N>,
     {
-        let point: RPCL2Point<N> = C::default().into();
+        let field_names = ordered_field_names::<N, C>();
-        debug_assert!(point.fields.len() == N);
+        let target_layout = KnownLayoutInfo::try_from(C::layout())?;
 
-        let field_names = C::field_names_ordered();
+        debug_assert!(field_names.len() <= target_layout.fields.len());
-        debug_assert!(field_names.len() == N);
+        debug_assert!(self.fields.len() >= target_layout.fields.len());
-
-        let layout = TypeLayoutInfo::try_from(C::type_layout())?;
-        debug_assert!(field_names.len() == layout.fields.len());
 
         let mut offset: u32 = 0;
         let mut field_counter = 0;
-        for (f, msg_f) in layout.fields.iter().zip(self.fields.iter()) {
+        for f in target_layout.fields.iter() {
             match f {
                 PointField::Field {
                     datatype,
                     size,
                     count,
                 } => {
-                    let f_translated = String::from_str(field_names[field_counter])
+                    if field_counter >= self.fields.len() || field_counter >= field_names.len() {
-                        .expect("Field name is not a valid string.");
+                        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
+                    if msg_f.name != *f_translated
                         || msg_f.offset != offset
                         || msg_f.datatype != *datatype
                         || msg_f.count != 1
@@ -472,7 +550,7 @@ impl PointCloud2Msg {
         })
     }
 
-    /// Create a [`PointCloud2Msg`] from any iterable type.
+    /// Create a [`PointCloud2Msg`] from any iterable type that implements [`PointConvertible`].
     ///
     /// # Example
     /// ```
@@ -495,7 +573,7 @@ impl PointCloud2Msg {
             let point: RPCL2Point<N> = C::default().into();
             debug_assert!(point.fields.len() == N);
 
-            let field_names = C::field_names_ordered();
+            let field_names = crate::ordered_field_names::<N, C>();
             debug_assert!(field_names.len() == N);
 
             let mut pdata_offsets_acc: u32 = 0;
@@ -511,7 +589,7 @@ impl PointCloud2Msg {
                 let _ = FieldDatatype::try_from(datatype_code)?;
 
                 *field_val = PointFieldMsg {
-                    name: field_name.into(),
+                    name: field_name,
                     offset: pdata_offsets_acc,
                     datatype: datatype_code,
                     count: 1,
@@ -549,8 +627,8 @@ 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(feature = "rayon")]
-    #[cfg_attr(docsrs, doc(cfg(all(feature = "rayon", feature = "derive"))))]
+    #[cfg_attr(docsrs, doc(cfg(feature = "rayon")))]
     pub fn try_from_par_iter<const N: usize, C>(
         iterable: impl rayon::iter::ParallelIterator<Item = C>,
     ) -> Result<Self, MsgConversionError>
@@ -577,8 +655,6 @@ 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<const N: usize, C>(vec: Vec<C>) -> Result<Self, MsgConversionError>
     where
         C: PointConvertible<N>,
@@ -589,17 +665,15 @@ impl PointCloud2Msg {
                     let point: RPCL2Point<N> = C::default().into();
                     debug_assert!(point.fields.len() == N);
 
-                    let field_names = C::field_names_ordered();
+                    let field_names = crate::ordered_field_names::<N, C>();
                     debug_assert!(field_names.len() == N);
 
-                    let layout = TypeLayoutInfo::try_from(C::type_layout())?;
+                    let layout = KnownLayoutInfo::try_from(C::layout())?;
-                    debug_assert!(field_names.len() == layout.fields.len());
+                    debug_assert!(field_names.len() <= layout.fields.len());
 
                     let mut offset = 0;
-                    let mut fields: Vec<PointFieldMsg> = Vec::with_capacity(layout.fields.len());
+                    let mut fields: Vec<PointFieldMsg> = Vec::with_capacity(field_names.len());
                     for f in layout.fields.into_iter() {
-                        let f_translated = String::from_str(field_names[fields.len()])
-                            .expect("Field name is not a valid string.");
                         match f {
                             PointField::Field {
                                 datatype,
@@ -607,7 +681,7 @@ impl PointCloud2Msg {
                                 count,
                             } => {
                                 fields.push(PointFieldMsg {
-                                    name: f_translated,
+                                    name: field_names[fields.len()].clone(),
                                     offset,
                                     datatype,
                                     ..Default::default()
@@ -630,7 +704,7 @@ impl PointCloud2Msg {
 
                 let bytes_total = vec.len() * point_step as usize;
                 cloud.data.resize(bytes_total, u8::default());
-                let raw_data: *mut C = cloud.data.as_ptr() as *mut C;
+                let raw_data: *mut C = cloud.data.as_mut_ptr() as *mut C;
                 unsafe {
                     core::ptr::copy_nonoverlapping(
                         vec.as_ptr().cast::<u8>(),
@@ -666,8 +740,6 @@ 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<const N: usize, C>(self) -> Result<Vec<C>, MsgConversionError>
     where
         C: PointConvertible<N>,
@@ -770,14 +842,6 @@ pub struct RPCL2Point<const N: usize> {
     fields: [PointData; N],
 }
 
-impl<const N: usize> Default for RPCL2Point<N> {
-    fn default() -> Self {
-        Self {
-            fields: [PointData::default(); N],
-        }
-    }
-}
-
 impl<const N: usize> core::ops::Index<usize> for RPCL2Point<N> {
     type Output = PointData;
 
@@ -794,157 +858,100 @@ impl<const N: usize> From<[PointData; N]> for RPCL2Point<N> {
 
