use workspace

stelzo · May 16, 2024 · ed0c08a · ed0c08a
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Showing 38 changed files with 107 additions and 673 deletions.
diff --git a/.github/workflows/crates.yml b/.github/workflows/crates.yml
diff --git a/.github/workflows/r2r_galactic.yml b/.github/workflows/r2r_galactic.yml
@@ -17,5 +17,5 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - run: docker build . --file ./tests/Dockerfile_r2r_galactic --tag r2r_galactic
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_galactic --tag r2r_galactic
       - run: docker run r2r_galactic cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/r2r_humble.yml b/.github/workflows/r2r_humble.yml
@@ -17,5 +17,5 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - run: docker build . --file ./tests/Dockerfile_r2r_humble --tag r2r_humble
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_humble --tag r2r_humble
       - run: docker run r2r_humble cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/r2r_iron.yml b/.github/workflows/r2r_iron.yml
@@ -17,5 +17,5 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - run: docker build . --file ./tests/Dockerfile_r2r_iron --tag r2r_iron
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_iron --tag r2r_iron
       - run: docker run r2r_iron cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/rclrs_humble.yml b/.github/workflows/rclrs_humble.yml
@@ -17,5 +17,5 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - run: docker build . --file ./tests/Dockerfile_rclrs_humble --tag rclrs_humble
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_humble --tag rclrs_humble
       - run: docker run rclrs_humble cargo test --features derive,nalgebra,rayon
diff --git a/.github/workflows/rclrs_iron.yml b/.github/workflows/rclrs_iron.yml
@@ -17,5 +17,5 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - run: docker build . --file ./tests/Dockerfile_rclrs_iron --tag rclrs_iron
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_iron --tag rclrs_iron
       - run: docker run rclrs_iron cargo test --features derive,nalgebra,rayon
diff --git a/Cargo.toml b/Cargo.toml
@@ -1,63 +1,5 @@
-[package]
-name = "ros_pointcloud2"
-version = "0.5.0-rc.1"
-edition = "2021"
-authors = ["Christopher Sieh <stelzo@steado.de>"]
-description = "Customizable conversions for working with sensor_msgs/PointCloud2."
-repository = "https://github.com/stelzo/ros_pointcloud2"
-license = "MIT OR Apache-2.0"
-keywords = ["ros", "pointcloud2", "pointcloud", "message"]
-categories = [
-    "science::robotics",
-    "encoding",
-    "data-structures",
-    "api-bindings",
-]
-readme = "README.md"
-documentation = "https://docs.rs/ros_pointcloud2"
-homepage = "https://github.com/stelzo/ros_pointcloud2"
-exclude = [
-    "**/.github/**",
-    "**/tests/**",
-    "**/examples/**",
-    "**/benches/**",
-    "**/target/**",
-    "**/build/**",
-    "**/dist/**",
-    "**/docs/**",
-    "**/doc/**",
-]
-rust-version = "1.63"
+[workspace]
 
-[dependencies]
-rosrust_msg = { version = "0.1", optional = true }
-rosrust = { version = "0.9.11", optional = true }
-r2r = { version = "0.8.4", optional = true }
-rayon = { version = "1", optional = true }
-nalgebra = { version = "0.32.5", optional = true, default-features = false }
-rpcl2_derive = { path = "rpcl2_derive", optional = true }
-type-layout = { path = "type-layout", optional = true }
-
-[dev-dependencies]
-rand = "0.8"
-criterion = { version = "0.5", features = ["html_reports"] }
-
-[[bench]]
-name = "roundtrip"
-harness = false
-
-[features]
-rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
-r2r_msg = ["dep:r2r"]
-rayon = ["dep:rayon"]
-derive = ["dep:rpcl2_derive", "dep:type-layout"]
-nalgebra = ["dep:nalgebra"]
-std = ["nalgebra/std"]
-
-default = ["std", "derive"]
-
-[package.metadata.docs.rs]
-features = ["derive", "nalgebra", "rayon"]
-default-target = "x86_64-unknown-linux-gnu"
-rustdoc-args = ["--cfg", "docsrs"]
+members = ["rpcl2", "rpcl2-derive"]
 
+resolver = "2"
diff --git a/README.md b/README.md
@@ -107,12 +107,6 @@ Licensed under either of
 
 at your option.
 
