Prelude but in cu29::prelude (#141)

* Split cu29 to cu29 (prelude) and cu29_runtime (actual impl)

* large porting to the new prelude

* cargo fmt

* Added readme change for prelude.

Cargo.toml

@@ -10,6 +10,7 @@ members = [
     "core/cu29_log",
     "core/cu29_log_derive",
     "core/cu29_log_runtime",
+    "core/cu29_runtime",
     "core/cu29_soa_derive",
     "core/cu29_traits",
     "core/cu29_unifiedlog",
@@ -48,6 +49,7 @@ default-members = [
     "core/cu29_log",
     "core/cu29_log_derive",
     "core/cu29_log_runtime",
+    "core/cu29_runtime",
     "core/cu29_soa_derive",
     "core/cu29_traits",
     "core/cu29_unifiedlog",
@@ -71,19 +73,20 @@ no_individual_tags = true
 [workspace.dependencies]
 
 # Copper Core
-cu29 = { path = "core/cu29" , version = "0.5.1"}
-cu29-clock = { path = "core/cu29_clock" , version = "0.5.1"}
-cu29-derive = { path = "core/cu29_derive" , version = "0.5.1"}
-cu29-export = { path = "core/cu29_export" , version = "0.5.1"}
-cu29-helpers = { path = "core/cu29_helpers" , version = "0.5.1"}
-cu29-intern-strs = { path = "core/cu29_intern_strs" , version = "0.5.1"}
-cu29-log = { path = "core/cu29_log" , version = "0.5.1"}
-cu29-log-derive = { path = "core/cu29_log_derive" , version = "0.5.1"}
-cu29-log-runtime = { path = "core/cu29_log_runtime" , version = "0.5.1"}
-cu29-soa-derive = { path = "core/cu29_soa_derive" , version = "0.5.1"}
-cu29-traits = { path = "core/cu29_traits" , version = "0.5.1"}
-cu29-unifiedlog = { path = "core/cu29_unifiedlog" , version = "0.5.1"}
-cu29-value = { path = "core/cu29_value" , version = "0.5.1"}
+cu29 = { path = "core/cu29", version = "0.5.1" }
+cu29-clock = { path = "core/cu29_clock", version = "0.5.1" }
+cu29-derive = { path = "core/cu29_derive", version = "0.5.1" }
+cu29-export = { path = "core/cu29_export", version = "0.5.1" }
+cu29-helpers = { path = "core/cu29_helpers", version = "0.5.1" }
+cu29-intern-strs = { path = "core/cu29_intern_strs", version = "0.5.1" }
+cu29-log = { path = "core/cu29_log", version = "0.5.1" }
+cu29-log-derive = { path = "core/cu29_log_derive", version = "0.5.1" }
+cu29-log-runtime = { path = "core/cu29_log_runtime", version = "0.5.1" }
+cu29-runtime = { path = "core/cu29_runtime", version = "0.5.1" }
+cu29-soa-derive = { path = "core/cu29_soa_derive", version = "0.5.1" }
+cu29-traits = { path = "core/cu29_traits", version = "0.5.1" }
+cu29-unifiedlog = { path = "core/cu29_unifiedlog", version = "0.5.1" }
+cu29-value = { path = "core/cu29_value", version = "0.5.1" }
 
