unsafe impl in tests

stelzo · Jun 23, 2024 · d72a449 · d72a449
1 parent 4b9a4dd
commit d72a449
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Showing 2 changed files with 25 additions and 10 deletions.
diff --git a/tests/Dockerfile_rclrs_jazzy b/tests/Dockerfile_rclrs_jazzy
@@ -10,15 +10,16 @@ RUN apt-get install -y \
     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 git+https://github.com/colcon/colcon-cargo.git
-RUN pip install git+https://github.com/colcon/colcon-ros-cargo.git
+RUN python3 -m pip install git+https://github.com/colcon/colcon-cargo.git
+RUN python3 -m pip install 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

diff --git a/tests/e2e_test.rs b/tests/e2e_test.rs
@@ -1,3 +1,4 @@
+use pretty_assertions::assert_eq;
 use ros_pointcloud2::prelude::*;
 
 #[cfg(feature = "derive")]
@@ -55,6 +56,19 @@ fn write_cloud() {
     let msg = PointCloud2Msg::try_from_iter(cloud);
     assert!(msg.is_ok());
 }
+/*
+#[test]
+fn collect_vec() {
+    let cloud = vec![
+        PointXYZ::new(0.0, 1.0, 5.0),
+        PointXYZ::new(1.0, 1.5, 5.0),
+        PointXYZ::new(1.3, 1.6, 5.7),
+        PointXYZ::new(f32::MAX, f32::MIN, f32::MAX),
+    ]
+    .into_iter();
+
+    let msg: Result<PointCloud2Msg, MsgConversionError> = cloud.collect();
+}*/
 
 #[test]
 fn write_cloud_from_vec() {
@@ -130,7 +144,7 @@ fn conv_cloud_par_par_iter() {
 #[cfg(feature = "derive")]
 fn custom_xyz_f32() {
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -153,7 +167,7 @@ fn custom_xyz_f32() {
         }
     }
 
-    impl PointConvertible<3> for CustomPoint {
+    unsafe impl PointConvertible<3> for CustomPoint {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),
@@ -215,7 +229,7 @@ fn custom_xyzi_f32() {
     ];
 
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPointXYZI {
         x: f32,
         y: f32,
@@ -246,7 +260,7 @@ fn custom_xyzi_f32() {
         }
     }
 
-    impl PointConvertible<4> for CustomPointXYZI {
+    unsafe impl PointConvertible<4> for CustomPointXYZI {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),
@@ -265,7 +279,7 @@ fn custom_xyzi_f32() {
 #[cfg(feature = "derive")]
 fn custom_rgba_f32() {
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -305,7 +319,7 @@ fn custom_rgba_f32() {
         }
     }
 
-    impl PointConvertible<7> for CustomPoint {
+    unsafe impl PointConvertible<7> for CustomPoint {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),
@@ -556,7 +570,7 @@ fn write_xyzi_read_xyz_vec() {
 #[test]
 fn write_less_than_available() {
     #[derive(Debug, PartialEq, Clone, Default)]
-    #[repr(C)]
+    #[repr(C, align(4))]
     struct CustomPoint {
         x: f32,
         y: f32,
@@ -581,7 +595,7 @@ fn write_less_than_available() {
         }
     }
 
-    impl PointConvertible<3> for CustomPoint {
+    unsafe impl PointConvertible<3> for CustomPoint {
         fn layout() -> LayoutDescription {
             LayoutDescription::new(&[
                 LayoutField::new("x", "f32", 4),