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Improve final binary size
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@G1gg1L3s
G1gg1L3s authored Jul 21, 2024
1 parent 0b39939 commit ab925ad
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Showing 3 changed files with 48 additions and 0 deletions.
19 changes: 19 additions & 0 deletions mavlink-bindgen/src/parser.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -502,8 +502,27 @@ impl MavMessage {

fn emit_serialize_vars(&self) -> TokenStream {
let ser_vars = self.fields.iter().map(|f| f.rust_writer());

quote! {
let mut __tmp = BytesMut::new(bytes);

// TODO: these lints are produced on a couple of cubepilot messages
// because they are generated as empty structs with no fields and
// therefore Self::ENCODED_LEN is 0. This itself is a bug because
// cubepilot.xml has unclosed tags in fields, which the parser has
// bad time handling. It should probably be fixed in both the parser
// and mavlink message definitions. However, until it's done, let's
// skip the lints.
#[allow(clippy::absurd_extreme_comparisons)]
#[allow(unused_comparisons)]
if __tmp.remaining() < Self::ENCODED_LEN {
panic!(
"buffer is too small (need {} bytes, but got {})",
Self::ENCODED_LEN,
__tmp.remaining(),
)
}

#(#ser_vars)*
if matches!(version, MavlinkVersion::V2) {
let len = __tmp.len();
Expand Down
16 changes: 16 additions & 0 deletions mavlink-core/src/bytes.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -13,10 +13,12 @@ impl<'a> Bytes<'a> {
self.data.len() - self.pos
}

#[inline]
pub fn remaining_bytes(&self) -> &'a [u8] {
&self.data[self.pos..]
}

#[inline]
fn check_remaining(&self, count: usize) {
assert!(
self.remaining() >= count,
Expand All @@ -26,6 +28,7 @@ impl<'a> Bytes<'a> {
);
}

#[inline]
pub fn get_bytes(&mut self, count: usize) -> &[u8] {
self.check_remaining(count);

Expand All @@ -34,6 +37,7 @@ impl<'a> Bytes<'a> {
bytes
}

#[inline]
pub fn get_array<const SIZE: usize>(&mut self) -> [u8; SIZE] {
let bytes = self.get_bytes(SIZE);
let mut arr = [0u8; SIZE];
Expand All @@ -45,6 +49,7 @@ impl<'a> Bytes<'a> {
arr
}

#[inline]
pub fn get_u8(&mut self) -> u8 {
self.check_remaining(1);

Expand All @@ -53,6 +58,7 @@ impl<'a> Bytes<'a> {
val
}

#[inline]
pub fn get_i8(&mut self) -> i8 {
self.check_remaining(1);

Expand All @@ -61,14 +67,17 @@ impl<'a> Bytes<'a> {
val
}

#[inline]
pub fn get_u16_le(&mut self) -> u16 {
u16::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_i16_le(&mut self) -> i16 {
i16::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_u24_le(&mut self) -> u32 {
const SIZE: usize = 3;
self.check_remaining(SIZE);
Expand All @@ -81,6 +90,7 @@ impl<'a> Bytes<'a> {
u32::from_le_bytes(val)
}

#[inline]
pub fn get_i24_le(&mut self) -> i32 {
const SIZE: usize = 3;
self.check_remaining(SIZE);
Expand All @@ -93,26 +103,32 @@ impl<'a> Bytes<'a> {
i32::from_le_bytes(val)
}

#[inline]
pub fn get_u32_le(&mut self) -> u32 {
u32::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_i32_le(&mut self) -> i32 {
i32::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_u64_le(&mut self) -> u64 {
u64::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_i64_le(&mut self) -> i64 {
i64::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_f32_le(&mut self) -> f32 {
f32::from_le_bytes(self.get_array())
}

#[inline]
pub fn get_f64_le(&mut self) -> f64 {
f64::from_le_bytes(self.get_array())
}
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13 changes: 13 additions & 0 deletions mavlink-core/src/bytes_mut.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@ impl<'a> BytesMut<'a> {
);
}

#[inline]
pub fn put_slice(&mut self, src: &[u8]) {
self.check_remaining(src.len());

Expand All @@ -42,20 +43,23 @@ impl<'a> BytesMut<'a> {
self.len += src.len();
}

#[inline]
pub fn put_u8(&mut self, val: u8) {
self.check_remaining(1);

self.data[self.len] = val;
self.len += 1;
}

#[inline]
pub fn put_i8(&mut self, val: i8) {
self.check_remaining(1);

self.data[self.len] = val as u8;
self.len += 1;
}

#[inline]
pub fn put_u16_le(&mut self, val: u16) {
const SIZE: usize = core::mem::size_of::<u16>();
self.check_remaining(SIZE);
Expand All @@ -65,6 +69,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_i16_le(&mut self, val: i16) {
const SIZE: usize = core::mem::size_of::<i16>();
self.check_remaining(SIZE);
Expand All @@ -74,6 +79,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_u24_le(&mut self, val: u32) {
const SIZE: usize = 3;
const MAX: u32 = 2u32.pow(24) - 1;
Expand All @@ -91,6 +97,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_i24_le(&mut self, val: i32) {
const SIZE: usize = 3;
const MIN: i32 = 2i32.pow(23);
Expand All @@ -116,6 +123,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_u32_le(&mut self, val: u32) {
const SIZE: usize = core::mem::size_of::<u32>();
self.check_remaining(SIZE);
Expand All @@ -125,6 +133,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_i32_le(&mut self, val: i32) {
const SIZE: usize = core::mem::size_of::<i32>();
self.check_remaining(SIZE);
Expand All @@ -134,6 +143,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_u64_le(&mut self, val: u64) {
const SIZE: usize = core::mem::size_of::<u64>();
self.check_remaining(SIZE);
Expand All @@ -143,6 +153,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_i64_le(&mut self, val: i64) {
const SIZE: usize = core::mem::size_of::<i64>();
self.check_remaining(SIZE);
Expand All @@ -152,6 +163,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_f32_le(&mut self, val: f32) {
const SIZE: usize = core::mem::size_of::<f32>();
self.check_remaining(SIZE);
Expand All @@ -161,6 +173,7 @@ impl<'a> BytesMut<'a> {
self.len += SIZE;
}

#[inline]
pub fn put_f64_le(&mut self, val: f64) {
const SIZE: usize = core::mem::size_of::<f64>();
self.check_remaining(SIZE);
Expand Down

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