Accept empty latching field in connection headers

.github/workflows/rosbag.yml

@@ -20,7 +20,7 @@ jobs:
       - uses: actions/checkout@v1
       - uses: actions-rs/toolchain@v1
         with:
-          toolchain: 1.56.0 # MSRV
+          toolchain: 1.63.0 # MSRV
           components: clippy
           override: true
           profile: minimal
@@ -63,7 +63,7 @@ jobs:
     strategy:
       matrix:
         rust:
-          - 1.56.0 # MSRV
+          - 1.63.0 # MSRV
           - stable
     steps:
       - uses: actions/checkout@v1

CHANGELOG.md

@@ -5,6 +5,13 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## 0.6.2 - 2024-05-22
+### Changed
+- Accept empty `latching` field in connection headers ([#5])
+
+[#5]: https://github.com/newpavlov/rosbag-rs/pull/5
+
+
 ## 0.6.1 - 2022-09-02
 ### Changed
 - The crate has migrated to a new repository ([#1])

Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "rosbag"
-version = "0.6.1"
+version = "0.6.2"
 description = "Utilities for reading ROS bag files."
 authors = ["Artyom Pavlov <[email protected]>"]
 license = "MIT OR Apache-2.0"
 edition = "2021"
-rust-version = "1.56"
+rust-version = "1.63"
 readme = "README.md"
 documentation = "https://docs.rs/rosbag"
 repository = "https://github.com/newpavlov/rosbag-rs"
@@ -15,7 +15,7 @@ categories = ["parser-implementations", "science::robotics"]
 [dependencies]
 byteorder = "1.1"
 bzip2 = "0.4.3"
-base16ct = "0.1"
+base16ct = "0.2"
 log = "0.4.4"
 lz4 = "1.23.2"
-memmap2 = "0.5"
+memmap2 = "0.9"

README.md

@@ -51,13 +51,6 @@ for record in bag.index_records() {
 }
 ```
 
-## Minimum Supported Rust Version
-
-Rust **1.56** or higher.
-
-Minimum supported Rust version can be changed in the future, but it will be
-done with a minor version bump.
-
 ## License
 
 The crate is licensed under either of

src/record_types/chunk.rs

@@ -19,10 +19,10 @@ pub enum Compression {
 
 impl Compression {
     fn decompress(self, data: &[u8], decompressed_size: Option<u32>) -> Result<Cow<'_, [u8]>> {
+        let decompressed_len = decompressed_size.map(|s| s as usize).unwrap_or(data.len());
         Ok(match self {
             Compression::Bzip2 => {
-                let mut decompressed = Vec::new();
-                decompressed.reserve(decompressed_size.map(|s| s as usize).unwrap_or(data.len()));
+                let mut decompressed = Vec::with_capacity(decompressed_len);
                 let mut decompressor = bzip2::Decompress::new(false);
                 decompressor
                     .decompress_vec(data, &mut decompressed)
@@ -32,8 +32,7 @@ impl Compression {
             Compression::Lz4 => {
                 let mut decoder = lz4::Decoder::new(data)
                     .map_err(|e| Error::Lz4DecompressionError(e.to_string()))?;
-                let mut decompressed = Vec::new();
-                decompressed.reserve(decompressed_size.map(|s| s as usize).unwrap_or(data.len()));
+                let mut decompressed = Vec::with_capacity(decompressed_len);
                 std::io::copy(&mut decoder, &mut decompressed).map_err(|_| {
                     Error::Lz4DecompressionError("Error while decoding".to_string())
                 })?;

src/record_types/connection.rs

@@ -74,6 +74,10 @@ impl<'a> RecordGen<'a> for Connection<'a> {
                     latching = match val {
                         b"1" => true,
                         b"0" => false,
+                        b"" => {
+                            log::warn!("Got empty latching field, interpreting it as 0");
+                            false
+                        }
                         _ => return Err(Error::InvalidRecord),
                     }
                 }