 /// Trait to enable point conversions on the fly.
 ///
-/// # Example
+/// Implement this trait for your custom point you want to read or write in the message.
+/// It is strongly recommended to enable the `derive` feature and use the `#[derive(PointConvertible)]` macro.
+/// This prevents common errors when implementing this trait by hand.
+///
+/// Be aware that Rust does not guarantee the memory layout of structs. Learn more [here](https://doc.rust-lang.org/reference/type-layout.html).
+/// To make layouting more predictable and thus faster for C++ node interactions, use the `#[repr(C)]` attribute on your struct.
+/// An example for diverging point layouts with padding can be seen in the source code of [this](points::PointXYZRGBA::layout) implementation.
+///
+/// The generic parameter `N` is the number of fields in the point type. There can be more (hidden) fields that pad the layout but they do not count for the N.
+/// For
+///
+/// # Derive
+/// ```ignore
+/// use ros_pointcloud2::prelude::*;
+///
+/// #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible)]
+/// #[repr(C, align(4))]
+/// pub struct MyPointXYZL {
+///     pub x: f32,
+///     pub y: f32,
+///     pub z: f32,
+///     #[rpcl2(rename("l"))]
+///     pub label: u8,
+/// }
+/// ```
+///
+/// # Manual
 /// ```
 /// use ros_pointcloud2::prelude::*;
 ///
 /// #[derive(Clone, Debug, PartialEq, Copy, Default)]
-/// pub struct MyPointXYZI {
+/// #[repr(C, align(4))]
+/// pub struct MyPointXYZL {
 ///     pub x: f32,
 ///     pub y: f32,
 ///     pub z: f32,
-///     pub intensity: f32,
+///     pub label: u8,
 /// }
 ///
-/// impl From<MyPointXYZI> for RPCL2Point<4> {
+/// impl From<MyPointXYZL> for RPCL2Point<4> {
-///     fn from(point: MyPointXYZI) -> Self {
+///     fn from(point: MyPointXYZL) -> Self {
-///         [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into()
+///         [point.x.into(), point.y.into(), point.z.into(), point.label.into()].into()
 ///     }
 /// }
 ///
-/// impl From<RPCL2Point<4>> for MyPointXYZI {
+/// impl From<RPCL2Point<4>> for MyPointXYZL {
 ///     fn from(point: RPCL2Point<4>) -> Self {
 ///         Self {
 ///             x: point[0].get(),
 ///             y: point[1].get(),
 ///             z: point[2].get(),
-///             intensity: point[3].get(),
+///             label: point[3].get(),
 ///         }
 ///     }
 /// }
 ///
-/// impl Fields<4> for MyPointXYZI {
+/// unsafe impl PointConvertible<4> for MyPointXYZL {
-///    fn field_names_ordered() -> [&'static str; 4] {
+///     fn layout() -> LayoutDescription {
-///       ["x", "y", "z", "intensity"]
+///         LayoutDescription::new(&[
+///             LayoutField::new("x", "f32", 4),
+///             LayoutField::new("y", "f32", 4),
+///             LayoutField::new("z", "f32", 4),
+///             LayoutField::new("l", "u8", 1),
+///             LayoutField::padding(3),
+///         ])
 ///     }
 /// }
-///
-/// impl PointConvertible<4> for MyPointXYZI {}
 /// ```
-#[cfg_attr(docsrs, doc(cfg(not(feature = "derive"))))]
+/// # Safety
-#[cfg(not(feature = "derive"))]
+/// The layout is used for raw memory interpretation, where safety can not be guaranteed by the compiler.
-pub trait PointConvertible<const N: usize>:
+/// Take care when implementing the layout, especially in combination with `#[repr]` or use the `derive` feature when possible to prevent common errors.
-    From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Clone + Default
+pub unsafe trait PointConvertible<const N: usize>:
+    From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Default + Sized
 {
+    fn layout() -> LayoutDescription;
 }
 
-/// Trait to enable point conversions on the fly.
+#[derive(Debug, Clone)]
-///
-/// Implement this trait for your custom point you want to read or write in the message.
-/// For a more convenient way to implement this trait, enable the `derive` feature and use the `#[derive(PointConvertible, TypeLayout)]` macro.
-///
-/// # Derive Example
-/// ```
-/// use ros_pointcloud2::prelude::*;
-///
-/// #[derive(Clone, Debug, PartialEq, Copy, Default, PointConvertible, TypeLayout)]
-/// pub struct MyPointXYZI {
-///     pub x: f32,
-///     pub y: f32,
-///     pub z: f32,
-///     pub intensity: f32,
-/// }
-/// ```
-///
-/// # Manual Example
-/// ```
-/// use ros_pointcloud2::prelude::*;
-///
-/// #[derive(Clone, Debug, PartialEq, Copy, Default, TypeLayout)]
-/// pub struct MyPointXYZI {
-///     pub x: f32,
-///     pub y: f32,
-///     pub z: f32,
-///     pub intensity: f32,
-/// }
-///
-/// impl From<MyPointXYZI> for RPCL2Point<4> {
-///     fn from(point: MyPointXYZI) -> Self {
-///         [point.x.into(), point.y.into(), point.z.into(), point.intensity.into()].into()
-///     }
-/// }
-///
-/// impl From<RPCL2Point<4>> for MyPointXYZI {
-///     fn from(point: RPCL2Point<4>) -> Self {
-///         Self {
-///             x: point[0].get(),
-///             y: point[1].get(),
-///             z: point[2].get(),
-///             intensity: point[3].get(),
-///         }
-///     }
-/// }
-///
-/// impl Fields<4> for MyPointXYZI {
-///    fn field_names_ordered() -> [&'static str; 4] {
-///       ["x", "y", "z", "intensity"]
-///   }
-/// }
-///
-/// impl PointConvertible<4> for MyPointXYZI {}
-/// ```
-#[cfg_attr(docsrs, doc(cfg(feature = "derive")))]
-#[cfg(feature = "derive")]
-pub trait PointConvertible<const N: usize>:
-    type_layout::TypeLayout + From<RPCL2Point<N>> + Into<RPCL2Point<N>> + Fields<N> + Default
-{
-}
-
-/// Matching field names from each data point.
-/// Always make sure to use the same order as in your conversion implementation to have a correct mapping.
-///
-/// This trait is needed to implement the `PointConvertible` trait.
-///
-/// # Example
-/// ```
-/// use ros_pointcloud2::prelude::*;
-///
-/// #[derive(Clone, Debug, PartialEq, Copy)]
-/// pub struct MyPointXYZI {
-///     pub x: f32,
-///     pub y: f32,
-///     pub z: f32,
-///     pub intensity: f32,
-/// }
-///
-/// impl Fields<4> for MyPointXYZI {
-///    fn field_names_ordered() -> [&'static str; 4] {
-///       ["x", "y", "z", "intensity"]
-///   }
-/// }
-/// ```
-pub trait Fields<const N: usize> {
-    fn field_names_ordered() -> [&'static str; N];
-}
-
-#[cfg(feature = "derive")]
 enum PointField {
     Padding(u32),
     Field { size: u32, datatype: u8, count: u32 },
 }
 
