chore: bump zenoh version

.github/workflows/ci.yml

@@ -41,7 +41,7 @@ jobs:
           rustup component add rustfmt clippy
 
       - name: Code format check
-        run: cargo fmt --check
+        run: cargo fmt --check -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
         env:
           CARGO_REGISTRIES_CRATES_IO_PROTOCOL: sparse
 

.pre-commit-config.yaml

@@ -0,0 +1,8 @@
+repos:
+  - repo: local
+    hooks:
+      - id: fmt
+        name: fmt
+        entry: cargo fmt -- --config "unstable_features=true,imports_granularity=Crate,group_imports=StdExternalCrate"
+        language: system
+        types: [rust]

zenoh-bridge-ros1/src/main.rs

@@ -11,9 +11,10 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
+use std::str::FromStr;
+
 use async_std::channel::unbounded;
 use clap::{App, Arg};
-use std::str::FromStr;
 use zenoh::{
     config::{Config, ZenohId},
     internal::{plugins::PluginsManager, runtime::RuntimeBuilder},

zenoh-plugin-ros1/examples/ros1_standalone_sub.rs

@@ -13,7 +13,6 @@
 //
 
 use async_std::channel::unbounded;
-
 use zenoh_plugin_ros1::ros_to_zenoh_bridge::environment::Environment;
 
 #[async_std::main]

zenoh-plugin-ros1/examples/ros1_sub.rs

@@ -60,7 +60,7 @@ async fn main() {
     print!("Creating Zenoh Publisher...");
     let zenoh_publisher = zenoh_session
         .declare_publisher("some/ros/topic")
-        .congestion_control(zenoh::publisher::CongestionControl::Block)
+        .congestion_control(zenoh::qos::CongestionControl::Block)
         .await
         .unwrap();
     println!(" OK!");

zenoh-plugin-ros1/src/lib.rs

@@ -13,10 +13,11 @@
 //
 #![recursion_limit = "1024"]
 
-use ros_to_zenoh_bridge::environment::Environment;
-use ros_to_zenoh_bridge::ros1_master_ctrl::Ros1MasterCtrl;
-use ros_to_zenoh_bridge::Ros1ToZenohBridge;
 use std::time::Duration;
+
+use ros_to_zenoh_bridge::{
+    environment::Environment, ros1_master_ctrl::Ros1MasterCtrl, Ros1ToZenohBridge,
+};
 use zenoh::{
     internal::{
         plugins::{RunningPlugin, RunningPluginTrait, ZenohPlugin},

zenoh-plugin-ros1/src/ros_to_zenoh_bridge.rs

@@ -12,16 +12,15 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-use async_std::task::JoinHandle;
-
-use tracing::error;
-use zenoh::{self, core::Result as ZResult, Session};
-
 use std::sync::{
     atomic::{AtomicBool, Ordering::Relaxed},
     Arc,
 };
 
+use async_std::task::JoinHandle;
+use tracing::error;
+use zenoh::{self, Result as ZResult, Session};
+
 use self::{environment::Environment, ros1_to_zenoh_bridge_impl::work_cycle};
 
 #[cfg(feature = "test")]

zenoh-plugin-ros1/src/ros_to_zenoh_bridge/abstract_bridge.rs

@@ -14,10 +14,9 @@
 
 use std::sync::Arc;
 
-use tracing::{debug, error, info};
-
 use rosrust::RawMessageDescription;
-use zenoh::{core::Result as ZResult, internal::bail, key_expr::keyexpr, prelude::*};
+use tracing::{debug, error, info};
+use zenoh::{internal::bail, key_expr::keyexpr, prelude::*, Result as ZResult};
 
 use super::{
     bridge_type::BridgeType, ros1_client, topic_descriptor::TopicDescriptor,
@@ -140,7 +139,7 @@ impl Ros1ToZenohClient {
 }
 
 struct Ros1ToZenohService {
-    _queryable: zenoh::queryable::Queryable<'static, ()>,
+    _queryable: zenoh::query::Queryable<'static, ()>,
 }
 impl Ros1ToZenohService {
     async fn new<'b>(
@@ -297,7 +296,7 @@ impl Ros1ToZenoh {
 }
 
 struct ZenohToRos1 {
-    _subscriber: zenoh::subscriber::Subscriber<'static, ()>,
+    _subscriber: zenoh::pubsub::Subscriber<'static, ()>,
 }
 impl ZenohToRos1 {
     async fn new(

zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_declaration.rs

@@ -12,14 +12,23 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 
-use zenoh::{
-    core::Priority, internal::buffers::ZBuf, key_expr::OwnedKeyExpr, prelude::*,
-    publisher::CongestionControl, sample::Locality, subscriber::Reliability, Session,
+use std::{
+    sync::{
+        atomic::{AtomicBool, AtomicUsize},
+        Arc,
+    },
+    time::Duration,
 };
 
-use std::sync::atomic::{AtomicBool, AtomicUsize};
-use std::sync::Arc;
-use std::time::Duration;
+use zenoh::{
+    internal::buffers::ZBuf,
+    key_expr::OwnedKeyExpr,
+    prelude::*,
+    pubsub::Reliability,
+    qos::{CongestionControl, Priority},
+    sample::Locality,
+    Session,
+};
 
 pub struct AlohaDeclaration {
     monitor_running: Arc<AtomicBool>,

zenoh-plugin-ros1/src/ros_to_zenoh_bridge/aloha_subscription.rs

@@ -25,7 +25,7 @@ use async_std::sync::Mutex;
 use flume::Receiver;
 use futures::{join, Future, FutureExt};
 use tracing::error;
-use zenoh::{core::Result as ZResult, key_expr::OwnedKeyExpr, prelude::*, sample::Sample, Session};
+use zenoh::{key_expr::OwnedKeyExpr, prelude::*, sample::Sample, Result as ZResult, Session};
 
 struct AlohaResource {
     activity: AtomicBool,
@@ -134,7 +134,7 @@ impl AlohaSubscription {
     async fn listening_task<'a, F>(
         task_running: Arc<AtomicBool>,
         accumulating_resources: &Mutex<HashMap<OwnedKeyExpr, AlohaResource>>,
-        subscriber: &'a zenoh::subscriber::Subscriber<'a, Receiver<Sample>>,
+        subscriber: &'a zenoh::pubsub::Subscriber<'a, Receiver<Sample>>,
         on_resource_declared: &F,
     ) where
         F: Fn(zenoh::key_expr::KeyExpr) -> Box<dyn futures::Future<Output = ()> + Unpin + Send>