Restructure project to enable custom mavlink bindings generation (#223)

* Restructure project to enable custom mavlink bindings generation

Split the project into three crates:

* mavlink-core: core MAVLink types including TCP, UDP and serial connections
* mavlink-bindgen: a library & CLI for generating Rust bindings for MAVLink dialects
* mavlink: generated MAVLink bindings for the MAVLink dialects in the mavlink/mavlink repo

* run GitHub checks

* reformat

* attempt to fix cross compile test

* attempt to install cross

* Downgrade clap to support MSRV 1.65.0

* Downgrade clap_lex to support MSRV 1.65.0

* Another downgrade

* downgrade anstyle

* Simplify support for MSRV 1.65.0

* Hopefully this works

* fix embedded build

* Fix build on MSRV

* Make cli feature not default

* Only build the mavlink package in tests.

The mavlink-bindgen crate does not itself need to run on embedded hardware

* Attempt to support no_std in mavlink again

* Fix for the last GitHub action

* Make the embedded example work in the cargo workspace

* Remove unused import

* Remove accidentally committed binary

.github/workflows/test.yml

@@ -51,6 +51,10 @@ jobs:
       - uses: dtolnay/rust-toolchain@master
         with:
           toolchain: 1.65.0
+      - uses: actions-rs/cargo@v1
+        with:
+          command: install
+          args: cross --locked
       - uses: actions-rs/cargo@v1
         with:
           use-cross: true
@@ -103,7 +107,7 @@ jobs:
         with:
           use-cross: true
           command: build
-          args: --verbose --release --target=${{ matrix.TARGET }} ${{ matrix.FLAGS }}
+          args: --verbose --release --package=mavlink --target=${{ matrix.TARGET }} ${{ matrix.FLAGS }}
 
   test-embedded-size:
     needs: build
@@ -114,7 +118,7 @@ jobs:
         with:
           target: thumbv7em-none-eabihf
       - name: Build
-        run: cargo +nightly build --target thumbv7em-none-eabihf --manifest-path examples/embedded/Cargo.toml --out-dir $PWD --release -Z unstable-options
+        run: cargo +nightly build --target thumbv7em-none-eabihf --manifest-path mavlink/examples/embedded/Cargo.toml --out-dir $PWD --release -Z unstable-options
 
   docs:
     needs: internal-tests

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "mavlink"]
-	path = mavlink
+[submodule "mavlink/mavlink"]
+	path = mavlink/mavlink
 	url = https://github.com/mavlink/mavlink

Cargo.toml

@@ -1,105 +1,10 @@
+[workspace]
+members = ["mavlink", "mavlink-bindgen", "mavlink-core"]
+resolver = "1"
 
-[package]
-name = "mavlink"
-version = "0.12.2"
-authors = ["Todd Stellanova", "Michal Podhradsky", "Kevin Mehall", "Tim Ryan", "Patrick José Pereira", "Ibiyemi Abiodun"]
-build = "build/main.rs"
-description = "Implements the MAVLink data interchange format for UAVs."
-readme = "README.md"
-license = "MIT/Apache-2.0"
-repository = "https://github.com/mavlink/rust-mavlink"
-edition = "2018"
-rust-version = "1.65.0"
-
-[build-dependencies]
-crc-any = { version = "2.3.0", default-features = false }
-quick-xml = "0.26"
-quote = "1"
-proc-macro2 = "1.0.43"
-lazy_static = "1.2.0"
-serde = { version = "1.0.115", optional = true, features = ["derive"] }
-
-[[example]]
-name = "mavlink-dump"
-path = "examples/mavlink-dump/src/main.rs"
-required-features = ["ardupilotmega"]
-
-[dependencies]
+[workspace.dependencies]
 crc-any = { version = "2.3.5", default-features = false }
 num-traits = { version = "0.2", default-features = false }
 num-derive = "0.3.2"
 bitflags = "1.2.1"
-serial = { version = "0.4", optional = true }
-serde = { version = "1.0.115", optional = true, features = ["derive"] }
 byteorder = { version = "1.3.4", default-features = false }
-embedded-hal = { version = "0.2", optional = true }
-nb = { version = "1.0", optional = true }
-serde_arrays = { version = "0.1.0", optional = true }
-
-[features]
-"all" = [
-    "ardupilotmega",
-    "asluav",
-    "common",
-    "development",
-    "icarous",
-    "minimal",
-    "python_array_test",
-    "standard",
-    "test",
-    "ualberta",
-    "uavionix",
-    "avssuas",
-    "cubepilot",
-]
-"ardupilotmega" = ["common", "icarous", "uavionix"]
-"asluav" = ["common"]
-"avssuas" = ["common"]
-"development" = ["common"]
-"matrixpilot" = ["common"]
-"minimal" = []
-"paparazzi" = ["common"]
-"python_array_test" = ["common"]
-"slugs" = ["common"]
-"standard" = ["common"]
-"test" = []
-"ualberta" = ["common"]
-"uavionix" = ["common"]
-"icarous" = []
-"common" = []
-"cubepilot" = ["common"]
-
-"all-dialects" = [
-    "ardupilotmega",
-    "asluav",
-    "avssuas",
-    "development",
-    "matrixpilot",
-    "minimal",
-    "paparazzi",
-    "python_array_test",
-    "slugs",
-    "standard",
-    "test",
-    "ualberta",
-    "uavionix",
-    "icarous",
-    "common",
-    "cubepilot",
-]
-
-"format-generated-code" = []
-"emit-description" = []
-"emit-extensions" = []
-"std" = ["byteorder/std"]
-"udp" = []
-"tcp" = []
-"direct-serial" = []
-"embedded" = ["embedded-hal", "nb"]
-"serde" = ["dep:serde", "dep:serde_arrays"]
-default = ["std", "tcp", "udp", "direct-serial", "serial", "serde", "ardupilotmega"]
-
-# build with all features on docs.rs so that users viewing documentation
-# can see everything
-[package.metadata.docs.rs]
-features = ["default", "all-dialects", "emit-description", "emit-extensions", "format-generated-code"]