-#[cfg(feature = "derive")]
+#[derive(Debug, Clone)]
-struct TypeLayoutInfo {
+struct KnownLayoutInfo {
     fields: Vec<PointField>,
 }
 
-#[cfg(feature = "derive")]
+impl TryFrom<LayoutField> for PointField {
-impl TryFrom<type_layout::Field> for PointField {
     type Error = MsgConversionError;
 
-    fn try_from(f: type_layout::Field) -> Result<Self, Self::Error> {
+    fn try_from(f: LayoutField) -> Result<Self, Self::Error> {
         match f {
-            type_layout::Field::Field { name: _, ty, size } => {
+            LayoutField::Field { name: _, ty, size } => {
                 let typename: String = ty.into_owned().to_lowercase();
                 let datatype = FieldDatatype::from_str(typename.as_str())?;
                 Ok(Self::Field {
@@ -953,19 +960,17 @@ impl TryFrom<type_layout::Field> for PointField {
                     count: 1,
                 })
             }
-            type_layout::Field::Padding { size } => Ok(Self::Padding(size.try_into()?)),
+            LayoutField::Padding { size } => Ok(Self::Padding(size.try_into()?)),
         }
     }
 }
 
-#[cfg(feature = "derive")]
+impl TryFrom<LayoutDescription> for KnownLayoutInfo {
-impl TryFrom<type_layout::TypeLayoutInfo> for TypeLayoutInfo {
     type Error = MsgConversionError;
 
-    fn try_from(t: type_layout::TypeLayoutInfo) -> Result<Self, Self::Error> {
+    fn try_from(t: LayoutDescription) -> Result<Self, Self::Error> {
-        let fields: Vec<PointField> = t
+        let fields: Vec<PointField> =
-            .fields
+            t.0.into_iter()
-            .into_iter()
                 .map(PointField::try_from)
                 .collect::<Result<Vec<_>, _>>()?;
         Ok(Self { fields })
@@ -1021,11 +1026,10 @@ impl PointData {
     #[inline]
     fn from_buffer(data: &[u8], offset: usize, datatype: FieldDatatype, endian: Endian) -> Self {
         debug_assert!(data.len() >= offset + datatype.size());
-        let bytes = [u8::default(); core::mem::size_of::<f64>()];
+        let mut bytes = [u8::default(); core::mem::size_of::<f64>()];
         unsafe {
             let data_ptr = data.as_ptr().add(offset);
-            let bytes_ptr = bytes.as_ptr() as *mut u8;
+            core::ptr::copy_nonoverlapping(data_ptr, bytes.as_mut_ptr(), datatype.size());
-            core::ptr::copy_nonoverlapping(data_ptr, bytes_ptr, datatype.size());
         }
 
         Self {
@@ -1464,27 +1468,196 @@ impl FromBytes for u8 {
     }
 }
 
-#[cfg(test)]
+mod test {
-#[cfg(feature = "derive")]
+    #![allow(clippy::unwrap_used)]
-mod tests {
+    use crate::prelude::*;
-    use super::Fields;
+    #[derive(Debug, Default, Clone, PartialEq)]
-    use rpcl2_derive::Fields;
+    #[repr(C)]
-
+    struct PointA {
-    use alloc::string::String;
+        x: f32,
-
+        y: f32,
-    #[allow(dead_code)]
+        z: f32,
-    #[derive(Fields)]
+        intensity: f32,
-    struct TestStruct {
+        t: u32,
-        field1: String,
+        reflectivity: u16,
-        #[rpcl2(rename("renamed_field"))]
+        ring: u16,
-        field2: i32,
+        ambient: u16,
-        field3: f64,
+        range: u32,
-        field4: bool,
+    }
+    impl From<RPCL2Point<9>> for PointA {
+        fn from(point: RPCL2Point<9>) -> Self {
+            Self::new(point[0].get(), point[1].get(), point[2].get())
+        }
+    }
+    impl From<PointA> for RPCL2Point<9> {
+        fn from(point: PointA) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.intensity.into(),
+                point.t.into(),
+                point.reflectivity.into(),
+                point.ring.into(),
+                point.ambient.into(),
+                point.range.into(),
+            ]
+            .into()
+        }
+    }
+    unsafe impl PointConvertible<9> for PointA {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("intensity", "f32", 4),
+                LayoutField::new("t", "u32", 4),
+                LayoutField::new("reflectivity", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("ring", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("ambient", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("range", "u32", 4),
+            ])
+        }
+    }
+    impl PointA {
+        fn new(x: f32, y: f32, z: f32) -> Self {
+            Self {
+                x,
+                y,
+                z,
+                intensity: 0.0,
+                t: 0,
+                reflectivity: 0,
+                ring: 0,
+                ambient: 0,
+                range: 0,
+            }
+        }
+    }
+    #[derive(Debug, Clone, Default, PartialEq)]
+    #[repr(C)]
+    struct PointB {
+        pub x: f32,
+        pub y: f32,
+        pub z: f32,
+        pub t: u32,
+    }
+    impl PointB {
+        fn new(x: f32, y: f32, z: f32) -> Self {
+            Self { x, y, z, t: 0 }
+        }
+    }
+    impl From<RPCL2Point<4>> for PointB {
+        fn from(point: RPCL2Point<4>) -> Self {
+            Self::new(point[0].get(), point[1].get(), point[2].get())
+        }
+    }
+    impl From<PointB> for RPCL2Point<4> {
+        fn from(point: PointB) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.t.into(),
+            ]
+            .into()
+        }
+    }
+    unsafe impl PointConvertible<4> for PointB {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("t", "u32", 4),
+            ])
+        }
+    }
+    #[derive(Debug, Clone, Default, PartialEq)]
+    #[repr(C)]
+    struct PointD {
+        x: f32,
+        y: f32,
+        z: f32,
+        t: u32,
+        ring: u16,
+        range: u32,
+        signal: u16,
+        reflectivity: u16,
+        near_ir: u16,
+    }
+    impl From<RPCL2Point<9>> for PointD {
+        fn from(point: RPCL2Point<9>) -> Self {
+            Self::new(point[0].get(), point[1].get(), point[2].get())
+        }
+    }
+    impl From<PointD> for RPCL2Point<9> {
+        fn from(point: PointD) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.t.into(),
+                point.ring.into(),
+                point.range.into(),
+                point.signal.into(),
+                point.reflectivity.into(),
+                point.near_ir.into(),
+            ]
+            .into()
+        }
+    }
+    unsafe impl PointConvertible<9> for PointD {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("t", "u32", 4),
+                LayoutField::new("ring", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("range", "u32", 4),
+                LayoutField::new("signal", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("reflectivity", "u16", 2),
+                LayoutField::padding(2),
+                LayoutField::new("near_ir", "u16", 2),
+                LayoutField::padding(2),
+            ])
+        }
+    }
+    impl PointD {
+        fn new(x: f32, y: f32, z: f32) -> Self {
+            Self {
+                x,
+                y,
+                z,
+                t: 0,
+                ring: 0,
+                range: 0,
+                signal: 0,
+                reflectivity: 0,
+                near_ir: 0,
+            }
+        }
     }
-
     #[test]
-    fn test_struct_names() {
+    fn subtype_iterator_fallback() {
-        let names = TestStruct::field_names_ordered();
+        let cloud_a = PointCloud2Msg::try_from_iter(vec![
-        assert_eq!(names, ["field1", "renamed_field", "field3", "field4"]);
+            PointA::new(1.0, 2.0, 3.0),
+            PointA::new(4.0, 5.0, 6.0),
+            PointA::new(7.0, 8.0, 9.0),
+        ])
+        .unwrap();
+        let cloud_c: PointB = cloud_a.clone().try_into_iter().unwrap().next().unwrap();
+        assert_eq!(cloud_c, PointB::new(1.0, 2.0, 3.0));
+        let cloud_b: Vec<PointB> = cloud_a.try_into_vec().unwrap();
+        assert_eq!(cloud_b[0], PointB::new(1.0, 2.0, 3.0));
+        assert_eq!(cloud_b[1], PointB::new(4.0, 5.0, 6.0));
+        assert_eq!(cloud_b[2], PointB::new(7.0, 8.0, 9.0));
     }
 }

