Remove unnecessary casts to raw pointers

rclrs/build.rs

@@ -3,8 +3,23 @@ use std::fs::read_dir;
 use std::path::{Path, PathBuf};
 
 const AMENT_PREFIX_PATH: &str = "AMENT_PREFIX_PATH";
+const ROS_DISTRO: &str = "ROS_DISTRO";
+
+fn get_env_var_or_abort(env_var: &'static str) -> String {
+    if let Ok(value) = env::var(env_var) {
+        value
+    } else {
+        panic!(
+            "{} environment variable not set - please source ROS 2 installation first.",
+            env_var
+        );
+    }
+}
 
 fn main() {
+    let ros_distro = get_env_var_or_abort(ROS_DISTRO);
+    println!("cargo:rustc-cfg=ros_distro=\"{ros_distro}\"");
+
     let mut builder = bindgen::Builder::default()
         .header("src/rcl_wrapper.h")
         .derive_copy(false)
@@ -39,47 +54,41 @@ fn main() {
     //
     // See REP 122 for more details: https://www.ros.org/reps/rep-0122.html#filesystem-layout
 
-    if let Ok(ament_prefix_paths) = env::var(AMENT_PREFIX_PATH) {
-        for ament_prefix_path in ament_prefix_paths.split(':').map(Path::new) {
-            // Locate the ament index
-            let ament_index = ament_prefix_path.join("share/ament_index/resource_index/packages");
-            if !ament_index.is_dir() {
-                continue;
-            }
+    let ament_prefix_paths = get_env_var_or_abort(AMENT_PREFIX_PATH);
+    for ament_prefix_path in ament_prefix_paths.split(':').map(Path::new) {
+        // Locate the ament index
+        let ament_index = ament_prefix_path.join("share/ament_index/resource_index/packages");
+        if !ament_index.is_dir() {
+            continue;
+        }
 
-            // Old-style include directory
-            let include_dir = ament_prefix_path.join("include");
+        // Old-style include directory
+        let include_dir = ament_prefix_path.join("include");
 
-            // Including the old-style packages
-            builder = builder.clang_arg(format!("-isystem{}", include_dir.display()));
+        // Including the old-style packages
+        builder = builder.clang_arg(format!("-isystem{}", include_dir.display()));
 
-            // Search for and include new-style-converted package paths
-            for dir_entry in read_dir(&ament_index).unwrap().filter_map(|p| p.ok()) {
-                let package = dir_entry.file_name();
-                let package_include_dir = include_dir.join(&package);
+        // Search for and include new-style-converted package paths
+        for dir_entry in read_dir(&ament_index).unwrap().filter_map(|p| p.ok()) {
+            let package = dir_entry.file_name();
+            let package_include_dir = include_dir.join(&package);
 
-                if package_include_dir.is_dir() {
-                    let new_style_include_dir = package_include_dir.join(&package);
+            if package_include_dir.is_dir() {
+                let new_style_include_dir = package_include_dir.join(&package);
 
-                    // CycloneDDS is a special case - it needs to be included as if it were a new-style path, but
-                    // doesn't actually have a secondary folder within it called "CycloneDDS"
-                    // TODO(jhdcs): if this changes in future, remove this check
-                    if package == "CycloneDDS" || new_style_include_dir.is_dir() {
-                        builder =
-                            builder.clang_arg(format!("-isystem{}", package_include_dir.display()));
-                    }
+                // CycloneDDS is a special case - it needs to be included as if it were a new-style path, but
+                // doesn't actually have a secondary folder within it called "CycloneDDS"
+                // TODO(jhdcs): if this changes in future, remove this check
+                if package == "CycloneDDS" || new_style_include_dir.is_dir() {
+                    builder =
+                        builder.clang_arg(format!("-isystem{}", package_include_dir.display()));
                 }
             }
-
-            // Link the native libraries
-            let library_path = ament_prefix_path.join("lib");
-            println!("cargo:rustc-link-search=native={}", library_path.display());
         }
-    } else {
-        panic!(
-            "{} environment variable not set - please source ROS 2 installation first.",
-            AMENT_PREFIX_PATH
-        );
+
+        // Link the native libraries
+        let library_path = ament_prefix_path.join("lib");
+        println!("cargo:rustc-link-search=native={}", library_path.display());
     }
 
