release: v0.2.20

Cargo.toml

@@ -5,7 +5,7 @@ edition = "2021"
 license-file = "LICENSE"
 name = "lebai_sdk"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "0.2.19"
+version = "0.2.20"
 
 [workspace]
 members = [

proto/Cargo.toml

@@ -6,7 +6,7 @@ keywords = ["protobuf"]
 license = "MIT"
 name = "lebai-proto"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "3.2.1"
+version = "3.2.2"
 
 [dependencies]
 jsonrpsee = {version = "0.24", features = ["client-core", "macros"]}

proto/src/lib.rs

@@ -1,9 +1,4 @@
-pub mod io;
-pub mod kinematic;
-pub mod led;
-pub mod modbus;
-pub mod posture;
-pub mod task;
+pub mod serde;
 
 pub mod google {
     pub mod protobuf {

proto/src/kinematic.rs → proto/src/serde/kinematic.rs

@@ -1,5 +1,5 @@
 use crate::lebai::kinematic;
-use crate::posture::{CartesianPose, JointPose};
+use crate::serde::posture::{CartesianPose, JointPose};
 use serde::{Deserialize, Serialize};
 
 #[derive(Deserialize, Serialize)]

proto/src/serde/mod.rs

@@ -0,0 +1,6 @@
+pub mod io;
+pub mod kinematic;
+pub mod led;
+pub mod modbus;
+pub mod posture;
+pub mod task;

src/lib.rs

@@ -8,13 +8,13 @@ mod runtime;
 pub mod lebai_sdk {
     use super::*;
     use cmod::Result;
-    use proto::kinematic::KinData;
     use proto::lebai::claw::Claw;
     use proto::lebai::dynamic::Payload;
     use proto::lebai::posture::Position;
     use proto::lebai::system::{EstopReason, PhyData, RobotState};
-    use proto::led::LedStyle;
-    use proto::posture::{CartesianPose, JointPose, Pose};
+    use proto::serde::kinematic::KinData;
+    use proto::serde::led::LedStyle;
+    use proto::serde::posture::{CartesianPose, JointPose, Pose};
     use runtime::CompatExt as _;
 
     #[cmod::function]
@@ -572,3 +572,5 @@ pub mod lebai_sdk {
         }
     }
 }
+
+pub use lebai_sdk::*;

src/rpc/kinematic.rs

@@ -1,10 +1,10 @@
 use super::Robot;
 use cmod::Result;
 use proto::google::protobuf::Empty;
-use proto::kinematic::KinData;
 use proto::lebai::db::LoadRequest;
 use proto::lebai::kinematic::*;
-use proto::posture::CartesianPose;
+use proto::serde::kinematic::KinData;
+use proto::serde::posture::CartesianPose;
 
 impl Robot {
     pub(crate) async fn load_tcp(&self, name: String, dir: Option<String>) -> Result<CartesianPose> {

src/rpc/led.rs

@@ -2,7 +2,7 @@ use super::Robot;
 use cmod::Result;
 use proto::lebai::db::LoadRequest;
 use proto::lebai::led::*;
-use proto::led::LedStyle;
+use proto::serde::led::LedStyle;
 
 impl Robot {
     pub(crate) async fn load_led_style(&self, name: String, dir: Option<String>) -> Result<LedStyle> {

src/rpc/mod.rs

@@ -5,10 +5,10 @@ pub mod kinematic;
 pub mod led;
 pub mod modbus;
 pub mod motion;
+pub mod motor;
 pub mod plugin;
 pub mod posture;
 pub mod serial;
-pub mod motor;
 pub mod signal;
 pub mod storage;
 pub mod system;

src/rpc/motion.rs

@@ -3,7 +3,7 @@ use cmod::Result;
 use proto::google::protobuf::Empty;
 use proto::lebai::db::LoadRequest;
 use proto::lebai::motion::*;
-use proto::posture::{CartesianPose, JointPose, Pose};
+use proto::serde::posture::{CartesianPose, JointPose, Pose};
 
 impl Robot {
     pub(crate) async fn pause_move(&self) -> Result<()> {

src/rpc/posture.rs

@@ -2,7 +2,7 @@ use super::Robot;
 use cmod::Result;
 use proto::lebai::db::*;
 use proto::lebai::posture::{self, *};
-use proto::posture::{CartesianPose, JointPose, Pose};
+use proto::serde::posture::{CartesianPose, JointPose, Pose};
 
 impl Robot {
     pub async fn kinematics_forward(&self, p: Pose) -> Result<CartesianPose> {

src/runtime.rs

@@ -3,7 +3,7 @@ use core::pin::Pin;
 use core::task::{Context, Poll};
 use pin_project_lite::pin_project;
 
-#[cfg(all(not(target_family = "wasm"), feature="module"))]
+#[cfg(all(not(target_family = "wasm"), feature = "module"))]
 pub static RT: once_cell::sync::Lazy<tokio::runtime::Runtime> = once_cell::sync::Lazy::new(|| {
     tokio::runtime::Builder::new_multi_thread()
         .thread_name("lebai-sdk")
@@ -54,7 +54,7 @@ impl<T: Future> Future for Compat<T> {
     type Output = T::Output;
 
     fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
-        #[cfg(all(not(target_family = "wasm"), feature="module"))]
+        #[cfg(all(not(target_family = "wasm"), feature = "module"))]
         let _guard = RT.enter();
         self.project().inner.poll(cx)
     }