src/points.rs

@@ -1,18 +1,15 @@
 //! Predefined point types commonly used in ROS.
-use crate::{Fields, PointConvertible, RPCL2Point};
+use crate::{LayoutDescription, LayoutField, PointConvertible, RPCL2Point};
 
-#[cfg(feature = "derive")]
+#[cfg(feature = "serde")]
-use type_layout::TypeLayout;
+use serde::{Deserialize, Serialize};
-
-#[cfg(feature = "derive")]
-use alloc::vec::Vec;
 
 /// A packed RGB color encoding as used in ROS tools.
 #[derive(Clone, Copy)]
-#[repr(C)]
+#[repr(C, align(4))]
 pub union RGB {
     packed: f32,
-    unpacked: [u8; 4], // 1 byte padding
+    unpacked: [u8; 4], // Padding
 }
 
 unsafe impl Send for RGB {}
@@ -46,6 +43,29 @@ impl core::fmt::Debug for RGB {
     }
 }
 
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl<'de> Deserialize<'de> for RGB {
+    fn deserialize<D>(deserializer: D) -> Result<RGB, D::Error>
+    where
+        D: serde::Deserializer<'de>,
+    {
+        let packed = f32::deserialize(deserializer)?;
+        Ok(RGB::new_from_packed_f32(packed))
+    }
+}
+
+#[cfg(feature = "serde")]
+#[cfg_attr(docsrs, doc(cfg(feature = "serde")))]
+impl Serialize for RGB {
+    fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
+    where
+        S: serde::Serializer,
+    {
+        f32::from(*self).serialize(serializer)
+    }
+}
+
 impl RGB {
     #[must_use]
     pub fn new(r: u8, g: u8, b: u8) -> Self {
@@ -112,8 +132,8 @@ impl From<f32> for RGB {
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZ {
     pub x: f32,
     pub y: f32,
@@ -121,6 +141,7 @@ pub struct PointXYZ {
 }
 
 #[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
 impl From<nalgebra::Point3<f32>> for PointXYZ {
     fn from(point: nalgebra::Point3<f32>) -> Self {
         Self {
@@ -132,12 +153,73 @@ impl From<nalgebra::Point3<f32>> for PointXYZ {
 }
 
 #[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&nalgebra::Point3<f32>> for PointXYZ {
+    fn from(point: &nalgebra::Point3<f32>) -> Self {
+        Self {
+            x: point.x,
+            y: point.y,
+            z: point.z,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&nalgebra::Point3<f64>> for PointXYZ {
+    fn from(point: &nalgebra::Point3<f64>) -> Self {
+        Self {
+            x: point.x as f32,
+            y: point.y as f32,
+            z: point.z as f32,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<nalgebra::Point3<f64>> for PointXYZ {
+    fn from(point: nalgebra::Point3<f64>) -> Self {
+        Self {
+            x: point.x as f32,
+            y: point.y as f32,
+            z: point.z as f32,
+        }
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
 impl From<PointXYZ> for nalgebra::Point3<f32> {
     fn from(point: PointXYZ) -> Self {
         nalgebra::Point3::new(point.x, point.y, point.z)
     }
 }
 
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&PointXYZ> for nalgebra::Point3<f32> {
+    fn from(point: &PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x, point.y, point.z)
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<PointXYZ> for nalgebra::Point3<f64> {
+    fn from(point: PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
+    }
+}
+
+#[cfg(feature = "nalgebra")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+impl From<&PointXYZ> for nalgebra::Point3<f64> {
+    fn from(point: &PointXYZ) -> Self {
+        nalgebra::Point3::new(point.x as f64, point.y as f64, point.z as f64)
+    }
+}
+
 impl PointXYZ {
     #[must_use]
     pub fn new(x: f32, y: f32, z: f32) -> Self {
@@ -146,21 +228,28 @@ impl PointXYZ {
 
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
-        nalgebra::Point3::new(self.x, self.y, self.z)
+        self.xyz_f32()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        self.into()
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        self.into()
     }
 }
 
 unsafe impl Send for PointXYZ {}
 unsafe impl Sync for PointXYZ {}
 
-impl Fields<3> for PointXYZ {
-    fn field_names_ordered() -> [&'static str; 3] {
-        ["x", "y", "z"]
-    }
-}
-
 impl From<RPCL2Point<3>> for PointXYZ {
     fn from(point: RPCL2Point<3>) -> Self {
         Self::new(point[0].get(), point[1].get(), point[2].get())
@@ -173,13 +262,22 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::padding(4),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and an intensity value.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZI {
     pub x: f32,
     pub y: f32,
@@ -195,20 +293,27 @@ impl PointXYZI {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZI {}
 unsafe impl Sync for PointXYZI {}
 