-### type-layout
-
-For compatibility reasons, a patched version of `type-layout` is included in this repository. The original crate can be found [here](https://crates.io/crates/type-layout). After the patch is applied on the original `type-layout` crate ([PR](https://github.com/LPGhatguy/type-layout/pull/9)), the local dependency will be changed to the original crate.
-
-`type-layout` is licensed under MIT or Apache-2.0 and Copyright by Lucien Greathouse. The changes are highlighted in the diff of the PR.
-
 ### Contribution
 
 Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.
diff --git a/rpcl2-derive/Cargo.toml b/rpcl2-derive/Cargo.toml
@@ -0,0 +1,24 @@
+[package]
+name = "rpcl2-derive"
+description = "Derive macros for ros_pointcloud2 crate."
+version = "0.1.0"
+edition = "2021"
+authors = ["Christopher Sieh <stelzo@steado.de>"]
+homepage = "https://github.com/stelzo/ros_pointcloud2"
+license = "MIT OR Apache-2.0"
+keywords = ["ros", "pointcloud2", "ros_pointcloud2"]
+categories = [
+    "science::robotics",
+    "encoding",
+    "data-structures",
+    "api-bindings",
+]
+repository = "https://github.com/stelzo/ros_pointcloud2"
+
+[lib]
+proc-macro = true
+
+[dependencies]
+syn = "2.0"
+quote = "1.0"
+proc-macro2 = "1.0"
diff --git a/rpcl2-derive/README.md b/rpcl2-derive/README.md
@@ -0,0 +1,8 @@
+<p align="center">
+  <h3 align="center">ROS PointCloud2</h3>
+  <p align="center">Derive macros for the ros_pointcloud2 library.</p>
+  <p align="center"><a href="https://crates.io/crates/ros_pointcloud2"><img src="https://img.shields.io/crates/v/ros_pointcloud2.svg" alt=""></a> <a href="https://github.com/stelzo/ros_pointcloud2/tree/main/tests"><img src="https://github.com/stelzo/ros_pointcloud2/actions/workflows/tests.yml/badge.svg" alt=""></a>
+  </p>
+</p>
+
+This crate should be used in combination with the `ros_pointcloud2` crate.
diff --git a/rpcl2_derive/src/lib.rs → rpcl2-derive/src/lib.rs b/rpcl2_derive/src/lib.rs → rpcl2-derive/src/lib.rs
@@ -1,3 +1,4 @@
+//! This crate provides macros for `ros_pointcloud2` and should be used in combination with said crate.
 extern crate proc_macro;
 
 use std::collections::HashMap;
@@ -30,7 +31,7 @@ fn struct_field_rename_array(input: &DeriveInput) -> Vec<String> {
 
     let mut field_names = Vec::with_capacity(fields.len());
     for f in fields.iter() {
-        if f.attrs.len() == 0 {
+        if f.attrs.is_empty() {
             field_names.push(f.ident.as_ref().unwrap().to_token_stream().to_string());
         } else {
             f.attrs.iter().for_each(|attr| {
@@ -186,12 +187,10 @@ pub fn ros_point_derive(input: TokenStream) -> TokenStream {
         impl ros_pointcloud2::PointConvertible<#field_len_token> for #name {}
     };
 
