Improve nalgebra postcard-schema implementations

ci.sh

@@ -29,7 +29,7 @@ cargo_test() {
   cargo test --all "$@"
 }
 
-cargo_test --features=alloc,experimental-derive,use-std,use-crc,derive,nalgebra-v0_33,heapless-v0_8,heapless-v0_9,embedded-io-v0_7
+cargo_test --features=alloc,experimental-derive,use-std,use-crc,derive,nalgebra-v0_33,nalgebra-v0_34,num-complex-v0_4,heapless-v0_8,heapless-v0_9,embedded-io-v0_7
 
 # NOTE: we exclude postcard-dyn for these checks because it is std-only
 

source/postcard-schema-ng/Cargo.toml

@@ -64,6 +64,18 @@ version = "0.33.0"
 optional = true
 default-features = false
 
+[dependencies.nalgebra_v0_34]
+package = "nalgebra"
+version = "0.34.0"
+optional = true
+default-features = false
+
+[dependencies.num_complex_v0_4]
+package = "num-complex"
+version = "0.4"
+optional = true
+default-features = false
+
 [dependencies.fixed_v1_0]
 package = "fixed"
 version = "1.0"
@@ -96,6 +108,18 @@ version = "0.33.0"
 default-features = false
 features = ["serde-serialize-no-std"]
 
+[dev-dependencies.nalgebra_v0_34]
+package = "nalgebra"
+version = "0.34.0"
+default-features = false
+features = ["serde-serialize-no-std"]
+
+[dev-dependencies.num_complex_v0_4]
+package = "num-complex"
+version = "0.4"
+default-features = false
+features = ["serde"]
+
 [features]
 default = []
 use-std = ["serde/std"]
@@ -111,6 +135,8 @@ fixed-v1_0 = ["fixed_v1_0"]
 heapless-v0_7 = ["heapless_v0_7"]
 heapless-v0_8 = ["heapless_v0_8"]
 heapless-v0_9 = ["heapless_v0_9"]
-nalgebra-v0_33 = ["nalgebra_v0_33"]
+nalgebra-v0_33 = ["nalgebra_v0_33", "num-complex-v0_4"]
+nalgebra-v0_34 = ["nalgebra_v0_34", "num-complex-v0_4"]
+num-complex-v0_4 = ["num_complex_v0_4"]
 serde-big-array-v0_5 = ["serde-big-array_v0_5"]
 uuid-v1_0 = ["uuid_v1_0"]

source/postcard-schema-ng/src/impls/mod.rs

@@ -38,6 +38,21 @@ pub mod heapless_v0_9;
 #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
 pub mod nalgebra_v0_33;
 
+#[cfg(feature = "nalgebra-v0_34")]
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+pub mod nalgebra_v0_34;
+
+#[cfg(feature = "num-complex-v0_4")]
+#[cfg_attr(
+    docsrs,
+    doc(cfg(any(
+        feature = "num-complex-v0_4",
+        feature = "nalgebra-v0_33",
+        feature = "nalgebra-v0_34"
+    )))
+)]
+pub mod num_complex_v0_4;
+
 #[cfg(feature = "serde-big-array-v0_5")]
 #[cfg_attr(docsrs, doc(cfg(feature = "serde-big-array-v0_5")))]
 pub mod serde_big_array_v0_5;

source/postcard-schema-ng/src/impls/nalgebra_v0_33.rs

@@ -1,21 +1,35 @@
 //! Implementations of the [`Schema`] trait for the `nalgebra` crate v0.33
 
-use crate::{schema::DataModelType, Schema};
+use crate::{
+    schema::{Data, DataModelType, NamedField},
+    Schema,
+};
 
