From 4460e470b2ce95bc2b9c30fb542c81035854235b Mon Sep 17 00:00:00 2001
From: Ulrich Mohr <mohr@irs.uni-stuttgart.de>
Date: Sat, 3 Feb 2024 00:03:49 +0100
Subject: [PATCH] this time, we won't reinvent the wheel

---
 mission_rust/src/fsrc/datasets/mod.rs | 53 +++++++++++----------------
 mission_rust/src/fsrc/store.rs        | 10 ++---
 mission_rust/src/lib.rs               |  4 +-
 3 files changed, 26 insertions(+), 41 deletions(-)

diff --git a/mission_rust/src/fsrc/datasets/mod.rs b/mission_rust/src/fsrc/datasets/mod.rs
index 911d2a3..771fbe4 100644
--- a/mission_rust/src/fsrc/datasets/mod.rs
+++ b/mission_rust/src/fsrc/datasets/mod.rs
@@ -1,52 +1,39 @@
+use core::any::Any;
+
 use crate::check_global_threading_available;
 
 use super::objectmanager::SystemObjectIF;
 use super::{mutex, objectmanager};
 
-#[derive(Copy, Clone, PartialEq)]
-pub struct TypeId {
-    id: usize,
-}
-
-// inspired by Jack Wrenn at https://github.com/jswrenn/deflect/
-pub trait HasTypeId {
-    #[inline(never)]
-    fn get_type_id(&self) -> TypeId {
-        TypeId {
-            id: Self::get_type_id as usize,
-        }
-    }
-}
-
 pub trait DatapoolOwnerIF {
-    fn get_set(&self, _type_id: TypeId) -> Option<&dyn DataSetIF> {
+    fn get_set(&self, _type_id: core::any::TypeId) -> Option<&dyn DataSetIF> {
         None
     }
 }
 
 pub trait DataSetIF {
-    fn get_type_id(&self) -> TypeId;
-    fn get_actual_data(&self) -> &dyn HasTypeId;
+    fn get_type_id(&self) -> core::any::TypeId; // TODO can we get rid of this? Currently, it helps implementing DatapoolOwnerIF::get_set() but if we can optimize/generate that, this might be not needed any more
+    fn get_actual_data(&self) -> &dyn core::any::Any;
     fn get_mutex(&self) -> mutex::RawMutex;
 }
 
-pub struct OwnedDataset<T: HasTypeId + Clone> {
+pub struct OwnedDataset<T: Clone> {
     actual_data: T,
     mutex: mutex::RawMutex,
 }
 
-pub struct ReferencedDataset<T: HasTypeId + Clone> {
+pub struct ReferencedDataset<T: Clone> {
     //we use a pointer here to avoid lifetimes
     actual_data: Option<*const T>,
     mutex: Option<mutex::RawMutex>,
 }
 
-impl<T: HasTypeId + Clone + Default> DataSetIF for OwnedDataset<T> {
-    fn get_type_id(&self) -> TypeId {
-        self.actual_data.get_type_id()
+impl<T: Clone + Default + 'static> DataSetIF for OwnedDataset<T> {
+    fn get_type_id(&self) -> core::any::TypeId {
+        core::any::TypeId::of::<T>()
     }
 
-    fn get_actual_data(&self) -> &dyn HasTypeId {
+    fn get_actual_data(&self) -> &dyn core::any::Any {
         // only return pointer when threading
         check_global_threading_available!();
         &self.actual_data
@@ -57,7 +44,7 @@ impl<T: HasTypeId + Clone + Default> DataSetIF for OwnedDataset<T> {
     }
 }
 
-impl<T: HasTypeId + Clone + Default> OwnedDataset<T> {
+impl<T: Clone + Default> OwnedDataset<T> {
     pub fn new() -> OwnedDataset<T> {
         OwnedDataset::<T> {
             actual_data: T::default(),
@@ -90,7 +77,7 @@ impl<T: HasTypeId + Clone + Default> OwnedDataset<T> {
     }
 }
 
-impl<T: HasTypeId + Clone + Default> ReferencedDataset<T> {
+impl<T: Clone + Default + 'static> ReferencedDataset<T> {
     pub fn new() -> ReferencedDataset<T> {
         ReferencedDataset::<T> {
             actual_data: None,
@@ -121,17 +108,19 @@ impl<T: HasTypeId + Clone + Default> ReferencedDataset<T> {
         owner_of_the_set: objectmanager::ObjectId,
     ) -> Result<(), ()> {
         let owner = object_manager.get_object(owner_of_the_set)?;
-        let temp: T = T::default(); //TODO find nicer solution whithout local instance and trait bound to Default
-        let type_id = temp.get_type_id();
+        let type_id = core::any::TypeId::of::<T>();
         let other_set = match owner.get_set(type_id) {
             None => {
-                return Err(());
+                return Err(()); //TODO panic? -> should initialize just panic if failing?
             }
             Some(set) => set,
         };
-        //pointer cast is safe because we checked the type_id
-        //getting pointer to avoid lifetime check
-        self.actual_data = Some(other_set.get_actual_data() as *const dyn HasTypeId as *const T);
+        // let's recheck that owner.get_set did not lie about the type_id
+        if let Some(other_data) = other_set.get_actual_data().downcast_ref::<T>() {
+            self.actual_data = Some(other_data);
+        } else {
+            return Err(());
+        }
         self.mutex = Some(other_set.get_mutex());
         Ok(())
     }
diff --git a/mission_rust/src/fsrc/store.rs b/mission_rust/src/fsrc/store.rs
index 2355c72..d3d999d 100644
--- a/mission_rust/src/fsrc/store.rs
+++ b/mission_rust/src/fsrc/store.rs
@@ -24,15 +24,13 @@ struct StoreSlot{
 }
 
 impl StoreSlot {
-    pub fn get_data(&self) -> &[u8] {
+    pub fn get_data(&self) -> &mut [u8] {
         check_global_threading_available!();
-        unsafe{&(*self.data)}
+        unsafe{&mut (*self.data)}
     }
 
-    pub fn get_all_data(&self) -> &[u8] {
+    pub fn get_all_data(&self) -> &mut [u8] {
         check_global_threading_available!();
-        unsafe{&(*self.data)}
+        unsafe{&mut (*self.data)}
     }
-
-
 }
\ No newline at end of file
diff --git a/mission_rust/src/lib.rs b/mission_rust/src/lib.rs
index 75bbf24..65a341e 100644
--- a/mission_rust/src/lib.rs
+++ b/mission_rust/src/lib.rs
@@ -55,8 +55,6 @@ struct HandlerData {
     y: f32
 }
 
-impl datasets::HasTypeId for HandlerData {}
-
 struct Handler {
     id: objectmanager::ObjectId,
     command_queue: queues::MessageQueue<10>,
@@ -135,7 +133,7 @@ impl SystemObjectIF for Handler {
 }
 
 impl datasets::DatapoolOwnerIF for Handler {
-    fn get_set(&self, type_id: datasets::TypeId) -> Option<&dyn datasets::DataSetIF>{
+    fn get_set(&self, type_id: core::any::TypeId) -> Option<&dyn datasets::DataSetIF>{
         if type_id == self.data.get_type_id(){
             Some(&self.data)
         } else {