added main macro

Cargo.toml

@@ -13,7 +13,7 @@ members = [
     "navigator",
     "rig", "tools", "smach", "costmap",
     "smooth-diff-drive",
-    "lunasimbot",
+    "lunasimbot", "unros-macros", "unros",
 ]
 resolver = "2"
 

apriltag/Cargo.toml

@@ -9,7 +9,7 @@ edition = "2021"
 apriltag-inner = { version = "0.4", package = "apriltag" }
 apriltag-image = "0.1"
 apriltag-nalgebra = "0.1"
-unros-core = { path = "../unros-core" }
+unros = { path = "../unros" }
 rig = { path = "../rig" }
 nalgebra = { workspace = true }
 fxhash = { workspace = true }

apriltag/examples/webcam.rs

@@ -2,42 +2,37 @@ use apriltag::AprilTagDetector;
 use camera::discover_all_cameras;
 use fxhash::FxBuildHasher;
 use rig::Robot;
-use unros_core::{
+use unros::{
     anyhow::{self, Context},
-    default_run_options,
     pubsub::Subscriber,
-    start_unros_runtime,
+    Application,
 };
 
-fn main() -> anyhow::Result<()> {
-    start_unros_runtime(
-        |mut app| async {
-            let rig: Robot = toml::from_str(include_str!("lunabot.toml"))?;
-            let (mut elements, _) = rig.destructure::<FxBuildHasher>(["camera"])?;
-            let camera_element = elements.remove("camera").unwrap();
-            let mut apriltag = AprilTagDetector::new(1108.4, 1280, 960, camera_element.get_ref());
-            let mut camera = discover_all_cameras()
-                .context("Failed to discover cameras")?
-                .next()
-                .context("No camera found")?;
-            camera.accept_image_received_sub(apriltag.create_image_subscription());
-            let mut pose_sub = Subscriber::new(1);
-            apriltag.add_tag(Default::default(), Default::default(), 0.12, 0);
-            apriltag.accept_tag_detected_sub(pose_sub.create_subscription());
-            app.add_task(
-                |_| async move {
-                    loop {
-                        let pose = pose_sub.recv().await;
-                        println!("{pose}");
-                    }
-                },
-                "pose",
-            );
-
-            app.add_node(camera);
-            app.add_node(apriltag);
-            Ok(app)
+#[unros::main]
+async fn main(mut app: Application) -> anyhow::Result<Application> {
+    let rig: Robot = toml::from_str(include_str!("lunabot.toml"))?;
+    let (mut elements, _) = rig.destructure::<FxBuildHasher>(["camera"])?;
+    let camera_element = elements.remove("camera").unwrap();
+    let mut apriltag = AprilTagDetector::new(1108.4, 1280, 960, camera_element.get_ref());
+    let mut camera = discover_all_cameras()
+        .context("Failed to discover cameras")?
+        .next()
+        .context("No camera found")?;
+    camera.accept_image_received_sub(apriltag.create_image_subscription());
+    let mut pose_sub = Subscriber::new(1);
+    apriltag.add_tag(Default::default(), Default::default(), 0.12, 0);
+    apriltag.accept_tag_detected_sub(pose_sub.create_subscription());
+    app.add_task(
+        |_| async move {
+            loop {
+                let pose = pose_sub.recv().await;
+                println!("{pose}");
+            }
         },
-        default_run_options!(),
-    )
+        "pose",
+    );
+
+    app.add_node(camera);
+    app.add_node(apriltag);
+    Ok(app)
 }

apriltag/src/lib.rs

@@ -14,7 +14,7 @@ use apriltag_nalgebra::PoseExt;
 use fxhash::FxHashMap;
 use nalgebra::{Isometry3, Point3, UnitQuaternion, Vector3};
 use rig::RobotElementRef;
-use unros_core::{
+use unros::{
     anyhow, async_trait,
     pubsub::{Publisher, Subscriber, Subscription},
     setup_logging,
@@ -46,11 +46,7 @@ impl Debug for PoseObservation {
 
 impl Display for PoseObservation {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
-        let axis = self
-            .pose
-            .rotation
-            .axis()
-            .unwrap_or_else(Vector3::x_axis);
+        let axis = self.pose.rotation.axis().unwrap_or_else(Vector3::x_axis);
         write!(f, "Observer pos: ({:.2}, {:.2}, {:.2}), axis: ({:.2}, {:.2}, {:.2}), angle: {:.0}, margin: {:.0}", self.pose.translation.x, self.pose.translation.y, self.pose.translation.z, axis.x, axis.y, axis.z, self.pose.rotation.angle() / PI * 180.0, self.decision_margin)
         // write!(f, "Observer pos: ({:.2}, {:.2}, {:.2}), quat: ({:.2}, {:.2}, {:.2}, {:.2}), margin: {:.0}", self.pose.translation.x, self.pose.translation.y, self.pose.translation.z, self.pose.rotation.w, self.pose.rotation.i, self.pose.rotation.j, self.pose.rotation.k, self.decision_margin)
     }

camera/Cargo.toml

@@ -7,5 +7,5 @@ edition = "2021"
 
