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Check for null in from_raw_parts which rust 1.78 does not like.
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Revert temporary fix for CI. Closes #96.
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@m-dahl
m-dahl committed May 17, 2024
1 parent 33b82da commit 381f810
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Showing 7 changed files with 171 additions and 96 deletions.
8 changes: 6 additions & 2 deletions r2r/src/msg_types.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -93,8 +93,12 @@ pub trait WrappedTypesupport:
)
};

let data_bytes = unsafe {
std::slice::from_raw_parts(msg_buf.buffer, msg_buf.buffer_length).to_vec()
let data_bytes = if msg_buf.buffer == std::ptr::null_mut() {
Vec::new()
} else {
unsafe {
std::slice::from_raw_parts(msg_buf.buffer, msg_buf.buffer_length).to_vec()
}
};

Self::destroy_msg(msg);
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138 changes: 82 additions & 56 deletions r2r/src/nodes.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -115,6 +115,15 @@ impl Node {
return Ok(());
}

unsafe {
if (*(*params.as_ref())).node_names == std::ptr::null_mut()
|| (*(*params.as_ref())).params == std::ptr::null_mut()
{
rcl_yaml_node_struct_fini(*params);
return Ok(());
}
}

let node_names = unsafe {
std::slice::from_raw_parts(
(*(*params.as_ref())).node_names,
Expand Down Expand Up @@ -148,18 +157,22 @@ impl Node {
}

// make key value pairs.
let param_names =
unsafe { std::slice::from_raw_parts(np.parameter_names, np.num_params) };
let mut params = self.params.lock().unwrap();
if np.parameter_names != std::ptr::null_mut()
&& np.parameter_values != std::ptr::null_mut()
{
let param_names =
unsafe { std::slice::from_raw_parts(np.parameter_names, np.num_params) };

let param_values =
unsafe { std::slice::from_raw_parts(np.parameter_values, np.num_params) };
let param_values =
unsafe { std::slice::from_raw_parts(np.parameter_values, np.num_params) };

let mut params = self.params.lock().unwrap();
for (s, v) in param_names.iter().zip(param_values) {
let s = unsafe { CStr::from_ptr(*s) };
let key = s.to_str().unwrap_or("");
let val = ParameterValue::from_rcl(v);
params.insert(key.to_owned(), Parameter::new(val));
for (s, v) in param_names.iter().zip(param_values) {
let s = unsafe { CStr::from_ptr(*s) };
let key = s.to_str().unwrap_or("");
let val = ParameterValue::from_rcl(v);
params.insert(key.to_owned(), Parameter::new(val));
}
}
}

Expand Down Expand Up @@ -1028,53 +1041,62 @@ impl Node {
return;
}

let ws_subs =
unsafe { std::slice::from_raw_parts(ws.subscriptions, self.subscribers.len()) };
let mut subs_to_remove = vec![];
for (s, ws_s) in self.subscribers.iter_mut().zip(ws_subs) {
if ws_s != &std::ptr::null() {
let dropped = s.handle_incoming();
if dropped {
s.destroy(&mut self.node_handle);
subs_to_remove.push(*s.handle());
if ws.subscriptions != std::ptr::null_mut() {
let ws_subs =
unsafe { std::slice::from_raw_parts(ws.subscriptions, self.subscribers.len()) };
for (s, ws_s) in self.subscribers.iter_mut().zip(ws_subs) {
if ws_s != &std::ptr::null() {
let dropped = s.handle_incoming();
if dropped {
s.destroy(&mut self.node_handle);
subs_to_remove.push(*s.handle());
}
}
}
}
self.subscribers
.retain(|s| !subs_to_remove.contains(s.handle()));

let ws_timers = unsafe { std::slice::from_raw_parts(ws.timers, self.timers.len()) };
let mut timers_to_remove = vec![];
for (s, ws_s) in self.timers.iter_mut().zip(ws_timers) {
if ws_s != &std::ptr::null() {
// TODO: move this to impl Timer
let dropped = s.handle_incoming();
if dropped {
timers_to_remove.push((*s.timer_handle).to_owned());
if ws.timers != std::ptr::null_mut() {
let ws_timers = unsafe { std::slice::from_raw_parts(ws.timers, self.timers.len()) };
for (s, ws_s) in self.timers.iter_mut().zip(ws_timers) {
if ws_s != &std::ptr::null() {
// TODO: move this to impl Timer
let dropped = s.handle_incoming();
if dropped {
timers_to_remove.push((*s.timer_handle).to_owned());
}
}
}
}
// drop timers scheduled for deletion
self.timers
.retain(|t| !timers_to_remove.contains(&*t.timer_handle));