-impl Fields<4> for PointXYZI {
-    fn field_names_ordered() -> [&'static str; 4] {
-        ["x", "y", "z", "intensity"]
-    }
-}
-
 impl From<RPCL2Point<4>> for PointXYZI {
     fn from(point: RPCL2Point<4>) -> Self {
         Self::new(
@@ -232,13 +337,22 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("intensity", "f32", 4),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and a label.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZL {
     pub x: f32,
     pub y: f32,
@@ -254,20 +368,27 @@ impl PointXYZL {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZL {}
 unsafe impl Sync for PointXYZL {}
 
-impl Fields<4> for PointXYZL {
-    fn field_names_ordered() -> [&'static str; 4] {
-        ["x", "y", "z", "label"]
-    }
-}
-
 impl From<RPCL2Point<4>> for PointXYZL {
     fn from(point: RPCL2Point<4>) -> Self {
         Self::new(
@@ -291,13 +412,22 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("label", "u32", 4),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and an RGB color value.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGB {
     pub x: f32,
     pub y: f32,
@@ -330,20 +460,27 @@ impl PointXYZRGB {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGB {}
 unsafe impl Sync for PointXYZRGB {}
 
-impl Fields<4> for PointXYZRGB {
-    fn field_names_ordered() -> [&'static str; 4] {
-        ["x", "y", "z", "rgb"]
-    }
-}
-
 impl From<RPCL2Point<4>> for PointXYZRGB {
     fn from(point: RPCL2Point<4>) -> Self {
         Self {
@@ -367,14 +504,23 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and an RGBA color value.
 /// The alpha channel is commonly used as padding but this crate uses every channel and no padding.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBA {
     pub x: f32,
     pub y: f32,
@@ -408,20 +554,27 @@ impl PointXYZRGBA {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGBA {}
 unsafe impl Sync for PointXYZRGBA {}
 
-impl Fields<5> for PointXYZRGBA {
-    fn field_names_ordered() -> [&'static str; 5] {
-        ["x", "y", "z", "rgb", "a"]
-    }
-}
-
 impl From<RPCL2Point<5>> for PointXYZRGBA {
     fn from(point: RPCL2Point<5>) -> Self {
         Self {
@@ -447,13 +600,24 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+            LayoutField::new("a", "u8", 1),
+            LayoutField::padding(15),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates, an RGB color value and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBNormal {
     pub x: f32,
     pub y: f32,
@@ -504,20 +668,27 @@ impl PointXYZRGBNormal {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZRGBNormal {}
 unsafe impl Sync for PointXYZRGBNormal {}
 
-impl Fields<7> for PointXYZRGBNormal {
-    fn field_names_ordered() -> [&'static str; 7] {
-        ["x", "y", "z", "rgb", "normal_x", "normal_y", "normal_z"]
-    }
-}
-
 impl From<RPCL2Point<7>> for PointXYZRGBNormal {
     fn from(point: RPCL2Point<7>) -> Self {
         Self {
@@ -547,13 +718,26 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+            LayoutField::new("normal_x", "f32", 4),
+            LayoutField::new("normal_y", "f32", 4),
+            LayoutField::new("normal_z", "f32", 4),
+            LayoutField::padding(4),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates, an intensity value and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZINormal {
     pub x: f32,
     pub y: f32,
@@ -589,20 +773,26 @@ impl PointXYZINormal {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZINormal {}
 unsafe impl Sync for PointXYZINormal {}
 
-impl Fields<7> for PointXYZINormal {
-    fn field_names_ordered() -> [&'static str; 7] {
-        ["x", "y", "z", "i", "normal_x", "normal_y", "normal_z"]
-    }
-}
-
 impl From<RPCL2Point<7>> for PointXYZINormal {
     fn from(point: RPCL2Point<7>) -> Self {
         Self::new(
@@ -632,13 +822,26 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("intensity", "f32", 4),
+            LayoutField::new("normal_x", "f32", 4),
+            LayoutField::new("normal_y", "f32", 4),
+            LayoutField::new("normal_z", "f32", 4),
+            LayoutField::padding(4),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and a label.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZRGBL {
     pub x: f32,
     pub y: f32,
@@ -681,14 +884,21 @@ impl PointXYZRGBL {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
     }
 
-impl Fields<5> for PointXYZRGBL {
+    #[cfg(feature = "nalgebra")]
-    fn field_names_ordered() -> [&'static str; 5] {
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
-        ["x", "y", "z", "rgb", "label"]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
     }
 }
 
@@ -717,13 +927,24 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("rgb", "RGB", 4),
+            LayoutField::new("label", "u32", 4),
+            LayoutField::padding(12),
+        ])
+    }
+}
 
 /// Predefined point type commonly used in ROS with PCL.
 /// This is a 3D point with x, y, z coordinates and a normal vector.
 #[derive(Clone, Debug, PartialEq, Copy, Default)]
-#[cfg_attr(feature = "derive", derive(TypeLayout))]
+#[repr(C, align(16))]
-#[repr(C)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointXYZNormal {
     pub x: f32,
     pub y: f32,
@@ -749,20 +970,27 @@ impl PointXYZNormal {
     /// Get the coordinates as a nalgebra Point3.
     #[cfg(feature = "nalgebra")]
     #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    #[deprecated(since = "0.5.2", note = "please use `xyz_f32` instead")]
     pub fn xyz(&self) -> nalgebra::Point3<f32> {
         nalgebra::Point3::new(self.x, self.y, self.z)
     }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f32(&self) -> nalgebra::Point3<f32> {
+        nalgebra::Point3::new(self.x, self.y, self.z)
+    }
+
+    #[cfg(feature = "nalgebra")]
+    #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra")))]
+    pub fn xyz_f64(&self) -> nalgebra::Point3<f64> {
+        nalgebra::Point3::new(self.x as f64, self.y as f64, self.z as f64)
+    }
 }
 