 #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
-impl<T, const R: usize, const C: usize> Schema
-    for nalgebra_v0_33::Matrix<
+impl<T, const R: usize, const C: usize, S> Schema
+    for nalgebra_v0_33::Matrix<T, nalgebra_v0_33::Const<R>, nalgebra_v0_33::Const<C>, S>
+where
+    T: Schema + nalgebra_v0_33::Scalar,
+    S: nalgebra_v0_33::base::storage::Storage<
         T,
         nalgebra_v0_33::Const<R>,
         nalgebra_v0_33::Const<C>,
-        nalgebra_v0_33::ArrayStorage<T, R, C>,
-    >
-where
-    T: Schema + nalgebra_v0_33::Scalar,
+    >,
 {
     const SCHEMA: &'static DataModelType = &DataModelType::Tuple(flatten(&[[T::SCHEMA; R]; C]));
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
+impl<T: Schema + nalgebra_v0_33::Scalar, const D: usize> Schema
+    for nalgebra_v0_33::OPoint<T, nalgebra_v0_33::Const<D>>
+where
+    nalgebra_v0_33::base::default_allocator::DefaultAllocator:
+        nalgebra_v0_33::base::allocator::Allocator<nalgebra_v0_33::Const<D>>,
+{
+    const SCHEMA: &'static DataModelType =
+        nalgebra_v0_33::OVector::<T, nalgebra_v0_33::Const<D>>::SCHEMA;
+}
+
 #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
 impl<T: Schema> Schema for nalgebra_v0_33::Unit<T> {
     const SCHEMA: &'static DataModelType = T::SCHEMA;
@@ -26,6 +40,32 @@ impl<T: Schema + nalgebra_v0_33::Scalar> Schema for nalgebra_v0_33::Quaternion<T
     const SCHEMA: &'static DataModelType = nalgebra_v0_33::Vector4::<T>::SCHEMA;
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
+impl<T: Schema + nalgebra_v0_33::Scalar, const D: usize> Schema
+    for nalgebra_v0_33::Translation<T, D>
+{
+    const SCHEMA: &'static DataModelType = nalgebra_v0_33::SVector::<T, D>::SCHEMA;
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
+impl<T: Schema + nalgebra_v0_33::Scalar, R: Schema, const D: usize> Schema
+    for nalgebra_v0_33::Isometry<T, R, D>
+{
+    const SCHEMA: &'static DataModelType = &DataModelType::Struct {
+        name: "Isometry",
+        data: Data::Struct(&[
+            &NamedField {
+                name: "rotation",
+                ty: R::SCHEMA,
+            },
+            &NamedField {
+                name: "translation",
+                ty: nalgebra_v0_33::Translation::<T, D>::SCHEMA,
+            },
+        ]),
+    };
+}
+
 /// Const version of the const-unstable [`<[[T; N]]>::as_flattened()`]
 const fn flatten<T, const N: usize>(slice: &[[T; N]]) -> &[T] {
     const {

