Added std, serial2 as default features.

moved `crate::serial2` re-export to `crate::system::serial_port::serial2`.
fixed module `system` not being public.
updated the dynamixelcli crate

CHANGELOG

@@ -1,3 +1,11 @@
+# Unreleased
+- [major][add] Added `System` and `Transport` traits.
+- [major][add] Added `StdSystem` & `SerialPort` structs.
+- [major][add] Added `std` and `serial2` as default features
+- [major][change] Changed `bus` to be generic over `System/Transport`
+- [major][change] Changed errors types to be generic over `Transport::Error`
+- [major][change] Moved `crate::serial2` re-export to `crate::system::serial_port::serial2`.
+
 # Version 0.9.1 - 2024-07-31
 - [minor][add] Add missing `Error` impl for `InitializeError`.
 

Cargo.toml

@@ -14,14 +14,16 @@ publish = ["crates-io"]
 
 [dependencies]
 log = { version = "0.4.8", optional = true }
-serial2 = "0.2.24"
+serial2 = { version = "0.2.24", optional = true }
 
 [dev-dependencies]
 assert2 = "0.3.3"
 env_logger = "0.11.5"
 
 [features]
-rs4xx = ["serial2/rs4xx"]
+default = ["std", "serial2"]
+std = []
+rs4xx = ["std", "serial2/rs4xx"]
 
 [workspace]
 members = ["dynamixel2-cli"]

dynamixel2-cli/src/bin/dynamixel2/main.rs

@@ -1,6 +1,7 @@
+use dynamixel2::systems::serial_port::SerialPort;
+use dynamixel2::systems::std::StdSystem;
 use std::path::Path;
 use std::time::{Duration, Instant};
-
 mod logging;
 mod options;
 
@@ -151,7 +152,7 @@ fn do_main(options: Options) -> Result<(), ()> {
 	Ok(())
 }
 
-fn open_bus(options: &Options) -> Result<dynamixel2::Bus<Vec<u8>, Vec<u8>>, ()> {
+fn open_bus(options: &Options) -> Result<dynamixel2::Bus<Vec<u8>, Vec<u8>, StdSystem<SerialPort>>, ()> {
 	let bus = dynamixel2::Bus::open(&options.serial_port, options.baud_rate)
 		.map_err(|e| log::error!("Failed to open serial port: {}: {}", options.serial_port.display(), e))?;
 	log::debug!(

src/bus.rs

@@ -1,14 +1,18 @@
-use std::path::Path;
 use std::time::{Duration, Instant};
 
 use crate::bytestuff;
 use crate::checksum::calculate_checksum;
 use crate::endian::{read_u16_le, read_u32_le, read_u8_le, write_u16_le};
-use crate::systems::serial_port::SerialPort;
-use crate::systems::std::StdSystem;
 use crate::systems::{System, Transport};
 use crate::{ReadError, TransferError, WriteError};
 
+#[cfg(feature = "serial2")]
+use crate::systems::serial_port::SerialPort;
+#[cfg(feature = "std")]
+use crate::systems::std::StdSystem;
+#[cfg(feature = "serial2")]
+use std::path::Path;
+
 const HEADER_PREFIX: [u8; 4] = [0xFF, 0xFF, 0xFD, 0x00];
 const HEADER_SIZE: usize = 8;
 const STATUS_HEADER_SIZE: usize = 9;
@@ -34,7 +38,11 @@ pub struct Bus<ReadBuffer, WriteBuffer, S: System> {
 	write_buffer: WriteBuffer,
 }
 //
-impl<ReadBuffer, WriteBuffer, S, T> core::fmt::Debug for Bus<ReadBuffer, WriteBuffer, S> where S: System<Transport = T>, T: Transport + core::fmt::Debug {
+impl<ReadBuffer, WriteBuffer, S, T> core::fmt::Debug for Bus<ReadBuffer, WriteBuffer, S>
+where
+	S: System<Transport = T>,
+	T: Transport + core::fmt::Debug,
+{
 	fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> std::fmt::Result {
 		f.debug_struct("Bus")
 			.field("transport", &self.transport)
@@ -43,7 +51,8 @@ impl<ReadBuffer, WriteBuffer, S, T> core::fmt::Debug for Bus<ReadBuffer, WriteBu
 	}
 }
 