     println!("cargo:rustc-link-lib=dylib=rcl");

rclrs/src/context.rs

@@ -13,8 +13,8 @@ impl Drop for rcl_context_t {
     fn drop(&mut self) {
         // SAFETY: These functions have no preconditions besides a valid/initialized handle
         unsafe {
-            rcl_shutdown(self as *mut _);
-            rcl_context_fini(self as *mut _);
+            rcl_shutdown(self);
+            rcl_context_fini(self);
         }
     }
 }
@@ -74,7 +74,7 @@ impl Context {
                 let mut init_options = rcl_get_zero_initialized_init_options();
                 // SAFETY: Passing in a zero-initialized value is expected.
                 // In the case where this returns not ok, there's nothing to clean up.
-                rcl_init_options_init(&mut init_options as *mut _, allocator).ok()?;
+                rcl_init_options_init(&mut init_options, allocator).ok()?;
                 // SAFETY: This function does not store the ephemeral init_options and c_args
                 // pointers. Passing in a zero-initialized handle is expected.
                 let ret = rcl_init(
@@ -84,12 +84,12 @@ impl Context {
                     } else {
                         c_args.as_ptr()
                     },
-                    &init_options as *const _,
-                    handle as *mut _,
+                    &init_options,
+                    handle,
                 );
                 // SAFETY: It's safe to pass in an initialized object.
                 // Early return will not leak memory, because this is the last fini function.
-                rcl_init_options_fini(&mut init_options as *mut _).ok()?;
+                rcl_init_options_fini(&mut init_options).ok()?;
                 // Move the check after the last fini()
                 ret.ok()?;
             }
@@ -123,6 +123,6 @@ impl Context {
         // handler could call `rcl_shutdown()`, hence making the context invalid.
         let handle = &mut *self.handle.lock();
         // SAFETY: No preconditions for this function.
-        unsafe { rcl_context_is_valid(handle as *mut _) }
+        unsafe { rcl_context_is_valid(handle) }
     }
 }

rclrs/src/lib.rs

@@ -54,8 +54,15 @@ pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclReturn
 ///
 /// This function additionally checks that the context is still valid.
 pub fn spin(node: &Node) -> Result<(), RclReturnCode> {
+    // The context_is_valid functions exists only to abstract away ROS distro differences
+    #[cfg(ros_distro = "foxy")]
     // SAFETY: No preconditions for this function.
-    while unsafe { rcl_context_is_valid(&mut *node.context.lock() as *mut _) } {
+    let context_is_valid = || unsafe { rcl_context_is_valid(&mut *node.context.lock()) };
+    #[cfg(not(ros_distro = "foxy"))]
+    // SAFETY: No preconditions for this function.
+    let context_is_valid = || unsafe { rcl_context_is_valid(&*node.context.lock()) };
+
+    while context_is_valid() {
         if let Some(error) = spin_once(node, None).err() {
             match error {
                 RclReturnCode::Timeout => continue,

rclrs/src/node/mod.rs

@@ -19,7 +19,7 @@ use rosidl_runtime_rs::Message;
 impl Drop for rcl_node_t {
     fn drop(&mut self) {
         // SAFETY: No preconditions for this function
-        unsafe { rcl_node_fini(self as *mut _).unwrap() };
+        unsafe { rcl_node_fini(self).unwrap() };
     }
 }
 
@@ -70,11 +70,11 @@ impl Node {
             // to keep them alive.
             // The context handle is kept alive because it is co-owned by the node.
             rcl_node_init(
-                &mut node_handle as *mut _,
+                &mut node_handle,
                 raw_node_name.as_ptr(),
                 raw_node_ns.as_ptr(),
-                context_handle as *mut _,
-                &node_options as *const _,
+                context_handle,
+                &node_options,
             )
             .ok()?;
         }