-    let out = TokenStream::from(quote! {
+    TokenStream::from(quote! {
         #field_impl
         #from_my_point
         #from_custom_point
         #convertible
-    });
-
-    TokenStream::from(out)
+    })
 }
diff --git a/rpcl2/Cargo.toml b/rpcl2/Cargo.toml
@@ -0,0 +1,63 @@
+[package]
+name = "ros_pointcloud2"
+version = "0.5.0-rc.1"
+edition = "2021"
+authors = ["Christopher Sieh <stelzo@steado.de>"]
+description = "Customizable conversions for working with sensor_msgs/PointCloud2."
+repository = "https://github.com/stelzo/ros_pointcloud2"
+license = "MIT OR Apache-2.0"
+keywords = ["ros", "pointcloud2", "pointcloud", "message"]
+categories = [
+    "science::robotics",
+    "encoding",
+    "data-structures",
+    "api-bindings",
+]
+readme = "README.md"
+documentation = "https://docs.rs/ros_pointcloud2"
+homepage = "https://github.com/stelzo/ros_pointcloud2"
+exclude = [
+    "**/.github/**",
+    "**/tests/**",
+    "**/examples/**",
+    "**/benches/**",
+    "**/target/**",
+    "**/build/**",
+    "**/dist/**",
+    "**/docs/**",
+    "**/doc/**",
+]
+rust-version = "1.63"
+
+[dependencies]
+rosrust_msg = { version = "0.1", optional = true }
+rosrust = { version = "0.9.11", optional = true }
+r2r = { version = "0.8.4", optional = true }
+rayon = { version = "1", optional = true }
+nalgebra = { version = "0.32.5", optional = true, default-features = false }
+type-layout = { version = "0.2.0", package = "type-layout-syn2", optional = true }
+rpcl2-derive = { version = "0.1.0", optional = true, path = "../rpcl2-derive" }
+
+[dev-dependencies]
+rand = "0.8"
+criterion = { version = "0.5", features = ["html_reports"] }
+
+[[bench]]
+name = "roundtrip"
+harness = false
+path = "benches/roundtrip.rs"
+
+[features]
+rosrust_msg = ["dep:rosrust_msg", "dep:rosrust"]
+r2r_msg = ["dep:r2r"]
+rayon = ["dep:rayon"]
+derive = ["dep:rpcl2-derive", "dep:type-layout"]
+nalgebra = ["dep:nalgebra"]
+std = ["nalgebra/std"]
+
+default = ["std", "derive"]
+
+[package.metadata.docs.rs]
+features = ["derive", "nalgebra", "rayon"]
+default-target = "x86_64-unknown-linux-gnu"
+rustdoc-args = ["--cfg", "docsrs"]
diff --git a/benches/roundtrip.rs → rpcl2/benches/roundtrip.rs b/benches/roundtrip.rs → rpcl2/benches/roundtrip.rs
diff --git a/examples/custom_enum_field_filter.rs → rpcl2/examples/custom_enum_field_filter.rs b/examples/custom_enum_field_filter.rs → rpcl2/examples/custom_enum_field_filter.rs
diff --git a/examples/rayon_bench.rs → rpcl2/examples/rayon_bench.rs b/examples/rayon_bench.rs → rpcl2/examples/rayon_bench.rs
diff --git a/examples/simple_distance_filter.rs → rpcl2/examples/simple_distance_filter.rs b/examples/simple_distance_filter.rs → rpcl2/examples/simple_distance_filter.rs
diff --git a/src/iterator.rs → rpcl2/src/iterator.rs b/src/iterator.rs → rpcl2/src/iterator.rs
diff --git a/src/lib.rs → rpcl2/src/lib.rs b/src/lib.rs → rpcl2/src/lib.rs
diff --git a/src/points.rs → rpcl2/src/points.rs b/src/points.rs → rpcl2/src/points.rs
diff --git a/src/prelude.rs → rpcl2/src/prelude.rs b/src/prelude.rs → rpcl2/src/prelude.rs
diff --git a/src/ros.rs → rpcl2/src/ros.rs b/src/ros.rs → rpcl2/src/ros.rs
diff --git a/tests/Dockerfile_r2r_galactic → rpcl2/tests/Dockerfile_r2r_galactic b/tests/Dockerfile_r2r_galactic → rpcl2/tests/Dockerfile_r2r_galactic
diff --git a/tests/Dockerfile_r2r_humble → rpcl2/tests/Dockerfile_r2r_humble b/tests/Dockerfile_r2r_humble → rpcl2/tests/Dockerfile_r2r_humble
diff --git a/tests/Dockerfile_r2r_iron → rpcl2/tests/Dockerfile_r2r_iron b/tests/Dockerfile_r2r_iron → rpcl2/tests/Dockerfile_r2r_iron
diff --git a/tests/Dockerfile_rclrs_humble → rpcl2/tests/Dockerfile_rclrs_humble b/tests/Dockerfile_rclrs_humble → rpcl2/tests/Dockerfile_rclrs_humble
diff --git a/tests/Dockerfile_rclrs_iron → rpcl2/tests/Dockerfile_rclrs_iron b/tests/Dockerfile_rclrs_iron → rpcl2/tests/Dockerfile_rclrs_iron
diff --git a/tests/e2e_test.rs → rpcl2/tests/e2e_test.rs b/tests/e2e_test.rs → rpcl2/tests/e2e_test.rs
diff --git a/tests/r2r_msg_test.rs → rpcl2/tests/r2r_msg_test.rs b/tests/r2r_msg_test.rs → rpcl2/tests/r2r_msg_test.rs
diff --git a/tests/r2r_test.bash → rpcl2/tests/r2r_test.bash b/tests/r2r_test.bash → rpcl2/tests/r2r_test.bash
diff --git a/tests/rclrs_test.bash → rpcl2/tests/rclrs_test.bash b/tests/rclrs_test.bash → rpcl2/tests/rclrs_test.bash
diff --git a/tests/rosrust_msg_test.rs → rpcl2/tests/rosrust_msg_test.rs b/tests/rosrust_msg_test.rs → rpcl2/tests/rosrust_msg_test.rs
diff --git a/rpcl2_derive/Cargo.toml b/rpcl2_derive/Cargo.toml
diff --git a/type-layout/Cargo.toml b/type-layout/Cargo.toml