 # Payload definitions
 cu-sensor-payloads = { path = "components/payloads/cu_sensor_payloads", version = "0.5.0" }

README.md

@@ -70,7 +70,8 @@ The source code for this demo is available in the [examples/cu_rp_balancebot](ex
 2. **Runtime generation**: The current implementation works for up to middle size robots (~a couple dozen of tasks).
 3. **Log reader**: You can reread the logs generated by Copper from your robot, sim or resim.
 4. **Structured log reader**: debug logs are indexed and string interned at compile time for maximum efficiency.
-5. **Components**: We have a growing number of drivers, algorithms and standard interfaces, if you have implemented a new
+5. **Components**: We have a growing number of drivers, algorithms and standard interfaces, if you have implemented a
+   new
    component, ping us and we will add it to the list!
 6. **log replay / resim**: You can deterministically replay/resim a log. If all you tasks are deterministic, you will
    get the exact same result as a real log on the robot or from the sim.
@@ -136,6 +137,9 @@ Then, on your main.rs:
 
 ```rust,ignore
 
+// Import the prelude to get all the macros and traits you need.
+use cu29::prelude::*;
+
 // Your application will be a struct that will hold the runtime, loggers etc.
 // This proc macro is where all the runtime generation happens. You can see the code generated by the macro at
 // compile time.
@@ -234,14 +238,17 @@ examples/ros_caterpillar
 You can try them out by either just logging on a desktop, or with GPIOs on a RPi.
 You should see a couple order of magnitude difference in performance.
 
-Copper has been designed for performance first. Not unlike a game engine, we use a data oriented approach to minimize latency
+Copper has been designed for performance first. Not unlike a game engine, we use a data oriented approach to minimize
+latency
 and maximize throughput.
 
 ### Safety
 
-As Copper is written in Rust, it is memory safe and thread safe by design. It is also designed to be easy to use and avoid common pitfalls.
+As Copper is written in Rust, it is memory safe and thread safe by design. It is also designed to be easy to use and
+avoid common pitfalls.
 
-As we progress on this project we plan on implementing more and more early warnings to help you avoid "the death by a thousand cuts" that can happen in a complex system.
+As we progress on this project we plan on implementing more and more early warnings to help you avoid "the death by a
+thousand cuts" that can happen in a complex system.
 
 ### Release Notes
 
@@ -256,7 +263,8 @@ You can find the release notes [here](https://github.com/copper-project/copper-r
 Here are some of the features we plan to implement next (in ~order of priority), if you are interested in contributing
 on any of those, please let us know!:
 
-- [ ] **Parallel Copper Lists**: Today Copper is single-threaded; this should enable concurrent Copper Lists to be executed
+- [ ] **Parallel Copper Lists**: Today Copper is single-threaded; this should enable concurrent Copper Lists to be
+  executed
   at the same time with no contention.
 - [ ] **ROS/DDS interfacing**: Build a pair of sink and source to connect to existing ROS systems, helping users migrate
   their infra bit by bit.

components/sinks/cu_iceoryx2_sink/Cargo.toml

@@ -13,8 +13,3 @@ description = "Copper sink task for Iceoryx2."
 [dependencies]
 iceoryx2 = { version = "0.4.1" }
 cu29 = { workspace = true }
-cu29-traits = { workspace = true }
-cu29-log-derive = { workspace = true }
-cu29-log = { workspace = true }
-
-cu29-log-runtime = { workspace = true } # needed

components/sinks/cu_iceoryx2_sink/src/lib.rs

@@ -1,10 +1,5 @@
 use cu29::clock::RobotClock;
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuMsgPayload};
-use cu29::cutask::{CuSinkTask, Freezable};
-use cu29::input_msg;
-use cu29_log_derive::debug;
-use cu29_traits::{CuError, CuResult};
+use cu29::prelude::*;
 use iceoryx2::node::NodeBuilder;
 use iceoryx2::port::publisher::Publisher;
 use iceoryx2::prelude::*;
@@ -18,7 +13,7 @@ where
     P: CuMsgPayload, // TODO: Maybe with something a little more generic we can be ROS2 compatible
 {
     service_name: ServiceName,
-    node: Node<ipc::Service>,
+    node: iceoryx2::prelude::Node<ipc::Service>,
     service: Option<PortFactory<ipc::Service, CuMsg<P>, ()>>,
