build!: require rustc 1.85 and Rust 2024 edition

.github/workflows/generate-bindings.yml

@@ -55,7 +55,7 @@ jobs:
         use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
 
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.75
+      uses: dtolnay/rust-toolchain@1.85
       with:
         components: clippy, rustfmt
 

.github/workflows/rust-minimal.yml

@@ -63,7 +63,7 @@ jobs:
         use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
 
     - name: Setup Rust
-      uses: dtolnay/rust-toolchain@1.75
+      uses: dtolnay/rust-toolchain@1.85
       with:
         components: clippy, rustfmt
 

Dockerfile

@@ -12,7 +12,7 @@ RUN apt-get update && apt-get install -y \
     && rm -rf /var/lib/apt/lists/*
 
 # Install Rust
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.75.0 -y
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- --default-toolchain 1.85.0 -y
 ENV PATH=/root/.cargo/bin:$PATH
 
 COPY src/ros2_rust/docker/install_colcon_plugins.sh /

docs/writing_a_simple_publisher_and_subscriber.md

@@ -54,7 +54,7 @@ In the [`Cargo.toml`](https://doc.rust-lang.org/book/ch01-03-hello-cargo.html) f
 [package]
 name = "rust_pubsub"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 [dependencies]
 rclrs = "*"
 std_msgs = "*"
@@ -247,7 +247,7 @@ Of course, you can write for each node you want to implement its own package, an
 [package]
 name = "rust_pubsub"
 version = "0.1.0"
-edition = "2021"
+edition = "2024"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 

rclrs/Cargo.toml

@@ -3,10 +3,10 @@ name = "rclrs"
 version = "0.6.0"
 # This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
 authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
-edition = "2021"
+edition = "2024"
 license = "Apache-2.0"
 description = "A ROS 2 client library for developing robotics applications in Rust"
-rust-version = "1.75"
+rust-version = "1.85"
 
 [lib]
 path = "src/lib.rs"

rclrs/generate_bindings.py

@@ -18,9 +18,9 @@ def main():
     bindgen_command.append('-o')
     bindgen_command.append(f'{output_directory}/rcl_bindings_generated_{ros_distribution}.rs')
     bindgen_command.append('--rust-edition')
-    bindgen_command.append('2021')
+    bindgen_command.append('2024')
     bindgen_command.append('--rust-target')
-    bindgen_command.append('1.75')
+    bindgen_command.append('1.85')
     bindgen_command.append('--no-derive-copy')
     bindgen_command.append('--allowlist-type')
     bindgen_command.append('rcl_.*')

rclrs/src/action.rs

@@ -9,7 +9,7 @@ pub use action_goal_receiver::*;
 pub(crate) mod action_server;
 pub use action_server::*;
 
-use crate::{log_error, rcl_bindings::*, vendor::builtin_interfaces::msg::Time, DropGuard};
+use crate::{DropGuard, log_error, rcl_bindings::*, vendor::builtin_interfaces::msg::Time};
 use std::fmt;
 
 #[cfg(feature = "serde")]
@@ -31,24 +31,26 @@ impl GoalUuid {
 
 impl fmt::Display for GoalUuid {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
-        write!(f, "{:02x}{:02x}{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}{:02x}{:02x}{:02x}{:02x}",
-               self.0[0],
-               self.0[1],
-               self.0[2],
-               self.0[3],
-               self.0[4],
-               self.0[5],
-               self.0[6],
-               self.0[7],
-               self.0[8],
-               self.0[9],
-               self.0[10],
-               self.0[11],
-               self.0[12],
-               self.0[13],
-               self.0[14],
-               self.0[15],
-               )
+        write!(
+            f,
+            "{:02x}{:02x}{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}{:02x}{:02x}{:02x}{:02x}",
+            self.0[0],
+            self.0[1],
+            self.0[2],
+            self.0[3],
+            self.0[4],
+            self.0[5],
+            self.0[6],
+            self.0[7],
+            self.0[8],
+            self.0[9],
+            self.0[10],
+            self.0[11],
+            self.0[12],
+            self.0[13],
+            self.0[14],
+            self.0[15],
+        )
     }
 }
 