-impl Bus<Vec<u8>, Vec<u8>, StdSystem> {
+#[cfg(feature = "serial2")]
+impl Bus<Vec<u8>, Vec<u8>, StdSystem<SerialPort>> {
 	/// Open a serial port with the given baud rate.
 	///
 	/// This will allocate a new read and write buffer of 128 bytes each.
@@ -67,7 +76,8 @@ impl Bus<Vec<u8>, Vec<u8>, StdSystem> {
 	}
 }
 
-impl<ReadBuffer, WriteBuffer> Bus<ReadBuffer, WriteBuffer, StdSystem>
+#[cfg(feature = "serial2")]
+impl<ReadBuffer, WriteBuffer> Bus<ReadBuffer, WriteBuffer, StdSystem<SerialPort>>
 where
 	ReadBuffer: AsRef<[u8]> + AsMut<[u8]>,
 	WriteBuffer: AsRef<[u8]> + AsMut<[u8]>,

src/instructions/bulk_write.rs

@@ -92,9 +92,9 @@ where
 
 #[cfg(test)]
 mod tests {
+	use super::*;
 	use crate::systems::serial_port::SerialPort;
 	use crate::systems::std::StdSystem;
-	use super::*;
 
 	/// Ensure that `bulk_write` accepts a slice of `BulkWriteData`.
 	///
@@ -140,7 +140,9 @@ mod tests {
 	///
 	/// This is a compile test. It only tests that the test code compiles.
 	#[allow(dead_code)]
-	fn bulk_write_accepts_vec_ref_no_clone(bus: &mut Bus<Vec<u8>, Vec<u8>, StdSystem<SerialPort>>) -> Result<(), Box<dyn std::error::Error>> {
+	fn bulk_write_accepts_vec_ref_no_clone(
+		bus: &mut Bus<Vec<u8>, Vec<u8>, StdSystem<SerialPort>>,
+	) -> Result<(), Box<dyn std::error::Error>> {
 		/// Non-clonable wrapper around `&[u8]` to ensure `bulk_write` doesn't clone data from vec references.
 		struct Data<'a> {
 			data: &'a [u8],

src/lib.rs

@@ -35,11 +35,8 @@ mod bus;
 pub use bus::*;
 
 mod error;
-mod systems;
+pub mod systems;
 pub use systems::System;
 pub use systems::Transport;
 
 pub use error::*;
-
-/// Re-exported `serial2` crate in case you need to modify serial port settings.
-pub use serial2;

src/systems/mod.rs

@@ -1,4 +1,11 @@
+//! Traits to support different systems and transports.
+//!
+//! Use the [`System`] trait to define the system-specific types
+//! and the [`Transport`] trait to define the serial interface used to communicate with the hardware.
+
+#[cfg(feature = "serial2")]
 pub mod serial_port;
+#[cfg(feature = "std")]
 pub mod std;
 
 use crate::ReadError;

src/systems/serial_port.rs

@@ -1,12 +1,19 @@
+//! Serial port transport implementation using the `serial2` crate.
+
 use crate::ReadError;
 use std::fmt::Formatter;
 use std::time::Duration;
 
+/// Re-exported `serial2` crate in case you need to modify serial port settings.
+pub use serial2;
+
+/// A wrapper around a `serial2::SerialPort` that implements the `Transport` trait.
 pub struct SerialPort {
 	port: serial2::SerialPort,
 }
 
 impl SerialPort {
+	/// Create a new `SerialPort` from a `serial2::SerialPort`.
 	pub fn new(port: serial2::SerialPort) -> Self {
 		Self { port }
 	}

src/systems/std.rs

@@ -1,5 +1,8 @@
+//! The system implementation used by default when the `std` feature is enabled.
+
 use crate::Transport;
 
+/// System implementation using the standard library.
 #[derive(Debug)]
 pub struct StdSystem<T> {
 	_transport: T,