     publisher: Option<Publisher<ipc::Service, CuMsg<P>, ()>>,
 }
@@ -44,7 +39,7 @@ where
 
         let service_name = ServiceName::new(service_name.as_str())
             .map_err(|e| CuError::new_with_cause("Failed to create service name.", e))?;
-        let node: Node<ipc::Service> = NodeBuilder::new()
+        let node: iceoryx2::prelude::Node<ipc::Service> = NodeBuilder::new()
             .create::<ipc::Service>()
             .map_err(|e| CuError::new_with_cause("Failed to create node.", e))?;
 

components/sinks/cu_rp_gpio/src/lib.rs

@@ -1,14 +1,7 @@
 use bincode::{Decode, Encode};
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
-use cu29::input_msg;
-use cu29::CuResult;
+use cu29::prelude::*;
 use serde::{Deserialize, Serialize};
 
-#[cfg(mock)]
-use cu29_log_derive::debug;
-
-use cu29::clock::RobotClock;
 #[cfg(hardware)]
 use {
     cu29::CuError,

components/sinks/cu_rp_sn754410/Cargo.toml

@@ -12,16 +12,10 @@ repository.workspace = true
 
 [dependencies]
 cu29 = { workspace = true }
-cu29-log = { workspace = true }
-cu29-log-runtime = { workspace = true }  # needed
-cu29-log-derive = { workspace = true }
-cu29-traits = { workspace = true }
 bincode = { workspace = true }
 serde = { workspace = true }
 
 [dev-dependencies]
-cu29-derive = { workspace = true }
-cu29-unifiedlog = { workspace = true }  # needed
 cu29-helpers = { workspace = true }
 
 [target.'cfg(target_os = "linux")'.dependencies]

components/sinks/cu_rp_sn754410/src/lib.rs

@@ -2,17 +2,9 @@ use bincode::de::Decoder;
 use bincode::enc::Encoder;
 use bincode::error::{DecodeError, EncodeError};
 use bincode::{Decode, Encode};
-use cu29::clock::{CuTime, RobotClock};
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
-use cu29::{input_msg, CuResult};
+use cu29::prelude::*;
 use serde::{Deserialize, Serialize};
 
-use cu29_log_derive::debug;
-
-#[cfg(hardware)]
-use cu29_traits::CuError;
-
 #[cfg(hardware)]
 use rppal::pwm::{Channel, Polarity, Pwm};
 

components/sinks/cu_rp_sn754410/tests/sn754410_tester.rs

@@ -1,7 +1,5 @@
-use cu29::cutask::CuSinkTask;
-use cu29_derive::copper_runtime;
+use cu29::prelude::*;
 use cu29_helpers::basic_copper_setup;
-use cu29_log_derive::debug;
 use std::path::PathBuf;
 
 #[copper_runtime(config = "tests/copperconfig.ron")]

components/sources/cu_ads7883/Cargo.toml

@@ -12,19 +12,13 @@ repository.workspace = true
 
 [dependencies]
 cu29 = { workspace = true }
-cu29-log = { workspace = true }
-cu29-log-runtime = { workspace = true }  # needed
-cu29-log-derive = { workspace = true }
 bincode = { workspace = true }
 serde = { workspace = true }
 
 [target.'cfg(target_os = "linux")'.dependencies]
 spidev = "0.6.0"
 
 [dev-dependencies]
-cu29-derive = { workspace = true }
-cu29-unifiedlog = { workspace = true }  # needed
-cu29-traits = { workspace = true }  # needed
 cu29-helpers = { workspace = true }
 
 [build-dependencies]

components/sources/cu_ads7883/src/lib.rs

@@ -2,11 +2,7 @@
 mod mock;
 
 use bincode::{Decode, Encode};
-use cu29::clock::RobotClock;
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSrcTask, Freezable};
-use cu29::{output_msg, CuError, CuResult};
-use cu29_log_derive::debug;
+use cu29::prelude::*;
 use serde::{Deserialize, Serialize};
 
 #[cfg(hardware)]
@@ -171,9 +167,6 @@ impl<'cl> CuSrcTask<'cl> for ADS7883 {
 
 pub mod test_support {
     use super::*;
-    use cu29::cutask::CuSinkTask;
-    use cu29::input_msg;
-    use cu29_log_derive::debug;
 
     pub struct ADS78883TestSink;
 

components/sources/cu_ads7883/tests/ads7883_tester.rs

@@ -1,10 +1,5 @@
-use cu29::clock::RobotClock;
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
-use cu29::{input_msg, CuResult};
-use cu29_derive::copper_runtime;
+use cu29::prelude::*;
 use cu29_helpers::basic_copper_setup;
-use cu29_log_derive::debug;
 use cu_ads7883_new::ADSReadingPayload;
 use std::path::PathBuf;
 

components/sources/cu_hesai/Cargo.toml

@@ -11,12 +11,11 @@ homepage.workspace = true
 repository.workspace = true
 
 [dependencies]
-cu29-clock = { workspace = true }
+cu29 = { workspace = true }
 cu-sensor-payloads = { workspace = true }
 bytemuck = { version = "1.20.0", features = ["derive"] }
 uom = { workspace = true }
 chrono = { version = "0.4.38" }
-cu29 = { workspace = true }
 socket2 = { version = "0.5.8", features = ["all"] }
 