rclrs/src/action/action_client.rs

@@ -1,12 +1,11 @@
 use super::empty_goal_status_array;
 use crate::{
-    log_warn,
+    CancelResponse, CancelResponseCode, DropGuard, ENTITY_LIFECYCLE_MUTEX, GoalStatus,
+    GoalStatusCode, GoalUuid, MultiCancelResponse, Node, NodeHandle, QoSProfile, RclPrimitive,
+    RclPrimitiveHandle, RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, ToResult,
+    Waitable, WaitableLifecycle, log_warn,
     rcl_bindings::*,
     vendor::{action_msgs::srv::CancelGoal_Response, builtin_interfaces::msg::Time},
-    CancelResponse, CancelResponseCode, DropGuard, GoalStatus, GoalStatusCode, GoalUuid,
-    MultiCancelResponse, Node, NodeHandle, QoSProfile, RclPrimitive, RclPrimitiveHandle,
-    RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, ToResult, Waitable,
-    WaitableLifecycle, ENTITY_LIFECYCLE_MUTEX,
 };
 use rosidl_runtime_rs::{Action, Message, RmwFeedbackMessage, RmwGoalResponse, RmwResultResponse};
 use std::{
@@ -17,8 +16,8 @@ use std::{
     sync::{Arc, Mutex, MutexGuard, Weak},
 };
 use tokio::sync::{
-    mpsc::{unbounded_channel, UnboundedSender},
-    oneshot::{channel as oneshot_channel, Sender},
+    mpsc::{UnboundedSender, unbounded_channel},
+    oneshot::{Sender, channel as oneshot_channel},
     watch::Sender as WatchSender,
 };
 

rclrs/src/action/action_client/goal_client.rs

@@ -1,6 +1,6 @@
 use crate::{
-    vendor::builtin_interfaces::msg::Time, CancellationClient, FeedbackClient, GoalStatus,
-    GoalStatusCode, ResultClient, StatusWatcher,
+    CancellationClient, FeedbackClient, GoalStatus, GoalStatusCode, ResultClient, StatusWatcher,
+    vendor::builtin_interfaces::msg::Time,
 };
 use rosidl_runtime_rs::Action;
 use std::{

rclrs/src/action/action_client/result_client.rs

@@ -1,6 +1,6 @@
 use super::GoalClientLifecycle;
 use crate::GoalStatusCode;
-use futures::{future::Shared, FutureExt};
+use futures::{FutureExt, future::Shared};
 use rosidl_runtime_rs::Action;
 use std::{
     future::Future,

rclrs/src/action/action_goal_receiver.rs

@@ -8,7 +8,7 @@ use std::{
     ops::{Deref, DerefMut},
     sync::Arc,
 };
-use tokio::sync::mpsc::{unbounded_channel, UnboundedReceiver};
+use tokio::sync::mpsc::{UnboundedReceiver, unbounded_channel};
 
 /// This is an alternative tool for implementing an [`ActionServer`]. Instead of
 /// specifying a callback to receive goal requests, you can use this receiver to

rclrs/src/action/action_server.rs

@@ -1,10 +1,9 @@
 use super::empty_goal_status_array;
 use crate::{
-    action::GoalUuid, error::ToResult, rcl_bindings::*,
-    vendor::action_msgs::srv::CancelGoal_Response, ActionGoalReceiver, CancelResponseCode,
-    DropGuard, GoalStatusCode, Node, NodeHandle, QoSProfile, RclPrimitive, RclPrimitiveHandle,
-    RclPrimitiveKind, RclrsError, ReadyKind, TakeFailedAsNone, Waitable, WaitableLifecycle,
-    ENTITY_LIFECYCLE_MUTEX,
+    ActionGoalReceiver, CancelResponseCode, DropGuard, ENTITY_LIFECYCLE_MUTEX, GoalStatusCode,
+    Node, NodeHandle, QoSProfile, RclPrimitive, RclPrimitiveHandle, RclPrimitiveKind, RclrsError,
+    ReadyKind, TakeFailedAsNone, Waitable, WaitableLifecycle, action::GoalUuid, error::ToResult,
+    rcl_bindings::*, vendor::action_msgs::srv::CancelGoal_Response,
 };
 use futures::future::BoxFuture;
 use rosidl_runtime_rs::{Action, Message, RmwGoalRequest, RmwResultRequest};

rclrs/src/action/action_server/action_server_goal_handle.rs

@@ -1,7 +1,7 @@
 use super::GoalStatusCode;
 use crate::{
-    log_error, rcl_bindings::*, ActionServerHandle, GoalUuid, RclErrorMsg, RclReturnCode,
-    RclrsError, ToResult,
+    ActionServerHandle, GoalUuid, RclErrorMsg, RclReturnCode, RclrsError, ToResult, log_error,
+    rcl_bindings::*,
 };
 use rosidl_runtime_rs::{Action, RmwResultResponse};
 use std::sync::{Mutex, MutexGuard};