source/postcard-schema-ng/src/impls/nalgebra_v0_34.rs

@@ -0,0 +1,92 @@
+//! Implementations of the [`Schema`] trait for the `nalgebra` crate v0.34
+
+use crate::{
+    schema::{Data, DataModelType, NamedField},
+    Schema,
+};
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+impl<T, const R: usize, const C: usize, S> Schema
+    for nalgebra_v0_34::Matrix<T, nalgebra_v0_34::Const<R>, nalgebra_v0_34::Const<C>, S>
+where
+    T: Schema + nalgebra_v0_34::Scalar,
+    S: nalgebra_v0_34::base::storage::Storage<
+        T,
+        nalgebra_v0_34::Const<R>,
+        nalgebra_v0_34::Const<C>,
+    >,
+{
+    const SCHEMA: &'static DataModelType = &DataModelType::Tuple(flatten(&[[T::SCHEMA; R]; C]));
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+impl<T: Schema + nalgebra_v0_34::Scalar, const D: usize> Schema
+    for nalgebra_v0_34::OPoint<T, nalgebra_v0_34::Const<D>>
+where
+    nalgebra_v0_34::base::default_allocator::DefaultAllocator:
+        nalgebra_v0_34::base::allocator::Allocator<nalgebra_v0_34::Const<D>>,
+{
+    const SCHEMA: &'static DataModelType =
+        nalgebra_v0_34::OVector::<T, nalgebra_v0_34::Const<D>>::SCHEMA;
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+impl<T: Schema> Schema for nalgebra_v0_34::Unit<T> {
+    const SCHEMA: &'static DataModelType = T::SCHEMA;
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+impl<T: Schema + nalgebra_v0_34::Scalar> Schema for nalgebra_v0_34::Quaternion<T> {
+    const SCHEMA: &'static DataModelType = nalgebra_v0_34::Vector4::<T>::SCHEMA;
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+impl<T: Schema + nalgebra_v0_34::Scalar, const D: usize> Schema
+    for nalgebra_v0_34::Translation<T, D>
+{
+    const SCHEMA: &'static DataModelType = nalgebra_v0_34::SVector::<T, D>::SCHEMA;
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
+impl<T: Schema + nalgebra_v0_34::Scalar, R: Schema, const D: usize> Schema
+    for nalgebra_v0_34::Isometry<T, R, D>
+{
+    const SCHEMA: &'static DataModelType = &DataModelType::Struct {
+        name: "Isometry",
+        data: Data::Struct(&[
+            &NamedField {
+                name: "rotation",
+                ty: R::SCHEMA,
+            },
+            &NamedField {
+                name: "translation",
+                ty: nalgebra_v0_34::Translation::<T, D>::SCHEMA,
+            },
+        ]),
+    };
+}
+
+/// Const version of the const-unstable [`<[[T; N]]>::as_flattened()`]
+const fn flatten<T, const N: usize>(slice: &[[T; N]]) -> &[T] {
+    const {
+        assert!(size_of::<T>() != 0);
+    }
+    // SAFETY: `self.len() * N` cannot overflow because `self` is
+    // already in the address space.
+    let len = unsafe { slice.len().unchecked_mul(N) };
+    // SAFETY: `[T]` is layout-identical to `[T; N]`
+    unsafe { core::slice::from_raw_parts(slice.as_ptr().cast(), len) }
+}
+
+#[test]
+fn flattened() {
+    type T = nalgebra_v0_34::SMatrix<u8, 3, 3>;
+    assert_eq!(T::SCHEMA, <[u8; 9]>::SCHEMA);
+}
+
+#[test]
+fn smoke() {
+    let x = nalgebra_v0_34::SMatrix::<u8, 3, 3>::new(1, 2, 3, 4, 5, 6, 7, 8, 9);
+    let y = postcard::to_stdvec(&x).unwrap();
+    assert_eq!(&[1, 4, 7, 2, 5, 8, 3, 6, 9], y.as_slice());
+}

source/postcard-schema-ng/src/impls/num_complex_v0_4.rs

@@ -0,0 +1,15 @@
+//! Implementations of the [`Schema`] trait for the `num-complex` crate v0.4
+
+use crate::{schema::DataModelType, Schema};
+
+#[cfg_attr(
+    docsrs,
+    doc(cfg(any(
+        feature = "num-complex-v0_4",
+        feature = "nalgebra-v0_33",
+        feature = "nalgebra-v0_34"
+    )))
+)]
+impl<T: Schema> Schema for num_complex_v0_4::Complex<T> {
+    const SCHEMA: &'static DataModelType = <[T; 2]>::SCHEMA;
+}

source/postcard-schema/Cargo.toml

@@ -70,6 +70,12 @@ version = "0.34.1"
 optional = true
 default-features = false
 
+[dependencies.num_complex_v0_4]
+package = "num-complex"
+version = "0.4"
+optional = true
+default-features = false
+
 [dependencies.fixed_v1_0]
 package = "fixed"
 version = "1.0"
@@ -107,6 +113,12 @@ version = "0.34.1"
 default-features = false
 features = ["serde-serialize-no-std"]
 
+[dev-dependencies.num_complex_v0_4]
+package = "num-complex"
+version = "0.4"
+default-features = false
+features = ["serde"]
+
 [features]
 default = []
 use-std = ["serde/std"]
@@ -122,7 +134,8 @@ fixed-v1_0 = ["fixed_v1_0"]
 heapless-v0_7 = ["heapless_v0_7"]
 heapless-v0_8 = ["heapless_v0_8"]
 heapless-v0_9 = ["heapless_v0_9"]
-nalgebra-v0_33 = ["nalgebra_v0_33"]
-nalgebra-v0_34 = ["nalgebra_v0_34"]
+nalgebra-v0_33 = ["nalgebra_v0_33", "num-complex-v0_4"]
+nalgebra-v0_34 = ["nalgebra_v0_34", "num-complex-v0_4"]
+num-complex-v0_4 = ["num_complex_v0_4"]
 serde-big-array-v0_5 = ["serde-big-array_v0_5"]
 uuid-v1_0 = ["uuid_v1_0"]

source/postcard-schema/src/impls/mod.rs

@@ -45,6 +45,14 @@ pub mod nalgebra_v0_33;
 #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_34")))]
 pub mod nalgebra_v0_34;
 