 # [dev-dependencies]

components/sources/cu_hesai/src/lib.rs

@@ -2,11 +2,7 @@ pub mod parser;
 
 use crate::parser::{generate_default_elevation_calibration, RefTime};
 use chrono::Utc;
-use cu29::config::ComponentConfig;
-use cu29::cutask::CuMsg;
-use cu29::cutask::{CuSrcTask, Freezable};
-use cu29::{output_msg, CuError, CuResult};
-use cu29_clock::{CuDuration, CuTime, CuTimeRange, RobotClock, Tov};
+use cu29::prelude::*;
 use cu_sensor_payloads::{PointCloud, PointCloudSoa};
 use socket2::{Domain, Protocol, SockAddr, Socket, Type};
 use std::io::ErrorKind;

components/sources/cu_hesai/src/parser.rs

@@ -1,6 +1,6 @@
 use bytemuck::{Pod, Zeroable};
 use chrono::{DateTime, MappedLocalTime, TimeZone, Utc};
-use cu29_clock::{CuDuration, CuTime};
+use cu29::prelude::{CuDuration, CuTime};
 use std::error::Error;
 use std::fmt;
 use std::fmt::{Debug, Formatter};
@@ -505,7 +505,7 @@ pub fn generate_default_elevation_calibration() -> [Angle; 32] {
 
 mod tests {
     use super::*;
-    use cu29_clock::RobotClock;
+    use cu29::prelude::RobotClock;
     use pcap::Capture;
 
     #[test]

components/sources/cu_iceoryx2_src/Cargo.toml

@@ -13,7 +13,3 @@ repository.workspace = true
 [dependencies]
 iceoryx2 = { version = "0.4.1" }
 cu29 = { workspace = true }
-cu29-traits = { workspace = true }
-cu29-log-derive = { workspace = true }
-cu29-log = { workspace = true }
-cu29-log-runtime = { workspace = true }  # needed

components/sources/cu_iceoryx2_src/src/lib.rs

@@ -1,10 +1,4 @@
-use cu29::clock::RobotClock;
-use cu29::config::ComponentConfig;
-use cu29::cutask::Freezable;
-use cu29::cutask::{CuMsg, CuMsgPayload, CuSrcTask};
-use cu29::output_msg;
-use cu29_log_derive::debug;
-use cu29_traits::{CuError, CuResult};
+use cu29::prelude::*;
 use iceoryx2::node::NodeBuilder;
 use iceoryx2::port::subscriber::Subscriber;
 use iceoryx2::prelude::*;
@@ -17,7 +11,7 @@ where
     P: CuMsgPayload,
 {
     service_name: ServiceName,
-    node: Node<ipc::Service>,
+    node: iceoryx2::prelude::Node<ipc::Service>,
     service: Option<PortFactory<ipc::Service, CuMsg<P>, ()>>,
     subscriber: Option<Subscriber<ipc::Service, CuMsg<P>, ()>>,
 }
@@ -44,7 +38,7 @@ where
         let service_name = ServiceName::new(service_name.as_str())
             .map_err(|e| CuError::new_with_cause("Failed to create service name.", e))?;
 
-        let node: Node<ipc::Service> = NodeBuilder::new()
+        let node: iceoryx2::prelude::Node<ipc::Service> = NodeBuilder::new()
             .create::<ipc::Service>()
             .map_err(|e| CuError::new_with_cause("Failed to create node.", e))?;
 

components/sources/cu_wt901/src/lib.rs

@@ -2,10 +2,7 @@ use bincode::de::Decoder;
 use bincode::enc::Encoder;
 use bincode::error::{DecodeError, EncodeError};
 use bincode::{Decode, Encode};
-use cu29::clock::RobotClock;
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSrcTask, Freezable};
-use cu29::{output_msg, CuResult};
+use cu29::prelude::*;
 #[cfg(hardware)]
 use embedded_hal::i2c::I2c;
 #[cfg(hardware)]

components/sources/cu_wt901/tests/wt901_tester.rs

@@ -1,10 +1,5 @@
-use cu29::clock::RobotClock;
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
-use cu29::{input_msg, CuResult};
-use cu29_derive::copper_runtime;
+use cu29::prelude::*;
 use cu29_helpers::basic_copper_setup;
-use cu29_log_derive::debug;
 use cu_wt901::PositionalReadingsPayload;
 use std::path::PathBuf;
 use std::thread::sleep;

components/tasks/cu_pid/Cargo.toml

@@ -12,8 +12,4 @@ repository.workspace = true
 
 [dependencies]
 cu29 = { workspace = true }
-cu29-log = { workspace = true }
-cu29-log-derive = { workspace = true }
-cu29-log-runtime = { workspace = true }  # needed
-cu29-traits = { workspace = true }
 bincode = { workspace = true }

components/tasks/cu_pid/src/lib.rs

@@ -2,13 +2,7 @@ use bincode::de::Decoder;
 use bincode::enc::Encoder;
 use bincode::error::{DecodeError, EncodeError};
 use bincode::{Decode, Encode};
-use cu29::clock::{CuDuration, CuTime, RobotClock, Tov};
-use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuMsgPayload};
-use cu29::cutask::{CuTask, Freezable};
-use cu29::{input_msg, output_msg, CuResult};
-use cu29_log_derive::debug;
-use cu29_traits::CuError;
+use cu29::prelude::*;
 use std::marker::PhantomData;
 
 /// Output of the PID controller.