rclrs/src/action/action_server/cancellation_state.rs

@@ -1,15 +1,14 @@
 use super::ActionServerHandle;
 use crate::{
-    log_error,
+    CancelResponseCode, GoalUuid, Node, RclrsErrorFilter, ToResult, log_error,
     rcl_bindings::*,
     vendor::{
         action_msgs::{msg::GoalInfo, srv::CancelGoal_Response},
         unique_identifier_msgs::msg::UUID,
     },
-    CancelResponseCode, GoalUuid, Node, RclrsErrorFilter, ToResult,
 };
 use futures::{
-    future::{select, Either},
+    future::{Either, select},
     pin_mut,
 };
 use futures_lite::future::race;
@@ -20,7 +19,7 @@ use std::{
     future::Future,
     sync::{Arc, Mutex},
 };
-use tokio::sync::watch::{channel as watch_channel, Receiver, Sender};
+use tokio::sync::watch::{Receiver, Sender, channel as watch_channel};
 
 pub(super) struct CancellationState<A: Action> {
     receiver: Receiver<bool>,

rclrs/src/action/action_server/live_action_server_goal.rs

@@ -2,7 +2,7 @@ use super::{
     ActionServerGoalHandle, ActionServerHandle, CancellationRequest, CancellationState,
     GoalStatusCode, TerminalStatus,
 };
-use crate::{log_error, rcl_bindings::*, RclrsError, ToResult};
+use crate::{RclrsError, ToResult, log_error, rcl_bindings::*};
 use rosidl_runtime_rs::{Action, Message};
 use std::{borrow::Cow, ops::Deref, sync::Arc};
 

rclrs/src/action/action_server/requested_goal.rs

@@ -2,7 +2,7 @@ use super::{
     AcceptedGoal, ActionServerGoalBoard, ActionServerGoalHandle, LiveActionServerGoal,
     TerminatedGoal,
 };
-use crate::{log_error, rcl_bindings::*, GoalUuid, RclrsError, RclrsErrorFilter, ToResult};
+use crate::{GoalUuid, RclrsError, RclrsErrorFilter, ToResult, log_error, rcl_bindings::*};
 use rosidl_runtime_rs::Action;
 use std::sync::Arc;
 

rclrs/src/client.rs

@@ -8,9 +8,9 @@ use std::{
 use rosidl_runtime_rs::Message;
 
 use crate::{
-    error::ToResult, log_fatal, rcl_bindings::*, IntoPrimitiveOptions, MessageCow, Node, Promise,
-    QoSProfile, RclPrimitive, RclPrimitiveHandle, RclPrimitiveKind, RclReturnCode, RclrsError,
-    ReadyKind, ServiceInfo, Waitable, WaitableLifecycle, ENTITY_LIFECYCLE_MUTEX,
+    ENTITY_LIFECYCLE_MUTEX, IntoPrimitiveOptions, MessageCow, Node, Promise, QoSProfile,
+    RclPrimitive, RclPrimitiveHandle, RclPrimitiveKind, RclReturnCode, RclrsError, ReadyKind,
+    ServiceInfo, Waitable, WaitableLifecycle, error::ToResult, log_fatal, rcl_bindings::*,
 };
 
 mod client_async_callback;

rclrs/src/client/client_output.rs

@@ -1,8 +1,8 @@
 use rosidl_runtime_rs::Message;
 
-use futures::channel::oneshot::{channel, Sender};
+use futures::channel::oneshot::{Sender, channel};
 
-use crate::{rcl_bindings::rmw_service_info_t, Promise, RequestId, ServiceInfo};
+use crate::{Promise, RequestId, ServiceInfo, rcl_bindings::rmw_service_info_t};
 
 /// This trait allows us to deduce how much information a user wants to receive
 /// from a client call. A user can choose to receive only the response from the

rclrs/src/context.rs

@@ -6,7 +6,7 @@ use std::{
     vec::Vec,
 };
 
-use crate::{rcl_bindings::*, Executor, ExecutorRuntime, LoggingLifecycle, RclrsError, ToResult};
+use crate::{Executor, ExecutorRuntime, LoggingLifecycle, RclrsError, ToResult, rcl_bindings::*};
 
