From 806536762e24e394e31c860b332d6b940f7dd727 Mon Sep 17 00:00:00 2001 From: stelzo Date: Wed, 15 May 2024 21:46:00 +0200 Subject: [PATCH] move to dual license, inline crate for syn2 --- Cargo.toml | 4 +- LICENSE-APACHE | 201 +++++++++++++++++++++ LICENSE => LICENSE-MIT | 2 +- README.md | 14 +- type-layout/Cargo.toml | 27 +++ type-layout/LICENSE-APACHE | 201 +++++++++++++++++++++ type-layout/LICENSE-MIT | 19 ++ type-layout/src/lib.rs | 204 ++++++++++++++++++++++ type-layout/type-layout-derive/Cargo.toml | 18 ++ type-layout/type-layout-derive/src/lib.rs | 93 ++++++++++ 10 files changed, 775 insertions(+), 8 deletions(-) create mode 100644 LICENSE-APACHE rename LICENSE => LICENSE-MIT (96%) create mode 100644 type-layout/Cargo.toml create mode 100644 type-layout/LICENSE-APACHE create mode 100644 type-layout/LICENSE-MIT create mode 100644 type-layout/src/lib.rs create mode 100644 type-layout/type-layout-derive/Cargo.toml create mode 100644 type-layout/type-layout-derive/src/lib.rs diff --git a/Cargo.toml b/Cargo.toml index 6f18424..5f9b847 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -5,7 +5,7 @@ edition = "2021" authors = ["Christopher Sieh "] description = "Customizable conversions for working with sensor_msgs/PointCloud2." repository = "https://github.com/stelzo/ros_pointcloud2" -license = "MIT" +license = "MIT OR Apache-2.0" keywords = ["ros", "pointcloud2", "pointcloud", "message"] categories = [ "science::robotics", @@ -35,7 +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 = { git = "https://github.com/stelzo/type-layout", branch = "syn2", optional = true } +type-layout = { path = "type-layout", optional = true } [dev-dependencies] rand = "0.8" diff --git a/LICENSE-APACHE b/LICENSE-APACHE new file mode 100644 index 0000000..d42ecff --- /dev/null +++ b/LICENSE-APACHE @@ -0,0 +1,201 @@ +i Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + 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 "{}" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/LICENSE b/LICENSE-MIT similarity index 96% rename from LICENSE rename to LICENSE-MIT index 0ceb3c6..1bcdf6f 100644 --- a/LICENSE +++ b/LICENSE-MIT @@ -1,6 +1,6 @@ The MIT License (MIT) -Copyright (c) 2023 Christopher Sieh +Copyright (c) 2024 Christopher Sieh Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal diff --git a/README.md b/README.md index ae1d811..a2ce41c 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,5 @@ -## !! Note !! - -This library is currently in development for v1.0.0, for the documentation of v0.4.0 on crates.io, visit the [docs](https://docs.rs/ros_pointcloud2/0.4.0/ros_pointcloud2/). +> [!NOTE] +> This library is currently in development for v1. For the documentation of the current live version v0.4, visit the [docs](https://docs.rs/ros_pointcloud2/0.4.0/ros_pointcloud2/).

