Fix Windows build

zenoh-plugin-ros2dds/src/dds_types.rs

@@ -20,7 +20,7 @@ use zenoh::buffers::ZBuf;
 use zenoh::buffers::ZSlice;
 use zenoh::prelude::*;
 
-use crate::dds_utils::ddsrt_iov_len_from;
+use crate::dds_utils::ddsrt_iov_len_to_usize;
 
 #[derive(Debug)]
 pub struct TypeInfo {
@@ -132,7 +132,7 @@ impl DDSRawSample {
         unsafe {
             slice::from_raw_parts(
                 self.data.iov_base as *const u8,
-                ddsrt_iov_len_from(self.data.iov_len).unwrap(),
+                ddsrt_iov_len_to_usize(self.data.iov_len).unwrap(),
             )
         }
     }
@@ -147,7 +147,7 @@ impl DDSRawSample {
             }
             &slice::from_raw_parts(
                 self.data.iov_base as *const u8,
-                ddsrt_iov_len_from(self.data.iov_len).unwrap(),
+                ddsrt_iov_len_to_usize(self.data.iov_len).unwrap(),
             )[4..]
         }
     }
@@ -176,7 +176,7 @@ impl DDSRawSample {
         }
 
         #[cfg(not(feature = "dds_shm"))]
-        ddsrt_iov_len_from(self.data.iov_len).unwrap()
+        ddsrt_iov_len_to_usize(self.data.iov_len).unwrap()
     }
 }
 

zenoh-plugin-ros2dds/src/dds_utils.rs

@@ -37,13 +37,21 @@ pub const DDS_ENTITY_NULL: dds_entity_t = 0;
 // An atomic dds_entity_t (=i32), for safe concurrent creation/deletion of DDS entities
 pub type AtomicDDSEntity = AtomicI32;
 
-#[inline]
-pub fn ddsrt_iov_len_from(i: usize) -> Result<ddsrt_iov_len_t, String> {
+pub fn ddsrt_iov_len_to_usize(len: ddsrt_iov_len_t) -> Result<usize, String> {
     // Depending the platform ddsrt_iov_len_t can have different typedef
     // See https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/src/ddsrt/include/dds/ddsrt/iovec.h
-    // Thus this conversion is useless on most platforms, but not all!
+    // Thus this conversion is NOT useless on Windows where ddsrt_iov_len_t is a u32 !
     #[allow(clippy::useless_conversion)]
-    i.try_into()
+    len.try_into()
+        .map_err(|e| format!("INTERNAL ERROR converting a ddsrt_iov_len_t to usize: {e}"))
+}
+
+pub fn ddsrt_iov_len_from_usize(len: usize) -> Result<ddsrt_iov_len_t, String> {
+    // Depending the platform ddsrt_iov_len_t can have different typedef
+    // See https://github.com/eclipse-cyclonedds/cyclonedds/blob/master/src/ddsrt/include/dds/ddsrt/iovec.h
+    // Thus this conversion is NOT useless on Windows where ddsrt_iov_len_t is a u32 !
+    #[allow(clippy::useless_conversion)]
+    len.try_into()
         .map_err(|e| format!("INTERNAL ERROR converting a usize to ddsrt_iov_len_t: {e}"))
 }
 
@@ -176,7 +184,7 @@ pub fn dds_write(data_writer: dds_entity_t, data: Vec<u8>) -> Result<(), String>
         // that is not necessarily safe or guaranteed to be leak free.
         // TODO replace when stable https://github.com/rust-lang/rust/issues/65816
         let (ptr, len, capacity) = vec_into_raw_parts(data);
-        let size: ddsrt_iov_len_t = ddsrt_iov_len_from(len)?;
+        let size: ddsrt_iov_len_t = ddsrt_iov_len_from_usize(len)?;
 
         let data_out = ddsrt_iovec_t {
             iov_base: ptr as *mut std::ffi::c_void,

zenoh-plugin-ros2dds/src/ros_discovery.rs

@@ -13,7 +13,7 @@ use crate::{ChannelEvent, ROS_DISCOVERY_INFO_PUSH_INTERVAL_MS};
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-use crate::dds_utils::{ddsrt_iov_len_from, delete_dds_entity, get_guid};
+use crate::dds_utils::{ddsrt_iov_len_from_usize, delete_dds_entity, get_guid};
 use crate::gid::Gid;
 use async_std::task;
 use cdr::{CdrLe, Infinite};
@@ -318,7 +318,7 @@ impl RosDiscoveryInfoMgr {
             // that is not necessarily safe or guaranteed to be leak free.
             // TODO replace when stable https://github.com/rust-lang/rust/issues/65816
             let (ptr, len, capacity) = crate::vec_into_raw_parts(buf);
-            let size: ddsrt_iov_len_t = ddsrt_iov_len_from(len)?;
+            let size: ddsrt_iov_len_t = ddsrt_iov_len_from_usize(len)?;
 
             let data_out = ddsrt_iovec_t {
                 iov_base: ptr as *mut std::ffi::c_void,

zenoh-plugin-ros2dds/src/route_subscriber.rs

@@ -25,7 +25,7 @@ use zenoh::query::ReplyKeyExpr;
 use zenoh::{prelude::r#async::AsyncResolve, subscriber::Subscriber};
 use zenoh_ext::{FetchingSubscriber, SubscriberBuilderExt};
 
-use crate::dds_utils::{create_dds_writer, ddsrt_iov_len_from, delete_dds_entity, get_guid};
+use crate::dds_utils::{create_dds_writer, ddsrt_iov_len_from_usize, delete_dds_entity, get_guid};
 use crate::liveliness_mgt::new_ke_liveliness_sub;
 use crate::qos_helpers::is_transient_local;
 use crate::ros2_utils::{is_message_for_action, ros2_message_type_to_dds_type};
@@ -343,7 +343,7 @@ fn do_route_data(s: Sample, ros2_name: &str, data_writer: dds_entity_t) {
         // that is not necessarily safe or guaranteed to be leak free.
         // TODO replace when stable https://github.com/rust-lang/rust/issues/65816
         let (ptr, len, capacity) = vec_into_raw_parts(bs);
-        let size: ddsrt_iov_len_t = match ddsrt_iov_len_from(len) {
+        let size: ddsrt_iov_len_t = match ddsrt_iov_len_from_usize(len) {
             Ok(s) => s,
             Err(_) => {
                 log::warn!(