let ws_clients = unsafe { std::slice::from_raw_parts(ws.clients, self.clients.len()) };
for (s, ws_s) in self.clients.iter_mut().zip(ws_clients) {
if ws_s != &std::ptr::null() {
let mut s = s.lock().unwrap();
s.handle_response();
if ws.clients != std::ptr::null_mut() {
let ws_clients = unsafe { std::slice::from_raw_parts(ws.clients, self.clients.len()) };
for (s, ws_s) in self.clients.iter_mut().zip(ws_clients) {
if ws_s != &std::ptr::null() {
let mut s = s.lock().unwrap();
s.handle_response();
}
}
}

let ws_services = unsafe { std::slice::from_raw_parts(ws.services, self.services.len()) };
let mut services_to_remove = vec![];
for (s, ws_s) in self.services.iter_mut().zip(ws_services) {
if ws_s != &std::ptr::null() {
let mut service = s.lock().unwrap();
let dropped = service.handle_request(s.clone());
if dropped {
service.destroy(&mut self.node_handle);
services_to_remove.push(*service.handle());
if ws.services != std::ptr::null_mut() {
let ws_services =
unsafe { std::slice::from_raw_parts(ws.services, self.services.len()) };
for (s, ws_s) in self.services.iter_mut().zip(ws_services) {
if ws_s != &std::ptr::null() {
let mut service = s.lock().unwrap();
let dropped = service.handle_request(s.clone());
if dropped {
service.destroy(&mut self.node_handle);
services_to_remove.push(*service.handle());
}
}
}
}
Expand Down Expand Up @@ -1194,20 +1216,22 @@ impl Node {
return Err(Error::from_rcl_error(ret));
}

let names = unsafe { std::slice::from_raw_parts(tnat.names.data, tnat.names.size) };
let types = unsafe { std::slice::from_raw_parts(tnat.types, tnat.names.size) };

let mut res = HashMap::new();
for (n, t) in names.iter().zip(types) {
let topic_name = unsafe { CStr::from_ptr(*n).to_str().unwrap().to_owned() };
let topic_types = unsafe { std::slice::from_raw_parts(t, t.size) };
let topic_types: Vec<String> = unsafe {
topic_types
.iter()
.map(|t| CStr::from_ptr(*(t.data)).to_str().unwrap().to_owned())
.collect()
};
res.insert(topic_name, topic_types);
if tnat.names.data != std::ptr::null_mut() && tnat.types != std::ptr::null_mut() {
let names = unsafe { std::slice::from_raw_parts(tnat.names.data, tnat.names.size) };
let types = unsafe { std::slice::from_raw_parts(tnat.types, tnat.names.size) };

for (n, t) in names.iter().zip(types) {
let topic_name = unsafe { CStr::from_ptr(*n).to_str().unwrap().to_owned() };
let topic_types = unsafe { std::slice::from_raw_parts(t, t.size) };
let topic_types: Vec<String> = unsafe {
topic_types
.iter()
.map(|t| CStr::from_ptr(*(t.data)).to_str().unwrap().to_owned())
.collect()
};
res.insert(topic_name, topic_types);
}
}
unsafe {
rmw_names_and_types_fini(&mut tnat);
Expand Down Expand Up @@ -1532,11 +1556,13 @@ fn convert_info_array_to_vec(
) -> Vec<TopicEndpointInfo> {
let mut topic_info_list = Vec::with_capacity(info_array.size);

unsafe {
let infos = std::slice::from_raw_parts(info_array.info_array, info_array.size);
for &info in infos {
let endpoint_info = TopicEndpointInfo::from(info);
topic_info_list.push(endpoint_info);
if info_array.info_array != std::ptr::null_mut() {
unsafe {
let infos = std::slice::from_raw_parts(info_array.info_array, info_array.size);
for &info in infos {
let endpoint_info = TopicEndpointInfo::from(info);
topic_info_list.push(endpoint_info);
}
}
}

