REORG ALL THE THINGS

Cargo.toml

@@ -3,12 +3,15 @@
 members = [
     "example_package",
     "example_package_macro",
-    "roslibrust",
-    "roslibrust_codegen",
     "roslibrust_codegen_macro",
+    "roslibrust_codegen",
+    "roslibrust_common",
     "roslibrust_genmsg",
-    "roslibrust_test",
     "roslibrust_mock",
-    "roslibrust_zenoh", "roslibrust_ros1", "roslibrust_common",
+    "roslibrust_ros1",
+    "roslibrust_rosbridge",
+    "roslibrust_test",
+    "roslibrust_zenoh",
+    "roslibrust",
 ]
 resolver = "2"

roslibrust/Cargo.toml

@@ -6,66 +6,49 @@ edition = "2021"
 license = "MIT"
 readme = "../README.md"
 description = "An library for interfacing with the ROS's rosbridge_server"
-repository = "https://github.com/Carter12s/roslibrust"
+repository = "https://github.com/roslibrust/roslibrust"
 keywords = ["ROS", "robotics", "websocket", "json", "async"]
 categories = ["science::robotics"]
 
 [dependencies]
-abort-on-drop = "0.2"
-anyhow = "1.0"
-dashmap = "5.3"
-deadqueue = "0.2.4" # .4+ is required to fix bug with missing tokio dep
-futures = "0.3"
-futures-util = "0.3"
-lazy_static = "1.4"
-log = "0.4"
-proc-macro2 = "1.0"
-rand = "0.8"
-serde = { version = "1.0", features = ["derive"] }
-serde_json = "1.0"
-smart-default = "0.6"
-thiserror = "1.0"
-tokio = { version = "1.20", features = [
-    "net",
-    "macros",
-    "time",
-    "rt-multi-thread",
-] }
-tokio-tungstenite = { version = "0.17" }
-uuid = { version = "1.1", features = ["v4"] }
-# TODO this crate shouldn't depend on codegen or codege_macro directly 
-roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro", version = "0.11.1" }
-roslibrust_codegen = { path = "../roslibrust_codegen", version = "0.11.1" }
-
 # TODO version here
 roslibrust_common = { path = "../roslibrust_common" }
-# TODO I think we should move rosapi into its own crate...
-serde-big-array = { version = "0.5", optional = true } # Only used with rosapi
-# TODO REAL VERSION HERE
 roslibrust_ros1 = { path = "../roslibrust_ros1", optional = true }
+roslibrust_rosbridge = { path = "../roslibrust_rosbridge", optional = true }
+roslibrust_zenoh = { path = "../roslibrust_zenoh", optional = true }
+roslibrust_mock = { path = "../roslibrust_mock", optional = true }
 
 [dev-dependencies]
-env_logger = "0.10"
+env_logger = "0.11"
 test-log = "0.2"
-simple_logger = "5.0"
-serde-big-array = "0.5"
+log = "0.4"
+tokio = { version = "1.20", features = ["macros", "rt-multi-thread"] }
+serde = { version = "1.0", features = ["derive"] }
+# Used to generate messages for the examples
+roslibrust_codegen = { path = "../roslibrust_codegen" }
+roslibrust_codegen_macro = { path = "../roslibrust_codegen_macro" }
 
 [features]
 default = []
 # Note: all does not include running_bridge as that is only intended for CI
 all = []
 # Provides a rosapi rust interface
-rosapi = ["serde-big-array"]
+# TODO MAJOR remove this feature
+rosapi = []
 # Intended for use with tests, includes tests that rely on a locally running rosbridge
 running_bridge = []
 # For use with integration tests, indicating we are testing integration with a ros1 bridge
 ros1_test = ["running_bridge", "ros1"]
 # For use with integration tests, indicates we are testing integration with a ros2 bridge
 ros2_test = ["running_bridge"]
-# Provides access to experimental abstract trait topic_provider
-topic_provider = []
 # Provides a ros1 xmlrpc / TCPROS client
 ros1 = ["roslibrust_ros1"]
+# Provides a backend using the rosbridge websocket protocol
+rosbridge = ["roslibrust_rosbridge"]
+# Provides a backend using zenoh's ros1 format from zenoh-bridge-ros1
+zenoh = ["roslibrust_zenoh"]
+# Provides a mock backend useful for writing tests around nodes
+mock = ["roslibrust_mock"]
 
