merge no_std

stelzo · May 15, 2024 · 756647e · 756647e
2 parents b2e9209 + 529c7e1
commit 756647e
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diff --git a/.github/workflows/crates.yml b/.github/workflows/crates.yml
@@ -19,4 +19,4 @@ jobs:
         uses: actions-rs/cargo@v1
         with:
           command: publish
-          args: --token ${{ secrets.CRATES_IO_TOKEN }}
+          args: --token ${{ secrets.CRATES_IO_TOKEN }}
diff --git a/.github/workflows/r2r_galactic.yml b/.github/workflows/r2r_galactic.yml
@@ -16,6 +16,6 @@ jobs:
   tests_galactic:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_r2r_galactic --tag r2r_galactic
-    - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_r2r_galactic --tag r2r_galactic
+      - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/r2r_humble.yml b/.github/workflows/r2r_humble.yml
@@ -16,6 +16,6 @@ jobs:
   tests_humble:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_r2r_humble --tag r2r_humble
-    - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_r2r_humble --tag r2r_humble
+      - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/r2r_iron.yml b/.github/workflows/r2r_iron.yml
@@ -16,6 +16,6 @@ jobs:
   tests_humble:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_r2r_iron --tag r2r_iron
-    - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_r2r_iron --tag r2r_iron
+      - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/rclrs_humble.yml b/.github/workflows/rclrs_humble.yml
@@ -16,6 +16,6 @@ jobs:
   tests_humble:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_rclrs_humble --tag rclrs_humble
-    - run: docker run rclrs_humble cargo test --features derive,nalgebra,rayon
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_rclrs_humble --tag rclrs_humble
+      - run: docker run rclrs_humble cargo test --features derive,nalgebra,rayon
diff --git a/.github/workflows/rclrs_iron.yml b/.github/workflows/rclrs_iron.yml
@@ -16,6 +16,6 @@ jobs:
   tests_iron:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - run: docker build . --file ./tests/Dockerfile_rclrs_iron --tag rclrs_iron
-    - run: docker run rclrs_iron cargo test --features derive,nalgebra,rayon
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./tests/Dockerfile_rclrs_iron --tag rclrs_iron
+      - run: docker run rclrs_iron cargo test --features derive,nalgebra,rayon
diff --git a/.github/workflows/rosrust_noetic.yml b/.github/workflows/rosrust_noetic.yml
@@ -13,11 +13,11 @@ jobs:
   build:
     runs-on: ubuntu-20.04
     env:
-      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
+      ROS_CI_DESKTOP: "`lsb_release -cs`" # e.g. [trusty|xenial|...]
       # CI_SOURCE_PATH: $(pwd)
       ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
       CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
-      ROS_PARALLEL_JOBS: '-j8 -l6'
+      ROS_PARALLEL_JOBS: "-j8 -l6"
       # Set the python path manually to include /usr/-/python2.7/dist-packages
       # as this is where apt-get installs python packages.
       PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
@@ -27,81 +27,81 @@ jobs:
         uses: actions/checkout@v1
       - name: Install latest rust
         run: |
-            curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
-            rustc --version
-            cargo --version
+          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
+          rustc --version
+          cargo --version
       - name: Configure ROS for install
         run: |
-            sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
-            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-            sudo apt-get update -qq
-            sudo apt-get install dpkg
-            sudo apt-get install -y libyaml-cpp-dev
+          sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+          sudo apt-get update -qq
+          sudo apt-get install dpkg
+          sudo apt-get install -y libyaml-cpp-dev
       - name: Install ROS basic packages
         run: |
-            sudo apt-get install -y python3-catkin-pkg
-            sudo apt-get install -y python3-catkin-tools
-            sudo apt-get install -y python3-rosdep
-            sudo apt-get install -y python3-wstool
-            sudo apt-get install -y python3-osrf-pycommon
-            sudo apt-get install -y ros-cmake-modules
-            sudo apt-get install -y ros-$ROS_DISTRO-ros-base
-            source /opt/ros/$ROS_DISTRO/setup.bash
-            sudo rosdep init
-            rosdep update  # --include-eol-distros  # Support EOL distros.
-      - name: Install ROS additional packages (TODO maybe don't need these)
+          sudo apt-get install -y python3-catkin-pkg
+          sudo apt-get install -y python3-catkin-tools
+          sudo apt-get install -y python3-rosdep
+          sudo apt-get install -y python3-wstool
+          sudo apt-get install -y python3-osrf-pycommon
+          sudo apt-get install -y ros-cmake-modules
+          sudo apt-get install -y ros-$ROS_DISTRO-ros-base
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          sudo rosdep init
+          rosdep update  # --include-eol-distros  # Support EOL distros.
+      - name: Install ROS additional packages
         # Does installing these mean rosrust_msg builds more messages, which is a better
         # check?  Or does it just slow down the action?
