Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add assertions to rcl wrapper #106

Merged
merged 2 commits into from
Oct 12, 2024
Merged

Add assertions to rcl wrapper #106

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
c56961e
Add additional assertions to rcl wrapper
tobiasstarkwayve Oct 8, 2024
d2aa689
Use copy_nonoverlapping for more efficient sequence filling
tobiasstarkwayve Oct 9, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 6 additions & 1 deletion r2r/src/nodes.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1239,12 +1239,17 @@ impl Node {
let types = unsafe { std::slice::from_raw_parts(tnat.types, tnat.names.size) };

for (n, t) in names.iter().zip(types) {
assert!(!(*n).is_null());
let topic_name = unsafe { CStr::from_ptr(*n).to_str().unwrap().to_owned() };
assert!(!t.data.is_null());
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())
.map(|t| {
assert!(*(t.data) != std::ptr::null_mut());
CStr::from_ptr(*(t.data)).to_str().unwrap().to_owned()
})
.collect()
};
res.insert(topic_name, topic_types);
Expand Down
4 changes: 2 additions & 2 deletions r2r_rcl/src/lib.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,7 @@ macro_rules! primitive_sequence {
unsafe { [<$ctype __Sequence__fini>] (self as *mut _); }
unsafe { [<$ctype __Sequence__init>] (self as *mut _, values.len()); }
if self.data != std::ptr::null_mut() {
unsafe { std::ptr::copy(values.as_ptr(), self.data, values.len()); }
unsafe { std::ptr::copy_nonoverlapping(values.as_ptr(), self.data, values.len()); }
}
}

Expand All @@ -126,7 +126,7 @@ macro_rules! primitive_sequence {
}
let mut target = Vec::with_capacity(self.size);
unsafe {
std::ptr::copy(self.data, target.as_mut_ptr(), self.size);
std::ptr::copy_nonoverlapping(self.data, target.as_mut_ptr(), self.size);
target.set_len(self.size);
}
target
Expand Down