 [package.metadata.docs.rs]
 features = ["ros1"]

roslibrust/examples/basic_publisher.rs

@@ -1,19 +1,16 @@
-use log::*;
-use roslibrust::ClientHandle;
-
+#[cfg(feature = "rosbridge")]
 roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
 
 /// This example creates a client, and publishes a message to the topic "talker"
 /// Running this example at the same time as subscribe_and_log will have the two examples
 /// pass messages between each other.
 /// To run this example a rosbridge websocket server should be running at the deafult port (9090).
+#[cfg(feature = "rosbridge")]
 #[tokio::main(flavor = "multi_thread")]
-async fn main() -> Result<(), anyhow::Error> {
-    simple_logger::SimpleLogger::new()
-        .with_level(log::LevelFilter::Debug)
-        .without_timestamps() // required for running wsl2
-        .init()
-        .unwrap();
+async fn main() -> Result<(), Box<dyn std::error::Error>> {
+    use log::*;
+    use roslibrust::rosbridge::ClientHandle;
+    env_logger::init();
 
     let client = ClientHandle::new("ws://localhost:9090").await?;
     let publisher = client.advertise::<std_msgs::Header>("talker").await?;
@@ -33,3 +30,8 @@ async fn main() -> Result<(), anyhow::Error> {
         tokio::time::sleep(tokio::time::Duration::from_secs(1)).await;
     }
 }
+
+#[cfg(not(feature = "rosbridge"))]
+fn main() {
+    eprintln!("This example does nothing without compiling with the feature 'rosbridge'");
+}

roslibrust/examples/calling_service.rs

@@ -1,19 +1,17 @@
-use log::*;
-use roslibrust::ClientHandle;
-
-roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces",);
+#[cfg(feature = "rosbridge")]
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/rosapi");
 
 /// This example shows calling a service
 /// To run this example rosbridge and a roscore should be running
 /// As well as the rosapi node.
 /// This node calls a service on the rosapi node to get the current ros time.
+#[cfg(feature = "rosbridge")]
 #[tokio::main(flavor = "multi_thread")]
-async fn main() -> Result<(), anyhow::Error> {
-    simple_logger::SimpleLogger::new()
-        .with_level(log::LevelFilter::Debug)
-        .without_timestamps() // Required for running in wsl2
-        .init()
-        .unwrap();
+async fn main() -> Result<(), Box<dyn std::error::Error>> {
+    use log::*;
+    use roslibrust::rosbridge::ClientHandle;
+
+    env_logger::init();
 
     let client = ClientHandle::new("ws://localhost:9090").await?;
 
@@ -25,3 +23,8 @@ async fn main() -> Result<(), anyhow::Error> {
     info!("Got time: {:?}", result);
     Ok(())
 }
+
+#[cfg(not(feature = "rosbridge"))]
+fn main() {
+    eprintln!("This example does nothing without compiling with the feature 'rosbridge'");
+}

roslibrust/examples/generic_client.rs

@@ -1,18 +1,16 @@
 //! Purpose of this example is to show how the TopicProvider trait can be use
 //! to create code that is generic of which communication backend it will use.
-#[cfg(feature = "topic_provider")]
-use roslibrust::topic_provider::*;
 
+// Important to bring these traits into scope so we can use them
+
+#[cfg(all(feature = "rosbridge", feature = "ros1"))]
 roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces/std_msgs");
 
-#[cfg(feature = "topic_provider")]
+#[cfg(all(feature = "rosbridge", feature = "ros1"))]
 #[tokio::main]
 async fn main() {
-    simple_logger::SimpleLogger::new()
-        .with_level(log::LevelFilter::Debug)
-        .without_timestamps() // required for running wsl2
-        .init()
-        .unwrap();
+    use roslibrust::{Publish, Subscribe, TopicProvider};
+    env_logger::init();
 
     // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters
     // This means we can't do:
@@ -61,7 +59,7 @@ async fn main() {
     }
 
     // create a rosbridge handle and start node
-    let ros = roslibrust::ClientHandle::new("ws://localhost:9090")
+    let ros = roslibrust::rosbridge::ClientHandle::new("ws://localhost:9090")
         .await
         .unwrap();
     let node = MyNode {
@@ -91,5 +89,9 @@ async fn main() {
     // Note: this will not run without rosbridge running
 }
 
-#[cfg(not(feature = "topic_provider"))]
-fn main() {}
+#[cfg(not(all(feature = "rosbridge", feature = "ros1")))]
+fn main() {
+    eprintln!(
+        "This example does nothing without compiling with the feature 'rosbridge' and 'ros1'"
+    );
+}