ROS PointCloud2

@@ -95,10 +94,15 @@ The results are measured on an Intel i7-14700 with benchmarks from [this reposit For minimizing the conversion overhead in general, always use the functions that best fit your use case. -## `#[no_std]` +## `no_std` Environments The `_iter` conversions are compatible with `#[no_std]` environments when an allocator is provided. This is due to the fact that names for point fields do not have a maximum length, and PointCloud2 data vectors can have arbitrary sizes. Use `default-features = false` to disable std for this crate. ## License -[MIT](https://choosealicense.com/licenses/mit/) +Dual licensed under your choice of either of: + +- [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0) +- [MIT License](https://opensource.org/licenses/MIT) + +at your option. diff --git a/type-layout/Cargo.toml b/type-layout/Cargo.toml new file mode 100644 index 0000000..c4d7fc7 --- /dev/null +++ b/type-layout/Cargo.toml @@ -0,0 +1,27 @@ +[package] +name = "type-layout" +description = "Derivable trait to view the layout of a struct, useful for debugging." +version = "0.2.0" +edition = "2018" +authors = ["Lucien Greathouse "] +documentation = "https://docs.rs/type-layout" +homepage = "https://github.com/LPGhatguy/type-layout" +repository = "https://github.com/LPGhatguy/type-layout" +readme = "README.md" +keywords = ["layout", "struct", "type"] +license = "MIT OR Apache-2.0" +rust-version = "1.60.0" + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[features] +serde1 = ["serde"] + +[workspace] +members = ["type-layout-derive", "try-crate"] + +[dependencies] +type-layout-derive = { version = "0.2.0", path = "type-layout-derive" } + +memoffset = "0.5" +serde = { version = "1.0.116", features = ["derive"], optional = true } diff --git a/type-layout/LICENSE-APACHE b/type-layout/LICENSE-APACHE new file mode 100644 index 0000000..d42ecff --- /dev/null +++ b/type-layout/LICENSE-APACHE @@ -0,0 +1,201 @@ +i Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. Definitions. + + "License" shall mean the terms and conditions for use, reproduction, + and distribution as defined by Sections 1 through 9 of this document. + + "Licensor" shall mean the copyright owner or entity authorized by + the copyright owner that is granting the License. + + "Legal Entity" shall mean the union of the acting entity and all + other entities that control, are controlled by, or are under common + control with that entity. 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For the purposes + of this License, Derivative Works shall not include works that remain + separable from, or merely link (or bind by name) to the interfaces of, + the Work and Derivative Works thereof. + + "Contribution" shall mean any work of authorship, including + the original version of the Work and any modifications or additions + to that Work or Derivative Works thereof, that is intentionally + submitted to Licensor for inclusion in the Work by the copyright owner + or by an individual or Legal Entity authorized to submit on behalf of + the copyright owner. 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If You + institute patent litigation against any entity (including a + cross-claim or counterclaim in a lawsuit) alleging that the Work + or a Contribution incorporated within the Work constitutes direct + or contributory patent infringement, then any patent licenses + granted to You under this License for that Work shall terminate + as of the date such litigation is filed. + + 4. Redistribution. You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. The contents + of the NOTICE file are for informational purposes only and + do not modify the License. You may add Your own attribution + notices within Derivative Works that You distribute, alongside + or as an addendum to the NOTICE text from the Work, provided + that such additional attribution notices cannot be construed + as modifying the License. + + You may add Your own copyright statement to Your modifications and + may provide additional or different license terms and conditions + for use, reproduction, or distribution of Your modifications, or + for any such Derivative Works as a whole, provided Your use, + reproduction, and distribution of the Work otherwise complies with + the conditions stated in this License. + + 5. Submission of Contributions. Unless You explicitly state otherwise, + any Contribution intentionally submitted for inclusion in the Work + by You to the Licensor shall be