Expand Down
54 changes: 40 additions & 14 deletions r2r/src/parameters.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,36 +34,62 @@ impl ParameterValue {
ParameterValue::String(string)
} else if !v.byte_array_value.is_null() {
let vals = unsafe {
std::slice::from_raw_parts((*v.byte_array_value).values, (*v.byte_array_value).size)
if (*v.byte_array_value).values == std::ptr::null_mut() {
&[]
} else {
std::slice::from_raw_parts(
(*v.byte_array_value).values,
(*v.byte_array_value).size,
)
}
};
ParameterValue::ByteArray(vals.to_vec())
} else if !v.bool_array_value.is_null() {
let vals = unsafe {
std::slice::from_raw_parts((*v.bool_array_value).values, (*v.bool_array_value).size)
if (*v.bool_array_value).values == std::ptr::null_mut() {
&[]
} else {
std::slice::from_raw_parts(
(*v.bool_array_value).values,
(*v.bool_array_value).size,
)
}
};
ParameterValue::BoolArray(vals.to_vec())
} else if !v.integer_array_value.is_null() {
let vals = unsafe {
std::slice::from_raw_parts(
(*v.integer_array_value).values,
(*v.integer_array_value).size,
)
if (*v.integer_array_value).values == std::ptr::null_mut() {
&[]
} else {
std::slice::from_raw_parts(
(*v.integer_array_value).values,
(*v.integer_array_value).size,
)
}
};
ParameterValue::IntegerArray(vals.to_vec())
} else if !v.double_array_value.is_null() {
let vals = unsafe {
std::slice::from_raw_parts(
(*v.double_array_value).values,
(*v.double_array_value).size,
)
if (*v.double_array_value).values == std::ptr::null_mut() {
&[]
} else {
std::slice::from_raw_parts(
(*v.double_array_value).values,
(*v.double_array_value).size,
)
}
};
ParameterValue::DoubleArray(vals.to_vec())
} else if !v.string_array_value.is_null() {
let vals = unsafe {
std::slice::from_raw_parts(
(*v.string_array_value).data,
(*v.string_array_value).size,
)
if (*v.string_array_value).data == std::ptr::null_mut() {
&[]
} else {
std::slice::from_raw_parts(
(*v.string_array_value).data,
(*v.string_array_value).size,
)
}
};
let s = vals
.iter()
Expand Down
8 changes: 6 additions & 2 deletions r2r/src/subscribers.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -203,8 +203,12 @@ impl Subscriber_ for RawSubscriber {
return false;
}

let data_bytes = unsafe {
std::slice::from_raw_parts(self.msg_buf.buffer, self.msg_buf.buffer_length).to_vec()
let data_bytes = if self.msg_buf.buffer == std::ptr::null_mut() {
Vec::new()
} else {
unsafe {
std::slice::from_raw_parts(self.msg_buf.buffer, self.msg_buf.buffer_length).to_vec()
}
};

if let Err(e) = self.sender.try_send(data_bytes) {
Expand Down
26 changes: 15 additions & 11 deletions r2r_msg_gen/src/lib.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -446,14 +446,16 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> proc_macr
quote! {
#field_name : {
let mut temp = Vec::with_capacity(msg. #field_name .size);
let slice = unsafe {
std::slice::from_raw_parts(
msg. #field_name .data,
msg. #field_name .size
)
};
for s in slice {
temp.push( #module :: #prefix :: #name :: from_native(s));
if msg. #field_name .data != std::ptr::null_mut() {
let slice = unsafe {
std::slice::from_raw_parts(
msg. #field_name .data,
msg. #field_name .size
)
};
for s in slice {
temp.push( #module :: #prefix :: #name :: from_native(s));
}
}
temp
},
Expand Down Expand Up @@ -589,9 +591,11 @@ pub fn generate_rust_msg(module_: &str, prefix_: &str, name_: &str) -> proc_macr
#fini_func (&mut msg. #field_name);
#init_func (&mut msg. #field_name , self. #field_name .len());

let slice = std::slice::from_raw_parts_mut(msg. #field_name .data, msg. #field_name .size);
for (t, s) in slice.iter_mut().zip(&self. #field_name ) {
s.copy_to_native(t);
if msg. #field_name .data != std::ptr::null_mut() {
let slice = std::slice::from_raw_parts_mut(msg. #field_name .data, msg. #field_name .size);
for (t, s) in slice.iter_mut().zip(&self. #field_name ) {
s.copy_to_native(t);
}
}
}
}
Expand Down
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