 [dependencies]
 nokhwa = { version = "0.10", features = ["input-native"] }
-unros-core = { path = "../unros-core" }
+unros = { path = "../unros" }
 image = { workspace = true }

camera/src/lib.rs

@@ -12,7 +12,7 @@ use nokhwa::{
     query,
     utils::{CameraIndex, RequestedFormat, RequestedFormatType},
 };
-use unros_core::{
+use unros::{
     anyhow::{self, Context},
     async_trait, log,
     pubsub::{Publisher, Subscription},

camera/src/main.rs

@@ -1,39 +1,34 @@
 use std::sync::atomic::{AtomicUsize, Ordering};
 
 use camera::discover_all_cameras;
-use unros_core::{
+use unros::{
     anyhow::{self, Context},
-    default_run_options,
     log::info,
     pubsub::Subscriber,
-    start_unros_runtime, tokio,
+    tokio, Application,
 };
 
-fn main() -> anyhow::Result<()> {
-    start_unros_runtime(
-        |mut app| async {
-            let fps = 20;
-            discover_all_cameras()
-                .context("Failed to discover cameras")?
-                .for_each(|mut camera| {
-                    let mut sub = Subscriber::new(8);
-                    camera.accept_image_received_sub(sub.create_subscription());
-                    let frame_count = AtomicUsize::new(0);
-                    let idx = camera.camera_index;
-                    tokio::spawn(async move {
-                        loop {
-                            sub.recv().await;
-                            let frame_count = frame_count.fetch_add(1, Ordering::Relaxed) + 1;
-                            if frame_count % (fps as usize) == 0 {
-                                info!("idx: {idx} -> {frame_count}");
-                            }
-                        }
-                    });
-                    app.add_node(camera);
-                });
+#[unros::main]
+async fn main(mut app: Application) -> anyhow::Result<Application> {
+    let fps = 20;
+    discover_all_cameras()
+        .context("Failed to discover cameras")?
+        .for_each(|mut camera| {
+            let mut sub = Subscriber::new(8);
+            camera.accept_image_received_sub(sub.create_subscription());
+            let frame_count = AtomicUsize::new(0);
+            let idx = camera.camera_index;
+            tokio::spawn(async move {
+                loop {
+                    sub.recv().await;
+                    let frame_count = frame_count.fetch_add(1, Ordering::Relaxed) + 1;
+                    if frame_count % (fps as usize) == 0 {
+                        info!("idx: {idx} -> {frame_count}");
+                    }
+                }
+            });
+            app.add_node(camera);
+        });
 
-            Ok(app)
-        },
-        default_run_options!(),
-    )
+    Ok(app)
 }

costmap/Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-unros-core = { path = "../unros-core" }
+unros = { path = "../unros" }
 nalgebra = { workspace = true }
 image = { workspace = true, optional = false }
 spin_sleep = { workspace = true }

costmap/src/lib.rs

@@ -14,7 +14,7 @@ use std::{
 use nalgebra::{Dyn, Matrix, Point2, Point3, VecStorage};
 use ordered_float::NotNan;
 use spin_sleep::SpinSleeper;
-use unros_core::{
+use unros::{
     anyhow, async_trait,
     pubsub::{Subscriber, Subscription},
     rayon::{

drive/Cargo.toml

@@ -6,6 +6,6 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-unros-core = { path = "../unros-core" }
+unros = { path = "../unros" }
 serial = { path = "../serial" }
 global-msgs = { path = "../global-msgs" }

drive/src/lib.rs

@@ -1,6 +1,6 @@
 use global_msgs::Steering;
 use serial::SerialConnection;
-use unros_core::{
+use unros::{
     anyhow, async_trait,
     pubsub::{Publisher, Subscriber, Subscription},
     setup_logging, tokio, Node, NodeIntrinsics, RuntimeContext,

localization/Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-unros-core = { path = "../unros-core" }
+unros = { path = "../unros" }
 nalgebra = { workspace = true }
 rig = { path = "../rig" }
 # quaternion-core = { workspace = true }

localization/src/lib.rs

@@ -20,7 +20,7 @@ use rand::Rng;
 use rand_distr::{Distribution, Normal};
 use rig::{RobotBase, RobotElementRef};
 use smach::{start_machine, Transition};
-use unros_core::{
+use unros::{
     anyhow, async_trait,
     pubsub::{Subscriber, Subscription},
     rayon::{

lunabot/Cargo.toml

@@ -6,7 +6,7 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-unros-core = { path = "../unros-core" }
+unros = { path = "../unros" }
 telemetry = { path = "../telemetry" }
 realsense = { path = "../realsense" }
 camera = { path = "../camera" }