under the terms and conditions of + this License, without any additional terms or conditions. + Notwithstanding the above, nothing herein shall supersede or modify + the terms of any separate license agreement you may have executed + with Licensor regarding such Contributions. + + 6. Trademarks. This License does not grant permission to use the trade + names, trademarks, service marks, or product names of the Licensor, + except as required for reasonable and customary use in describing the + origin of the Work and reproducing the content of the NOTICE file. + + 7. Disclaimer of Warranty. Unless required by applicable law or + agreed to in writing, Licensor provides the Work (and each + Contributor provides its Contributions) on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or + implied, including, without limitation, any warranties or conditions + of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A + 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. + + 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 + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + 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 "{}" + replaced with your own identifying information. (Don't include + the brackets!) The text should be enclosed in the appropriate + comment syntax for the file format. We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright {yyyy} {name of copyright owner} + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/type-layout/LICENSE-MIT b/type-layout/LICENSE-MIT new file mode 100644 index 0000000..32c2307 --- /dev/null +++ b/type-layout/LICENSE-MIT @@ -0,0 +1,19 @@ +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. \ No newline at end of file diff --git a/type-layout/src/lib.rs b/type-layout/src/lib.rs new file mode 100644 index 0000000..af8d7b3 --- /dev/null +++ b/type-layout/src/lib.rs @@ -0,0 +1,204 @@ +/*! +[![GitHub CI Status](https://github.com/LPGhatguy/type-layout/workflows/CI/badge.svg)](https://github.com/LPGhatguy/type-layout/actions) +[![type-layout on crates.io](https://img.shields.io/crates/v/type-layout.svg)](https://crates.io/crates/type-layout) +[![type-layout docs](https://img.shields.io/badge/docs-docs.rs-orange.svg)](https://docs.rs/type-layout) + +type-layout is a type layout debugging aid, providing a `#[derive]`able trait +that reports: +- The type's name, size, and minimum alignment +- Each field's name, type, offset, and size +- Padding due to alignment requirements + +**type-layout currently only functions on structs with named fields.** This is a +temporary limitation. + +## Examples + +The layout of types is only defined if they're `#[repr(C)]`. This crate works on +non-`#[repr(C)]` types, but their layout is unpredictable. + +```rust +use type_layout::TypeLayout; + +#[derive(TypeLayout)] +#[repr(C)] +struct Foo { + a: u8, + b: u32, +} + +println!("{}", Foo::type_layout()); +// prints: +// Foo (size 8, alignment 4) +// | Offset | Name | Size | +// | ------ | --------- | ---- | +// | 0 | a | 1 | +// | 1 | [padding] | 3 | +// | 4 | b | 4 | +``` + +Over-aligned types have trailing padding, which can be a source of bugs in some +FFI scenarios: + +```rust +use type_layout::TypeLayout; + +#[derive(TypeLayout)] +#[repr(C, align(128))] +struct OverAligned { + value: u8, +} + +println!("{}", OverAligned::type_layout()); +// prints: +// OverAligned (size 128, alignment 128) +// | Offset | Name | Size | +// | ------ | --------- | ---- | +// | 0 | value | 1 | +// | 1 | [padding] | 127 | +``` + +## Minimum Supported Rust Version (MSRV) + +type-layout supports Rust 1.34.1 and newer. Until type-layout reaches 1.0, +changes to the MSRV will require major version bumps. After 1.0, MSRV changes +will only require minor version bumps, but will need significant justification. +*/ + +use std::borrow::Cow; +use std::fmt::{self, Display}; +use std::str; + +pub use type_layout_derive::TypeLayout; + +#[doc(hidden)] +pub use memoffset; + +pub trait TypeLayout { + fn type_layout() -> TypeLayoutInfo; +} + +#[derive(Debug)] +#[cfg_attr(feature = "serde1", derive(serde::Serialize, serde::Deserialize))] +pub struct TypeLayoutInfo { + pub name: Cow<'static, str>, + pub size: usize, + pub alignment: usize, + pub fields: Vec, +} + +#[derive(Debug)] +#[cfg_attr(feature = "serde1", derive(serde::Serialize, serde::Deserialize))] +pub enum Field { + Field { + name: Cow<'static, str>, + ty: Cow<'static, str>, + size: usize, + }, + Padding { + size: usize, + }, +} + +impl fmt::Display for TypeLayoutInfo { + fn fmt(&self, formatter: &mut fmt::Formatter) -> fmt::Result { + writeln!