+#[cfg(any(
+    feature = "num-complex-v0_4",
+    feature = "nalgebra-v0_33",
+    feature = "nalgebra-v0_34"
+))]
+#[cfg_attr(docsrs, doc(cfg(feature = "num-complex-v0_4")))]
+pub mod num_complex_v0_4;
+
 #[cfg(feature = "serde-big-array-v0_5")]
 #[cfg_attr(docsrs, doc(cfg(feature = "serde-big-array-v0_5")))]
 pub mod serde_big_array_v0_5;

source/postcard-schema/src/impls/nalgebra_v0_33.rs

@@ -1,27 +1,40 @@
 //! Implementations of the [`Schema`] trait for the `nalgebra` crate v0.33
 
 use crate::{
-    schema::{DataModelType, NamedType},
+    schema::{DataModelType, NamedType, NamedValue},
     Schema,
 };
 
 #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
-impl<T, const R: usize, const C: usize> Schema
-    for nalgebra_v0_33::Matrix<
+impl<T, const R: usize, const C: usize, S> Schema
+    for nalgebra_v0_33::Matrix<T, nalgebra_v0_33::Const<R>, nalgebra_v0_33::Const<C>, S>
+where
+    T: Schema + nalgebra_v0_33::Scalar,
+    S: nalgebra_v0_33::base::storage::Storage<
         T,
         nalgebra_v0_33::Const<R>,
         nalgebra_v0_33::Const<C>,
-        nalgebra_v0_33::ArrayStorage<T, R, C>,
-    >
-where
-    T: Schema + nalgebra_v0_33::Scalar,
+    >,
 {
     const SCHEMA: &'static NamedType = &NamedType {
-        name: "nalgebra::Matrix<T, R, C, ArrayStorage<T, R, C>>",
+        name: "nalgebra::Matrix<T, R, C, S>",
         ty: &DataModelType::Tuple(flatten(&[[T::SCHEMA; R]; C])),
     };
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
+impl<T: Schema + nalgebra_v0_33::Scalar, const D: usize> Schema
+    for nalgebra_v0_33::OPoint<T, nalgebra_v0_33::Const<D>>
+where
+    nalgebra_v0_33::base::default_allocator::DefaultAllocator:
+        nalgebra_v0_33::base::allocator::Allocator<nalgebra_v0_33::Const<D>>,
+{
+    const SCHEMA: &'static NamedType = &NamedType {
+        name: "nalgebra::OPoint<T, D>",
+        ty: nalgebra_v0_33::OVector::<T, nalgebra_v0_33::Const<D>>::SCHEMA.ty,
+    };
+}
+
 #[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
 impl<T: Schema> Schema for nalgebra_v0_33::Unit<T> {
     const SCHEMA: &'static NamedType = T::SCHEMA;
@@ -32,6 +45,32 @@ impl<T: Schema + nalgebra_v0_33::Scalar> Schema for nalgebra_v0_33::Quaternion<T
     const SCHEMA: &'static NamedType = nalgebra_v0_33::Vector4::<T>::SCHEMA;
 }
 
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
+impl<T: Schema + nalgebra_v0_33::Scalar, const D: usize> Schema
+    for nalgebra_v0_33::Translation<T, D>
+{
+    const SCHEMA: &'static NamedType = nalgebra_v0_33::SVector::<T, D>::SCHEMA;
+}
+
+#[cfg_attr(docsrs, doc(cfg(feature = "nalgebra-v0_33")))]
+impl<T: Schema + nalgebra_v0_33::Scalar, R: Schema, const D: usize> Schema
+    for nalgebra_v0_33::Isometry<T, R, D>
+{
+    const SCHEMA: &'static NamedType = &NamedType {
+        name: "nalgebra::Isometry<T, R, D>",
+        ty: &DataModelType::Struct(&[
+            &NamedValue {
+                name: "rotation",
+                ty: R::SCHEMA,
+            },
+            &NamedValue {
+                name: "translation",
+                ty: nalgebra_v0_33::Translation::<T, D>::SCHEMA,
+            },
+        ]),
+    };
+}
+
 /// Const version of the const-unstable [`<[[T; N]]>::as_flattened()`]
 const fn flatten<T, const N: usize>(slice: &[[T; N]]) -> &[T] {
     const {