         run: |
-            sudo apt-get install -y ros-$ROS_DISTRO-actionlib
-            sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
-            sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
-            sudo apt-get install -y ros-$ROS_DISTRO-compressed-image-transport
-            sudo apt-get install -y ros-$ROS_DISTRO-catkin
-            sudo apt-get install -y ros-$ROS_DISTRO-class-loader
-            sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
-            sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
-            sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
-            sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
-            # Not in noetic yet
-            # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure-python
-            sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
-            sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
-            sudo apt-get install -y ros-$ROS_DISTRO-genmsg
-            sudo apt-get install -y ros-$ROS_DISTRO-image-geometry
-            sudo apt-get install -y ros-$ROS_DISTRO-image-proc
-            sudo apt-get install -y ros-$ROS_DISTRO-image-transport
-            sudo apt-get install -y ros-$ROS_DISTRO-message-generation
-            sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
-            # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
-            # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
-            # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
-            # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
-            sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
-            sudo apt-get install -y ros-$ROS_DISTRO-roscpp
-            sudo apt-get install -y ros-$ROS_DISTRO-roslib
-            sudo apt-get install -y ros-$ROS_DISTRO-roslint
-            sudo apt-get install -y ros-$ROS_DISTRO-rospy
-            sudo apt-get install -y ros-$ROS_DISTRO-rospy-message-converter
-            sudo apt-get install -y ros-$ROS_DISTRO-rostest
-            sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
-            sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
-            sudo apt-get install -y ros-$ROS_DISTRO-tf
-            sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
-            sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
-            sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
-            sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
-            sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
-            sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-actionlib
+          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
+          sudo apt-get install -y ros-$ROS_DISTRO-compressed-image-transport
+          sudo apt-get install -y ros-$ROS_DISTRO-catkin
+          sudo apt-get install -y ros-$ROS_DISTRO-class-loader
+          sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
+          sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
+          sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
+          sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
+          # Not in noetic yet
+          # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure-python
+          sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
+          sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-genmsg
+          sudo apt-get install -y ros-$ROS_DISTRO-image-geometry
+          sudo apt-get install -y ros-$ROS_DISTRO-image-proc
+          sudo apt-get install -y ros-$ROS_DISTRO-image-transport
+          sudo apt-get install -y ros-$ROS_DISTRO-message-generation
+          sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
+          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
+          # sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
+          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
+          # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
+          sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
+          sudo apt-get install -y ros-$ROS_DISTRO-roscpp
+          sudo apt-get install -y ros-$ROS_DISTRO-roslib
+          sudo apt-get install -y ros-$ROS_DISTRO-roslint
+          sudo apt-get install -y ros-$ROS_DISTRO-rospy
+          sudo apt-get install -y ros-$ROS_DISTRO-rospy-message-converter
+          sudo apt-get install -y ros-$ROS_DISTRO-rostest
+          sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-tf
+          sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
+          sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
       - name: build
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash
           cargo build  # --verbose
       - name: Install ROS packages for tests
         run: |
-            sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
-            sudo apt-get install -y ros-$ROS_DISTRO-roscpp-tutorials
-            sudo apt-get install -y ros-$ROS_DISTRO-rospy-tutorials
+          sudo apt-get install -y ros-$ROS_DISTRO-actionlib-tutorials
+          sudo apt-get install -y ros-$ROS_DISTRO-roscpp-tutorials
+          sudo apt-get install -y ros-$ROS_DISTRO-rospy-tutorials
       - name: test
         run: |
           source /opt/ros/$ROS_DISTRO/setup.bash

diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
@@ -19,9 +19,9 @@ jobs:
       - uses: actions/checkout@v2
       - name: Install latest Rust
         run: |
-            curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
-            rustc --version
-            cargo --version
+          curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | sh -s -- -y
+          rustc --version
+          cargo --version
       - name: Linting
         run: cargo clippy --all-targets -- -D warnings
       - name: Tests

diff --git a/Cargo.toml b/Cargo.toml
@@ -26,6 +26,7 @@ exclude = [
     "**/docs/**",
     "**/doc/**",
 ]
+rust-version = "1.63"
 
 [dependencies]
 rosrust_msg = { version = "0.1", optional = true }
@@ -34,7 +35,7 @@ r2r = { version = "0.8.4", optional = true }
 rayon = { version = "1", optional = true }
 nalgebra = { version = "0", optional = true }
 rpcl2_derive = { path = "./rpcl2_derive", optional = true }
-type-layout = { version = "0.2", optional = true }
+type-layout = { git = "https://github.com/stelzo/type-layout", branch = "syn2", optional = true }
 
 sensor_msgs = { version = "*", optional = true }
 std_msgs = { version = "*", optional = true }
@@ -55,11 +56,10 @@ r2r_msg = ["dep:r2r"]
 rayon = ["dep:rayon"]
 derive = ["dep:rpcl2_derive", "dep:type-layout"]
 nalgebra = ["dep:nalgebra"]
+std = []
 
-default = ["rclrs_msg"]
+default = ["derive", "std", "rclrs_msg"]
 
 [package.metadata.docs.rs]
 features = ["derive", "nalgebra", "rayon"]
 default-target = "x86_64-unknown-linux-gnu"
-
-rclrs_msg = ["dep:sensor_msgs", "dep:std_msgs", "dep:builtin_interfaces"]
diff --git a/README.md b/README.md
@@ -95,6 +95,10 @@ The results are measured on an Intel i7-14700 with benchmarks from [this reposit
 
 For minimizing the conversion overhead in general, always use the functions that best fit your use case.
 
+## `#[no_std]`
+
+The `_iter` conversions are compatible with `#[no_std]` environments when an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate.
+
 ## License
 
 [MIT](https://choosealicense.com/licenses/mit/)
diff --git a/rpcl2_derive/Cargo.toml b/rpcl2_derive/Cargo.toml
@@ -7,6 +7,6 @@ edition = "2021"
 proc-macro = true
 
 [dependencies]
-syn = "1"
-quote = "1"
-proc-macro2 = "1"
+syn = "2.0"
+quote = "1.0"
+proc-macro2 = "1.0"
diff --git a/rpcl2_derive/src/lib.rs b/rpcl2_derive/src/lib.rs
@@ -4,7 +4,7 @@ use std::collections::HashMap;
 
 use proc_macro::TokenStream;
 use quote::{quote, ToTokens};
-use syn::{parse_macro_input, DeriveInput};
+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();
@@ -19,28 +19,6 @@ fn get_allowed_types() -> HashMap<&'static str, usize> {
     allowed_datatypes
 }
 
-// Given a field, get the value of the `rpcl2` renaming attribute like
-// #[rpcl2(name = "new_name")]
-fn get_ros_fields_attribute(attrs: &[syn::Attribute]) -> Option<syn::Lit> {
-    for attr in attrs {
-        if attr.path.is_ident("rpcl2") {
-            let meta = attr.parse_meta().unwrap();
-            if let syn::Meta::List(meta_list) = meta {
-                for nested_meta in meta_list.nested {
-                    if let syn::NestedMeta::Meta(meta) = nested_meta {
-                        if let syn::Meta::NameValue(meta_name_value) = meta {
-                            if meta_name_value.path.is_ident("name") {
-                                return Some(meta_name_value.lit);
-                            }
-                        }
-                    }
-                }
-            }
-        }
-    }
-    None
-}
-
 fn struct_field_rename_array(input: &DeriveInput) -> Vec<String> {
     let fields = match input.data {
         syn::Data::Struct(ref data) => match data.fields {
@@ -50,31 +28,39 @@ fn struct_field_rename_array(input: &DeriveInput) -> Vec<String> {
         _ => panic!("StructNames can only be derived for structs"),
     };
 
-    fields
-        .iter()
-        .map(|field| {
-            let field_name = field.ident.as_ref().unwrap();
-            let ros_fields_attr = get_ros_fields_attribute(&field.attrs);
-            match ros_fields_attr {
-                Some(ros_fields) => match ros_fields {
-                    syn::Lit::Str(lit_str) => {
-                        let val = lit_str.value();
-                        if val.is_empty() {
-                            panic!("Empty string literals are not allowed for the rpcl2 attribute");
+    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");
                         }
-                        val
-                    }
-                    _ => {
-                        panic!("Only string literals are allowed for the rpcl2 attribute")
+                    });
+                    if let Err(err) = res {
+                        panic!("Error parsing attribute: {}", err);
                     }
-                },
-                None => String::from(field_name.to_token_stream().to_string()),
-            }
-        })
-        .collect()
+                }
+            });
+        }
+    }
+
+    field_names
 }
 
-/// This macro will implement the `Fields` trait for your struct so you can use your point for the PointCloud2 conversion.
+/// 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))]
@@ -104,11 +90,14 @@ pub fn ros_point_fields_derive(input: TokenStream) -> TokenStream {
     expanded.into()
 }
 
-/// This macro will fully implement the `PointConvertible` trait for your struct so you can use your point for the PointCloud2 conversion.
+/// 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);