 unsafe impl Send for PointXYZNormal {}
 unsafe impl Sync for PointXYZNormal {}
 
-impl Fields<6> for PointXYZNormal {
-    fn field_names_ordered() -> [&'static str; 6] {
-        ["x", "y", "z", "normal_x", "normal_y", "normal_z"]
-    }
-}
-
 impl From<RPCL2Point<6>> for PointXYZNormal {
     fn from(point: RPCL2Point<6>) -> Self {
         Self::new(
@@ -790,4 +1018,16 @@ 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),
+            LayoutField::new("y", "f32", 4),
+            LayoutField::new("z", "f32", 4),
+            LayoutField::new("normal_x", "f32", 4),
+            LayoutField::new("normal_y", "f32", 4),
+            LayoutField::new("normal_z", "f32", 4),
+            LayoutField::padding(8),
+        ])
+    }
+}

src/prelude.rs

@@ -1,7 +1,7 @@
 //! Commonly used types and traits for predefined and custom point conversions.
 pub use crate::{
-    FieldDatatype, Fields, FromBytes, GetFieldDatatype, MsgConversionError, PointCloud2Msg,
+    FieldDatatype, FromBytes, GetFieldDatatype, LayoutDescription, LayoutField, MsgConversionError,
-    PointConvertible, PointDataBuffer, RPCL2Point,
+    PointCloud2Msg, PointConvertible, PointDataBuffer, RPCL2Point,
 };
 
 pub use crate::points::*;
@@ -10,8 +10,5 @@ pub use crate::ros::*;
 #[cfg(feature = "rayon")]
 pub use rayon::prelude::*;
 
-#[cfg(feature = "derive")]
-pub use type_layout::TypeLayout;
-
 #[cfg(feature = "derive")]
 pub use rpcl2_derive::*;

src/ros.rs

@@ -25,13 +25,21 @@
 
 use alloc::string::String;
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
 /// [Time](https://docs.ros2.org/latest/api/builtin_interfaces/msg/Time.html) representation for ROS messages.
-#[derive(Clone, Debug, Default)]
+#[cfg(not(any(feature = "rclrs_msg")))]
+#[derive(Clone, Debug, Default, Copy)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TimeMsg {
     pub sec: i32,
     pub nanosec: u32,
 }
 
+#[cfg(feature = "rclrs_msg")]
+pub use builtin_interfaces::msg::Time as TimeMsg;
+
 #[cfg(feature = "rosrust_msg")]
 impl From<rosrust::Time> for TimeMsg {
     fn from(time: rosrust::Time) -> Self {
@@ -44,6 +52,7 @@ impl From<rosrust::Time> for TimeMsg {
 
 /// Represents the [header of a ROS message](https://docs.ros2.org/latest/api/std_msgs/msg/Header.html).
 #[derive(Clone, Debug, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct HeaderMsg {
     pub seq: u32,
     pub stamp: TimeMsg,
@@ -52,6 +61,7 @@ pub struct HeaderMsg {
 
 /// Describing a point encoded in the byte buffer of a PointCloud2 message. See the [official message description](https://docs.ros2.org/latest/api/sensor_msgs/msg/PointField.html) for more information.
 #[derive(Clone, Debug)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct PointFieldMsg {
     pub name: String,
     pub offset: u32,
@@ -70,6 +80,81 @@ impl Default for PointFieldMsg {
     }
 }
 
+#[cfg(feature = "rclrs_msg")]
+impl From<sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
+    fn from(msg: sensor_msgs::msg::PointCloud2) -> Self {
+        Self {
+            header: HeaderMsg {
+                seq: 0,
+                stamp: msg.header.stamp,
+                frame_id: msg.header.frame_id,
+            },
+            dimensions: crate::CloudDimensions {
+                width: msg.width,
+                height: msg.height,
+            },
+            fields: msg
+                .fields
+                .into_iter()
+                .map(|field| PointFieldMsg {
+                    name: field.name,
+                    offset: field.offset,
+                    datatype: field.datatype,
+                    count: field.count,
+                })
+                .collect(),
+            endian: if msg.is_bigendian {
+                crate::Endian::Big
+            } else {
+                crate::Endian::Little
+            },
+            point_step: msg.point_step,
+            row_step: msg.row_step,
+            data: msg.data,
+            dense: if msg.is_dense {
+                crate::Denseness::Dense
+            } else {
+                crate::Denseness::Sparse
+            },
+        }
+    }
+}
+
+#[cfg(feature = "rclrs_msg")]
+impl From<crate::PointCloud2Msg> for sensor_msgs::msg::PointCloud2 {
+    fn from(msg: crate::PointCloud2Msg) -> Self {
+        sensor_msgs::msg::PointCloud2 {
+            header: std_msgs::msg::Header {
+                stamp: msg.header.stamp,
+                frame_id: msg.header.frame_id,
+            },
+            height: msg.dimensions.height,
+            width: msg.dimensions.width,
+            fields: msg
+                .fields
+                .into_iter()
+                .map(|field| sensor_msgs::msg::PointField {
+                    name: field.name,
+                    offset: field.offset,
+                    datatype: field.datatype,
+                    count: field.count,
+                })
+                .collect(),
+            is_bigendian: match msg.endian {
+                crate::Endian::Big => true,
+                crate::Endian::Little => false,
+            },
+            point_step: msg.point_step,
+            row_step: msg.row_step,
+            data: msg.data,
+            is_dense: match msg.dense {
+                crate::Denseness::Dense => true,
+                crate::Denseness::Sparse => false,
+            },
+        }
+    }
+}
+
 #[cfg(feature = "r2r_msg")]
 impl From<r2r::sensor_msgs::msg::PointCloud2> for crate::PointCloud2Msg {
     fn from(msg: r2r::sensor_msgs::msg::PointCloud2) -> Self {

tests/Dockerfile_rclrs_jazzy

@@ -0,0 +1,35 @@
+# syntax=docker/dockerfile:1
+FROM ros:jazzy
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev \
+    git \
+    python3 \
+    python3-pip \
+    python3-vcstool
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+RUN . $HOME/.cargo/env && cargo install --debug cargo-ament-build
+RUN pip install --break-system-packages git+https://github.com/colcon/colcon-cargo.git
+RUN pip install --break-system-packages git+https://github.com/colcon/colcon-ros-cargo.git
+
+WORKDIR /ros2_rust_build
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_jazzy.repos
+
+WORKDIR /ros2_rust_build/src/ros_pointcloud2_tests
+COPY . .
+
+WORKDIR /ros2_rust_build
+RUN . $HOME/.cargo/env && . /opt/ros/jazzy/setup.sh && colcon build
+
+RUN chmod +x /ros2_rust_build/src/ros_pointcloud2_tests/rpcl2/tests/rclrs_test.bash
+ENTRYPOINT [ "/ros2_rust_build/src/ros_pointcloud2_tests/rpcl2/tests/rclrs_test.bash" ]

tests/e2e_test.rs

@@ -1,3 +1,4 @@
+use pretty_assertions::assert_eq;
 use ros_pointcloud2::prelude::*;
 
