Add bevy feature (#69)

IntelligentRoboticsLab · Oct 8, 2024 · d654b62 · d654b62
1 parent b4a4ac4
commit d654b62
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Showing 3 changed files with 29 additions and 4 deletions.
diff --git a/nidhogg/Cargo.toml b/nidhogg/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "nidhogg"
-version = "0.1.0"
+version = "0.2.0"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
@@ -15,13 +15,15 @@ tracing = "0.1.37"
 nidhogg_derive = { workspace = true }
 coppeliasim_zmq_remote_api = { git = "https://github.com/samuel-cavalcanti/rust_zmqRemoteApi", optional = true }
 num = "0.4.1"
+bevy_ecs = { version = "0.14.2", optional = true }
 
 [dev-dependencies]
 tracing-subscriber = "0.3.16"
 
 [features]
-default = ["serde", "lola"]
+default = ["serde", "lola", "bevy"]
 
 serde = []
 lola = ["dep:rmp-serde"]
 coppelia = ["dep:coppeliasim_zmq_remote_api"]
+bevy = ["dep:bevy_ecs"]
diff --git a/nidhogg/src/lib.rs b/nidhogg/src/lib.rs
@@ -40,12 +40,17 @@ pub mod types;
 
 pub use error::{Error, Result};
 use nidhogg_derive::Builder;
-use serde::Serialize;
 use types::{
     color::RgbF32, Battery, FillExt, ForceSensitiveResistors, JointArray, LeftEar, LeftEye,
     RightEar, RightEye, Skull, SonarEnabled, SonarValues, Touch, Vector2, Vector3,
 };
 
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg(feature = "bevy")]
+use bevy_ecs::prelude::Resource;
+
 /// Generic backend trait used for implementing a NAO interface.
 pub trait NaoBackend: Sized {
     /// Connects to a NAO backend
@@ -107,7 +112,9 @@ pub trait DisconnectExt {
 }
 
 /// High level representation of the `LoLA` state message.
-#[derive(Debug, Clone, Serialize)]
+#[derive(Debug, Clone)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct NaoState {
     pub position: JointArray<f32>,
     pub stiffness: JointArray<f32>,
@@ -154,6 +161,7 @@ pub struct NaoState {
 
 /// High level representation of the `LoLA` update message.
 #[derive(Builder, Clone, Debug)]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct NaoControlMessage {
     pub position: JointArray<f32>,
     pub stiffness: JointArray<f32>,
@@ -193,6 +201,7 @@ impl Default for NaoControlMessage {
 
 /// Struct containing the hardware identifiers for the NAO V6 robot.
 #[derive(Debug)]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct HardwareInfo {
     pub body_id: String,
     pub body_version: String,

diff --git a/nidhogg/src/types/mod.rs b/nidhogg/src/types/mod.rs
@@ -6,6 +6,9 @@ use nidhogg_derive::{Builder, Filler};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
+#[cfg(feature = "bevy")]
+use bevy_ecs::prelude::Resource;
+
 pub mod color;
 mod joint_array;
 mod vector;
@@ -25,6 +28,7 @@ pub trait FillExt<T> {
 /// Each value represents the intensity of a white LED.
 #[derive(Builder, Clone, Debug, Default, Filler)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct Skull {
     pub left_front_0: f32,
     pub left_front_1: f32,
@@ -49,6 +53,7 @@ pub struct Skull {
 /// ![Left Ear](https://cdn.dutchnao.team/nidhogg/hardware_led_left_ear.png)
 #[derive(Builder, Clone, Debug, Default, Filler)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct LeftEar {
     pub l0: f32,
     pub l1: f32,
@@ -70,6 +75,7 @@ pub struct LeftEar {
 /// ![Right Ear](https://cdn.dutchnao.team/nidhogg/hardware_led_right_ear.png)
 #[derive(Builder, Clone, Debug, Default, Filler)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct RightEar {
     pub r0: f32,
     pub r1: f32,
@@ -90,6 +96,7 @@ pub struct RightEar {
 /// ![Left Eye](https://cdn.dutchnao.team/nidhogg/hardware_led_left_eye.png)
 #[derive(Builder, Clone, Debug, Default, Filler)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct LeftEye {
     pub l0: RgbF32,
     pub l1: RgbF32,
@@ -108,6 +115,7 @@ pub struct LeftEye {
 /// ![Right Eye](https://cdn.dutchnao.team/nidhogg/hardware_led_right_eye.png)
 #[derive(Builder, Clone, Debug, Default, Filler)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct RightEye {
     pub r0: RgbF32,
     pub r1: RgbF32,
@@ -122,6 +130,7 @@ pub struct RightEye {
 /// Struct representing the battery status of the robot.
 #[derive(Clone, Debug, Default)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct Battery {
     /// The battery percentage
     pub charge: f32,
@@ -137,6 +146,7 @@ pub struct Battery {
 /// Struct containing the [`ForceSensitiveResistorFoot`] value for each foot.
 #[derive(Clone, Debug, Default)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct ForceSensitiveResistors {
     /// FSR values from the four sensors in the left foot.
     pub left_foot: ForceSensitiveResistorFoot,
@@ -159,6 +169,7 @@ impl ForceSensitiveResistors {
 /// Struct representing the force sensitive resistors in one of the feet.
 #[derive(Clone, Debug, Default)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct ForceSensitiveResistorFoot {
     /// FSR value representing the estimated weight in kilograms on the front left foot sensor.
     ///
@@ -193,6 +204,7 @@ impl ForceSensitiveResistorFoot {
 /// Values read by the left and right sonar sensor.
 #[derive(Builder, Clone, Debug, Default)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct SonarValues {
     /// Left Sonar Value.
     ///
@@ -219,6 +231,7 @@ pub struct SonarValues {
 /// Enabled state of the left and right sonar sensors.
 #[derive(Builder, Clone, Default, Debug)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct SonarEnabled {
     pub left: bool,
     pub right: bool,
@@ -227,6 +240,7 @@ pub struct SonarEnabled {
 /// Struct containing the touch activiation value for each touch sensor on the robot.
 #[derive(Clone, Debug, Default)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+#[cfg_attr(feature = "bevy", derive(Resource))]
 pub struct Touch {
     pub chest_board: f32,
     pub head_front: f32,