rclrs/src/node/publisher.rs

@@ -81,11 +81,11 @@ where
             // afterwards.
             // TODO: type support?
             rcl_publisher_init(
-                &mut publisher_handle as *mut _,
-                node_handle as *mut _,
+                &mut publisher_handle,
+                node_handle,
                 type_support,
                 topic_c_string.as_ptr(),
-                &publisher_options as *const _,
+                &publisher_options,
             )
             .ok()?;
         }
@@ -125,7 +125,7 @@ where
             // The message does not need to be valid beyond the duration of this function call.
             // The third argument is explictly allowed to be NULL.
             rcl_publish(
-                handle as *mut _,
+                handle,
                 rmw_message.as_ref() as *const <T as Message>::RmwMsg as *mut _,
                 std::ptr::null_mut(),
             )

rclrs/src/node/subscription.rs

@@ -31,7 +31,7 @@ impl Drop for SubscriptionHandle {
         let node_handle = &mut *self.node_handle.lock();
         // SAFETY: No preconditions for this function (besides the arguments being valid).
         unsafe {
-            rcl_subscription_fini(handle as *mut _, node_handle as *mut _);
+            rcl_subscription_fini(handle, node_handle);
         }
     }
 }
@@ -100,11 +100,11 @@ where
             // afterwards.
             // TODO: type support?
             rcl_subscription_init(
-                &mut subscription_handle as *mut _,
-                node_handle as *mut _,
+                &mut subscription_handle,
+                node_handle,
                 type_support,
                 topic_c_string.as_ptr(),
-                &subscription_options as *const _,
+                &subscription_options,
             )
             .ok()?;
         }
@@ -152,7 +152,7 @@ where
             // beyond the function call.
             // The latter two pointers are explicitly allowed to be NULL.
             rcl_take(
-                handle as *const _,
+                handle,
                 &mut rmw_message as *mut <T as Message>::RmwMsg as *mut _,
                 std::ptr::null_mut(),
                 std::ptr::null_mut(),

rclrs/src/wait.rs

@@ -45,7 +45,7 @@ pub struct ReadyEntities {
 impl Drop for rcl_wait_set_t {
     fn drop(&mut self) {
         // SAFETY: No preconditions for this function (besides passing in a valid wait set).
-        let rc = unsafe { rcl_wait_set_fini(self as *mut _) };
+        let rc = unsafe { rcl_wait_set_fini(self) };
         if let Err(e) = to_rcl_result(rc) {
             panic!("Unable to release WaitSet. {:?}", e)
         }
@@ -64,14 +64,14 @@ impl WaitSet {
             // SAFETY: We're passing in a zero-initialized wait set and a valid context.
             // There are no other preconditions.
             rcl_wait_set_init(
-                &mut rcl_wait_set as *mut _,
+                &mut rcl_wait_set,
                 number_of_subscriptions,
                 0,
                 0,
                 0,
                 0,
                 0,
-                &mut *context.handle.lock() as *mut _,
+                &mut *context.handle.lock(),
                 rcutils_get_default_allocator(),
             )
             .ok()?;
@@ -94,7 +94,7 @@ impl WaitSet {
         // valid, which it always is in our case. Hence, only debug_assert instead of returning
         // Result.
         // SAFETY: No preconditions for this function (besides passing in a valid wait set).
-        let ret = unsafe { rcl_wait_set_clear(&mut self.handle as *mut _) };
+        let ret = unsafe { rcl_wait_set_clear(&mut self.handle) };
         debug_assert_eq!(ret, 0);
     }
 
@@ -116,8 +116,8 @@ impl WaitSet {
             // for as long as the wait set exists, because it's stored in self.subscriptions.
             // Passing in a null pointer for the third argument is explicitly allowed.
             rcl_wait_set_add_subscription(
-                &mut self.handle as *mut _,
-                &*subscription.handle().lock() as *const _,
+                &mut self.handle,
+                &*subscription.handle().lock(),
                 std::ptr::null_mut(),
             )
         }
@@ -162,7 +162,7 @@ impl WaitSet {
         // We cannot currently guarantee that the wait sets may not share content, but it is
         // mentioned in the doc comment for `add_subscription`.
         // Also, the handle is obviously valid.
-        unsafe { rcl_wait(&mut self.handle as *mut _, timeout_ns) }.ok()?;
+        unsafe { rcl_wait(&mut self.handle, timeout_ns) }.ok()?;
         let mut ready_entities = ReadyEntities {
             subscriptions: Vec::new(),
         };