 /// This is locked whenever initializing or dropping any middleware entity
 /// because we have found issues in RCL and some RMW implementations that

rclrs/src/error.rs

@@ -5,7 +5,7 @@ use std::{
     sync::PoisonError,
 };
 
-use crate::{rcl_bindings::*, DeclarationError, ReadyKind};
+use crate::{DeclarationError, ReadyKind, rcl_bindings::*};
 
 /// The main error type.
 #[derive(Debug, PartialEq, Eq)]

rclrs/src/executor.rs

@@ -8,14 +8,14 @@ use crate::{
 pub use futures::channel::oneshot::Receiver as Promise;
 use futures::{
     channel::oneshot,
-    future::{select, BoxFuture, Either},
+    future::{BoxFuture, Either, select},
 };
 use std::{
     any::Any,
     future::Future,
     sync::{
-        atomic::{AtomicBool, Ordering},
         Arc,
+        atomic::{AtomicBool, Ordering},
     },
     time::Duration,
 };

rclrs/src/executor/basic_executor.rs

@@ -1,31 +1,30 @@
 use futures::{
+    StreamExt,
     channel::{
-        mpsc::{unbounded, UnboundedReceiver, UnboundedSender},
+        mpsc::{UnboundedReceiver, UnboundedSender, unbounded},
         oneshot,
     },
-    future::{select, select_all, BoxFuture, Either},
+    future::{BoxFuture, Either, select, select_all},
     stream::StreamFuture,
-    task::{waker_ref, ArcWake},
-    StreamExt,
+    task::{ArcWake, waker_ref},
 };
 use std::{
     sync::{
-        atomic::{AtomicBool, Ordering},
-        mpsc::{channel, Receiver, Sender},
         Arc, Mutex, Weak,
+        atomic::{AtomicBool, Ordering},
+        mpsc::{Receiver, Sender, channel},
     },
     task::Context as TaskContext,
     time::Instant,
 };
 
 use crate::{
-    log_debug, log_fatal, log_warn, ExecutorChannel, ExecutorRuntime, ExecutorWorkerOptions,
-    GuardCondition, PayloadTask, RclrsError, SpinConditions, WaitSetRunConditions, WaitSetRunner,
-    Waitable, WeakActivityListener, WorkerChannel,
+    ExecutorChannel, ExecutorRuntime, ExecutorWorkerOptions, GuardCondition, PayloadTask,
+    RclrsError, SpinConditions, WaitSetRunConditions, WaitSetRunner, Waitable,
+    WeakActivityListener, WorkerChannel, log_debug, log_fatal, log_warn,
 };
 
-static FAILED_TO_SEND_WORKER: &'static str =
-    "Failed to send the new runner. This should never happen. \
+static FAILED_TO_SEND_WORKER: &'static str = "Failed to send the new runner. This should never happen. \
     Please report this to the rclrs maintainers with a minimal reproducible example.";
 
 /// The implementation of this runtime is based off of the async Rust reference book:

rclrs/src/logging.rs

@@ -9,7 +9,7 @@ use std::{
     sync::{Mutex, OnceLock},
 };
 
-use crate::{rcl_bindings::*, ENTITY_LIFECYCLE_MUTEX};
+use crate::{ENTITY_LIFECYCLE_MUTEX, rcl_bindings::*};
 
 mod logging_configuration;
 pub(crate) use logging_configuration::*;

rclrs/src/logging/log_params.rs

@@ -1,4 +1,4 @@
-use crate::{rcl_bindings::RCUTILS_LOG_SEVERITY, Clock};
+use crate::{Clock, rcl_bindings::RCUTILS_LOG_SEVERITY};
 use std::{borrow::Borrow, ffi::CString, time::Duration};
 
 /// These parameters determine the behavior of an instance of logging.

rclrs/src/logging/logger.rs

@@ -1,8 +1,8 @@
 use std::{borrow::Borrow, ffi::CString, sync::Arc};
 
 use crate::{
+    ENTITY_LIFECYCLE_MUTEX, LogParams, LogSeverity, LoggerName, RclrsError, ToLogParams, ToResult,
     rcl_bindings::{rcutils_logging_set_default_logger_level, rcutils_logging_set_logger_level},
-    LogParams, LogSeverity, LoggerName, RclrsError, ToLogParams, ToResult, ENTITY_LIFECYCLE_MUTEX,
 };
 
 /// Logger can be passed in as the first argument into one of the [logging][1]