 #[cfg(feature = "derive")]
@@ -9,7 +10,6 @@ macro_rules! convert_from_into {
     };
 }
 
-#[cfg(feature = "derive")]
 macro_rules! convert_from_into_vec {
     ($point:ty, $cloud:expr) => {
         convert_from_into_in_out_cloud_vec!($cloud, $point, $cloud, $point);
@@ -30,7 +30,6 @@ macro_rules! convert_from_into_in_out_cloud {
     };
 }
 
-#[cfg(feature = "derive")]
 macro_rules! convert_from_into_in_out_cloud_vec {
     ($in_cloud:expr, $in_point:ty, $out_cloud:expr, $out_point:ty) => {
         let msg = PointCloud2Msg::try_from_vec($in_cloud.clone());
@@ -57,9 +56,21 @@ 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]
-#[cfg(feature = "derive")]
 fn write_cloud_from_vec() {
     let cloud = vec![
         PointXYZ::new(0.0, 1.0, 5.0),
@@ -73,7 +84,6 @@ fn write_cloud_from_vec() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn write_empty_cloud_vec() {
     let cloud: Vec<PointXYZ> = vec![];
     let msg = PointCloud2Msg::try_from_vec(cloud);
@@ -90,7 +100,7 @@ fn write_empty_cloud_iter() {
 }
 
 #[test]
-#[cfg(all(feature = "derive", feature = "rayon"))]
+#[cfg(feature = "rayon")]
 fn conv_cloud_par_iter() {
     let cloud = vec![
         PointXYZ::new(0.0, 1.0, 5.0),
@@ -110,7 +120,7 @@ fn conv_cloud_par_iter() {
 }
 
 #[test]
-#[cfg(all(feature = "derive", feature = "rayon"))]
+#[cfg(feature = "rayon")]
 fn conv_cloud_par_par_iter() {
     let cloud = vec![
         PointXYZ::new(0.0, 1.0, 5.0),
@@ -133,14 +143,40 @@ fn conv_cloud_par_par_iter() {
 #[test]
 #[cfg(feature = "derive")]
 fn custom_xyz_f32() {
-    #[derive(Debug, PartialEq, Clone, Default, PointConvertible, TypeLayout)]
+    #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
         z: f32,
     }
 
+    impl From<RPCL2Point<3>> for CustomPoint {
+        fn from(point: RPCL2Point<3>) -> Self {
+            Self {
+                x: point[0].get(),
+                y: point[1].get(),
+                z: point[2].get(),
+            }
+        }
+    }
+
+    impl From<CustomPoint> for RPCL2Point<3> {
+        fn from(point: CustomPoint) -> Self {
+            [point.x.into(), point.y.into(), point.z.into()].into()
+        }
+    }
+
+    unsafe impl PointConvertible<3> for CustomPoint {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+            ])
+        }
+    }
+
     convert_from_into!(
         CustomPoint,
         vec![
@@ -164,7 +200,6 @@ fn custom_xyz_f32() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn custom_xyzi_f32() {
     let cloud: Vec<CustomPointXYZI> = vec![
         CustomPointXYZI {
@@ -193,8 +228,8 @@ fn custom_xyzi_f32() {
         },
     ];
 
-    #[derive(Debug, PartialEq, Clone, Default, PointConvertible, TypeLayout)]
+    #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPointXYZI {
         x: f32,
         y: f32,
@@ -202,14 +237,49 @@ fn custom_xyzi_f32() {
         i: u8,
     }
 
+    impl From<RPCL2Point<4>> for CustomPointXYZI {
+        fn from(point: RPCL2Point<4>) -> Self {
+            Self {
+                x: point[0].get(),
+                y: point[1].get(),
+                z: point[2].get(),
+                i: point[3].get(),
+            }
+        }
+    }
+
+    impl From<CustomPointXYZI> for RPCL2Point<4> {
+        fn from(point: CustomPointXYZI) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.i.into(),
+            ]
+            .into()
+        }
+    }
+
+    unsafe impl PointConvertible<4> for CustomPointXYZI {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("i", "u8", 1),
+                LayoutField::padding(3),
+            ])
+        }
+    }
+
     convert_from_into!(CustomPointXYZI, cloud);
 }
 
 #[test]
 #[cfg(feature = "derive")]
 fn custom_rgba_f32() {
-    #[derive(Debug, PartialEq, Clone, Default, PointConvertible, TypeLayout)]
+    #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -220,6 +290,53 @@ fn custom_rgba_f32() {
         a: u8,
     }
 
+    impl From<RPCL2Point<7>> for CustomPoint {
+        fn from(point: RPCL2Point<7>) -> Self {
+            Self {
+                x: point[0].get(),
+                y: point[1].get(),
+                z: point[2].get(),
+                r: point[3].get(),
+                g: point[4].get(),
+                b: point[5].get(),
+                a: point[6].get(),
+            }
+        }
+    }
+
+    impl From<CustomPoint> for RPCL2Point<7> {
+        fn from(point: CustomPoint) -> Self {
+            [
+                point.x.into(),
+                point.y.into(),
+                point.z.into(),
+                point.r.into(),
+                point.g.into(),
+                point.b.into(),
+                point.a.into(),
+            ]
+            .into()
+        }
+    }
+
+    unsafe impl PointConvertible<7> for CustomPoint {
+        fn layout() -> LayoutDescription {
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+                LayoutField::new("r", "u8", 1),
+                LayoutField::padding(3),
+                LayoutField::new("g", "u8", 1),
+                LayoutField::padding(3),
+                LayoutField::new("b", "u8", 1),
+                LayoutField::padding(3),
+                LayoutField::new("a", "u8", 1),
+                LayoutField::padding(3),
+            ])
+        }
+    }
+
     let cloud = vec![
         CustomPoint {
             x: 0.0,
@@ -375,7 +492,6 @@ fn converterxyzrgb() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn converterxyzrgb_from_vec() {
     convert_from_into_vec!(
         PointXYZRGB,
@@ -433,7 +549,6 @@ fn write_xyzi_read_xyz() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn write_xyzi_read_xyz_vec() {
     let write_cloud = vec![
         PointXYZI::new(0.0, 1.0, 5.0, 0.0),
@@ -453,10 +568,9 @@ fn write_xyzi_read_xyz_vec() {
 }
 
