feat: add type description support and refactor key expression protocol (#91)

Author: YuanYuYuan

.github/workflows/test.yml

@@ -71,6 +71,8 @@ jobs:
           export RMW_IMPLEMENTATION=rmw_zenoh_cpp
           if [ "${{ matrix.distro }}" = "humble" ]; then
             cargo nextest run -p ros-z-tests --no-default-features --features ros-interop,humble --release
+            cargo nextest run -p ros-z-console --no-default-features --features ros-interop,humble --release
           else
             cargo nextest run -p ros-z-tests --features ros-interop,${{ matrix.distro }} --release
+            cargo nextest run -p ros-z-console --features ros-interop --release
           fi

.gitignore

@@ -5,13 +5,21 @@ node_modules
 .cargo
 compile_commands.json
 _*
+!crates/ros-z-py/python/**/__init__.py
+!crates/ros-z-msgs/python/ros_z_msgs_py/__init__.py
+# Old paths (pre-reorganization) - kept for backwards compatibility
 !ros-z-py/python/**/__init__.py
 !ros-z-msgs/python/ros_z_msgs_py/__init__.py
 result*
 *.egg-info
 __pycache__/
 
 # Auto-generated Python message types (regenerated from .msg files during Rust build)
+# Updated paths after crates/ reorganization (e781dce)
+crates/ros-z-msgs/python/build/lib/ros_z_msgs_py/types/*.py
+crates/ros-z-msgs/python/ros_z_msgs_py/types/*.py
+crates/ros-z-msgs/python/ros_z_msgs_py/types/__init__.py
+# Old paths (pre-reorganization) - kept for backwards compatibility
 ros-z-msgs/python/build/lib/ros_z_msgs_py/types/*.py
 ros-z-msgs/python/ros_z_msgs_py/types/*.py
 ros-z-msgs/python/ros_z_msgs_py/types/__init__.py
@@ -29,7 +37,6 @@ ros-z-msgs/python/ros_z_msgs_py/types/__init__.py
 
 *.db
 *.log
-.claude
 
-# MCP configuration (generated per-worktree, workspace root is canonical)
+.claude
 .mcp.json

Cargo.lock

@@ -11,8 +11,10 @@ members = [
   "crates/ros-z-cdr",
   "crates/ros-z-codegen",
   "crates/ros-z-derive",
+  "crates/ros-z-protocol",
   "crates/ros-z-py",
   "crates/rmw-zenoh-rs",
+  "crates/ros-z-schema",
   "crates/ros-z-msgs",
   "crates/ros-z-tests",
   "crates/ros-z-console",
@@ -25,7 +27,9 @@ default-members = ["crates/ros-z", "crates/ros-z-codegen"]
 # Workspace members
 ros-z = { version = "*", path = "crates/ros-z" }
 ros-z-codegen = { version = "*", path = "crates/ros-z-codegen" }
+ros-z-protocol = { version = "*", path = "crates/ros-z-protocol" }
 rmw-zenoh-rs = { version = "*", path = "crates/rmw-zenoh-rs" }
+ros-z-schema = { version = "*", path = "crates/ros-z-schema" }
 
 # Serialization
 ros-z-cdr = { path = "crates/ros-z-cdr" }
@@ -60,6 +64,7 @@ byteorder = "1.3"
 csv = "1.3.1"
 json5 = "0.4.1"
 once_cell = "1.19"
+hex = "0.4"
 
 # FFI
 cxx = "1.0.168"

Cargo.toml

@@ -31,7 +31,7 @@
 # Experimental
 
 - [Shared Memory (SHM)](./chapters/shm.md)
-- [Backend Selection](./chapters/backends.md)
+- [Key Expression Formats](./chapters/keyexpr_formats.md)
 - [rmw_zenoh_rs](./chapters/rmw_zenoh_rs.md)
 - [Python Bindings](./chapters/python.md)
   - [Code Generation Internals](./chapters/python_codegen.md)