( + formatter, + "{} (size {}, alignment {})", + self.name, self.size, self.alignment + )?; + + let longest_name = self + .fields + .iter() + .map(|field| match field { + Field::Field { name, .. } => name.len(), + Field::Padding { .. } => "[padding]".len(), + }) + .max() + .unwrap_or(1); + + let widths = RowWidths { + offset: "Offset".len(), + name: longest_name, + size: "Size".len(), + }; + + write_row( + formatter, + widths, + Row { + offset: "Offset", + name: "Name", + size: "Size", + }, + )?; + + write_row( + formatter, + widths, + Row { + offset: "------", + name: str::repeat("-", longest_name), + size: "----", + }, + )?; + + let mut offset = 0; + + for field in &self.fields { + match field { + Field::Field { name, size, .. } => { + write_row(formatter, widths, Row { offset, name, size })?; + + offset += size; + } + Field::Padding { size } => { + write_row( + formatter, + widths, + Row { + offset, + name: "[padding]", + size, + }, + )?; + + offset += size; + } + } + } + + Ok(()) + } +} + +#[derive(Clone, Copy)] +struct RowWidths { + offset: usize, + name: usize, + size: usize, +} + +struct Row { + offset: O, + name: N, + size: S, +} + +fn write_row( + formatter: &mut fmt::Formatter, + widths: RowWidths, + row: Row, +) -> fmt::Result { + writeln!( + formatter, + "| {:"] +homepage = "https://github.com/LPGhatguy/type-layout" +license = "MIT OR Apache-2.0" + +[lib] +proc-macro = true + +# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html + +[dependencies] +syn = "2" +quote = "1.0.7" +proc-macro2 = "1.0.21" diff --git a/type-layout/type-layout-derive/src/lib.rs b/type-layout/type-layout-derive/src/lib.rs new file mode 100644 index 0000000..a031c6e --- /dev/null +++ b/type-layout/type-layout-derive/src/lib.rs @@ -0,0 +1,93 @@ +extern crate proc_macro; + +use proc_macro::TokenStream; + +use proc_macro2::{Ident, Literal}; +use quote::{quote, quote_spanned, ToTokens}; +use syn::{parse_macro_input, spanned::Spanned, Data, DeriveInput, Fields}; + +#[proc_macro_derive(TypeLayout)] +pub fn derive_type_layout(input: TokenStream) -> TokenStream { + // Parse the input tokens into a syntax tree + let input = parse_macro_input!(input as DeriveInput); + + // Used in the quasi-quotation below as `#name`. + let name = input.ident; + let name_str = Literal::string(&name.to_string()); + + let (impl_generics, ty_generics, where_clause) = input.generics.split_for_impl(); + let layout = layout_of_type(&name, &input.data); + + // Build the output, possibly using quasi-quotation + let expanded = quote! { + impl #impl_generics ::type_layout::TypeLayout for #name #ty_generics #where_clause { + fn type_layout() -> ::type_layout::TypeLayoutInfo { + let mut last_field_end = 0; + let mut fields = Vec::new(); + + #layout + + ::type_layout::TypeLayoutInfo { + name: ::std::borrow::Cow::Borrowed(#name_str), + size: std::mem::size_of::<#name>(), + alignment: ::std::mem::align_of::<#name>(), + fields, + } + } + } + }; + + // Hand the output tokens back to the compiler + TokenStream::from(expanded) +} + +fn layout_of_type(struct_name: &Ident, data: &Data) -> proc_macro2::TokenStream { + match data { + Data::Struct(data) => match &data.fields { + Fields::Named(fields) => { + let values = fields.named.iter().map(|field| { + let field_name = field.ident.as_ref().unwrap(); + let field_name_str = Literal::string(&field_name.to_string()); + let field_ty = &field.ty; + let field_ty_str = Literal::string(&field_ty.to_token_stream().to_string()); + + quote_spanned! { field.span() => + #[allow(unused_assignments)] + { + let size = ::std::mem::size_of::<#field_ty>(); + let offset = ::type_layout::memoffset::offset_of!(#struct_name, #field_name); + + if offset > last_field_end { + fields.push(::type_layout::Field::Padding { + size: offset - last_field_end + }); + } + + fields.push(::type_layout::Field::Field { + name: ::std::borrow::Cow::Borrowed(#field_name_str), + ty: ::std::borrow::Cow::Borrowed(#field_ty_str), + size, + }); + + last_field_end = offset + size; + } + } + }); + + quote! { + #(#values)* + + let struct_size = ::std::mem::size_of::<#struct_name>(); + if struct_size > last_field_end { + fields.push(::type_layout::Field::Padding { + size: struct_size - last_field_end, + }); + } + } + } + Fields::Unnamed(_) => unimplemented!(), + Fields::Unit => unimplemented!(), + }, + Data::Enum(_) | Data::Union(_) => unimplemented!("type-layout only supports structs"), + } +}