 #[test]
-#[cfg(feature = "derive")]
 fn write_less_than_available() {
-    #[derive(Debug, PartialEq, Clone, Default, TypeLayout)]
+    #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -481,14 +595,16 @@ fn write_less_than_available() {
         }
     }
 
-    impl Fields<3> for CustomPoint {
+    unsafe impl PointConvertible<3> for CustomPoint {
-        fn field_names_ordered() -> [&'static str; 3] {
+        fn layout() -> LayoutDescription {
-            ["x", "y", "z"]
+            LayoutDescription::new(&[
+                LayoutField::new("x", "f32", 4),
+                LayoutField::new("y", "f32", 4),
+                LayoutField::new("z", "f32", 4),
+            ])
         }
     }
 
-    impl PointConvertible<3> for CustomPoint {}
-
     let write_cloud = vec![
         CustomPoint {
             x: 1.0,
@@ -533,36 +649,3 @@ fn write_less_than_available() {
 
     convert_from_into_in_out_cloud!(write_cloud, CustomPoint, read_cloud, CustomPoint);
 }
-
-#[test]
-#[cfg(feature = "derive")]
-#[allow(unused_variables)]
-fn readme() {
-    use ros_pointcloud2::prelude::*;
-
-    // PointXYZ (and many others) are provided by the crate.
-    let cloud_points = vec![
-        PointXYZI::new(91.486, -4.1, 42.0001, 0.1),
-        PointXYZI::new(f32::MAX, f32::MIN, f32::MAX, f32::MIN),
-    ];
-
-    let out_msg = PointCloud2Msg::try_from_vec(cloud_points).unwrap();
-
-    // Convert the ROS crate message type, we will use r2r here.
-    // let msg: r2r::sensor_msgs::msg::PointCloud2 = out_msg.into();
-    // Publish ...
-    // ... now incoming from a topic.
-    // let in_msg: PointCloud2Msg = msg.into();
-    let in_msg = out_msg;
-
-    let processed_cloud = in_msg
-        .try_into_iter()
-        .unwrap()
-        .map(|point: PointXYZ| {
-            // Define the info you want to have from the Msg.
-            // Some logic here ...
-
-            point
-        })
-        .collect::<Vec<_>>();
-}

tests/rclrs_msg_test.rs

@@ -0,0 +1,32 @@
+#[cfg(feature = "rclrs_msg")]
+#[test]
+fn convertxyz_rclrs_msg() {
+    use ros_pointcloud2::{points::PointXYZ, PointCloud2Msg};
+
+    use sensor_msgs::msg::PointCloud2;
+
+    let cloud = vec![
+        PointXYZ {
+            x: 1.0,
+            y: 2.0,
+            z: 3.0,
+        },
+        PointXYZ {
+            x: 4.0,
+            y: 5.0,
+            z: 6.0,
+        },
+        PointXYZ {
+            x: 7.0,
+            y: 8.0,
+            z: 9.0,
+        },
+    ];
+    let copy = cloud.clone();
+    let internal_cloud = PointCloud2Msg::try_from_iter(cloud).unwrap();
+    let rclrs_msg_cloud: PointCloud2 = internal_cloud.into();
+    let convert_back_internal: PointCloud2Msg = rclrs_msg_cloud.into();
+    let to_convert = convert_back_internal.try_into_iter().unwrap();
+    let back_to_type = to_convert.collect::<Vec<PointXYZ>>();
+    assert_eq!(copy, back_to_type);
+}

tests/rclrs_test.bash

@@ -15,6 +15,11 @@ if [ -e "/opt/ros/humble/setup.bash" ]; then
     . "/ros2_rust_build/install/local_setup.bash"
 fi
 
+if [ -e "/opt/ros/galactic/setup.bash" ]; then
+    . "/opt/ros/galactic/setup.bash"
+    . "/ros2_rust_build/install/local_setup.bash"
+fi
+
 cd /ros2_rust_build/src/ros_pointcloud2_tests/ || exit
 
 "$@"

type-layout/Cargo.toml

@@ -1,27 +0,0 @@
-[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 }

type-layout/LICENSE-APACHE

@@ -1,201 +0,0 @@
-i                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
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-
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-      outstanding shares, or (iii) beneficial ownership of such entity.
-
-      "You" (or "Your") shall mean an individual or Legal Entity
-      exercising permissions granted by this License.
-
-      "Source" form shall mean the preferred form for making modifications,
-      including but not limited to software source code, documentation
-      source, and configuration files.
-
-      "Object" form shall mean any form resulting from mechanical
-      transformation or translation of a Source form, including but
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-      "Work" shall mean the work of authorship, whether in Source or
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-      PARTICULAR PURPOSE. You are solely responsible for determining the
-      appropriateness of using or redistributing the Work and assume any
-      risks associated with Your exercise of permissions under this License.
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-   8. Limitation of Liability. In no event and under no legal theory,
-      whether in tort (including negligence), contract, or otherwise,
-      unless required by applicable law (such as deliberate and grossly
-      negligent acts) or agreed to in writing, shall any Contributor be
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-      defend, and hold each Contributor harmless for any liability
-      incurred by, or claims asserted against, such Contributor by reason
-      of your accepting any such warranty or additional liability.
-
-   END OF TERMS AND CONDITIONS
-
-   APPENDIX: How to apply the Apache License to your work.
-
-      To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "{}"
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-      file or class name and description of purpose be included on the
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-
-   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.

type-layout/LICENSE-MIT

@@ -1,19 +0,0 @@
-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.

type-layout/src/lib.rs

@@ -1,204 +0,0 @@
-/*!
-[![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
-    )
-}

type-layout/type-layout-derive/Cargo.toml

@@ -1,18 +0,0 @@
-[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"

type-layout/type-layout-derive/src/lib.rs

@@ -1,93 +0,0 @@
-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"),
-    }
-}