Merge pull request #25 from N8BWert/no-std-serial

Add Serial Publisher/Subscriber + Client/Server

Cargo.toml

@@ -40,14 +40,14 @@ categories = ["science::robotics"]
 
 [workspace.dependencies]
 # NComm
-ncomm = { path = "ncomm", version = "1.0.0" }
-ncomm-core = { path = "ncomm-core", version = "1.0.0" }
-ncomm-utils = { path = "ncomm-utils", version = "1.0.0" }
-ncomm-executors = { path = "ncomm-executors", version = "1.0.0" }
-ncomm-publishers-and-subscribers = { path = "ncomm-publishers-and-subscribers", version = "1.0.0" }
-ncomm-clients-and-servers = { path = "ncomm-clients-and-servers", version = "1.0.0" }
-ncomm-update-clients-and-servers = { path = "ncomm-update-clients-and-servers", version = "1.0.0" }
-ncomm-nodes = { path = "ncomm-nodes", version = "1.0.0" }
+ncomm = { path = "ncomm", version = "1.0.0", default-features = false }
+ncomm-core = { path = "ncomm-core", version = "1.0.0", default-features = false }
+ncomm-utils = { path = "ncomm-utils", version = "1.0.0", default-features = false }
+ncomm-executors = { path = "ncomm-executors", version = "1.0.0", default-features = false }
+ncomm-publishers-and-subscribers = { path = "ncomm-publishers-and-subscribers", version = "1.0.0", default-features = false }
+ncomm-clients-and-servers = { path = "ncomm-clients-and-servers", version = "1.0.0", default-features = false }
+ncomm-update-clients-and-servers = { path = "ncomm-update-clients-and-servers", version = "1.0.0", default-features = false }
+ncomm-nodes = { path = "ncomm-nodes", version = "1.0.0", default-features = false }
 
 # Outside Dependencies
 crossbeam = "0.8.4"
@@ -59,3 +59,4 @@ rand_distr = "0.4.3"
 rerun = "0.18.2"
 re_web_viewer_server = "0.18.2"
 re_ws_comms = "0.18.2"
+embedded-io = "0.6.1"

ncomm-clients-and-servers/Cargo.toml

@@ -11,9 +11,16 @@ homepage.workspace = true
 repository.workspace = true
 
 [dependencies]
-crossbeam = { workspace = true }
-ncomm-core = { workspace = true }
-ncomm-utils = { workspace = true }
+crossbeam = { workspace = true, optional = true }
+ncomm-core = { workspace = true, default-features = false }
+ncomm-utils = { workspace = true, default-features = false }
+embedded-io = { workspace = true }
 
 [dev-dependencies]
 rand = { workspace = true }
+
+[features]
+default = ["std"]
+nostd = ["ncomm-core/nostd", "ncomm-utils/nostd"]
+alloc = ["nostd", "ncomm-core/alloc", "ncomm-utils/alloc"]
+std = ["dep:crossbeam", "ncomm-core/std", "ncomm-utils/std"]

ncomm-clients-and-servers/src/lib.rs

@@ -7,7 +7,14 @@
 //!
 
 #![deny(missing_docs)]
+#![cfg_attr(not(feature = "std"), no_std)]
+#[cfg(feature = "alloc")]
+extern crate alloc;
 
+#[cfg(feature = "std")]
 pub mod local;
 
+#[cfg(feature = "std")]
 pub mod udp;
+
+pub mod serial;

ncomm-clients-and-servers/src/local.rs

@@ -31,6 +31,15 @@ impl<Req, Res> Client for LocalClient<Req, Res> {
         Ok(())
     }
 
+    fn poll_for_response(
+        &mut self,
+    ) -> Result<Option<(Self::Request, Self::Response)>, Self::Error> {
+        match self.rx.try_recv() {
+            Ok(response) => Ok(Some(response)),
+            Err(_) => Ok(None),
+        }
+    }
+
     fn poll_for_responses(&mut self) -> Vec<Result<(Self::Request, Self::Response), Self::Error>> {
         let mut responses = Vec::new();
         for response in self.rx.try_iter() {
@@ -91,6 +100,15 @@ impl<Req, Res, K: Hash + Eq + Clone> Server for LocalServer<Req, Res, K> {
         requests
     }
 
+    fn poll_for_request(&mut self) -> Result<Option<(Self::Key, Self::Request)>, Self::Error> {
+        for (k, (rx, _)) in self.client_map.iter() {
+            if let Ok(request) = rx.try_recv() {
+                return Ok(Some((k.clone(), request)));
+            }
+        }
+        Ok(None)
+    }
+
     fn send_response(
         &mut self,
         client_key: Self::Key,
@@ -155,4 +173,28 @@ mod tests {
             assert_eq!(response, original_response);
         }
     }
+
+    #[test]
+    fn test_local_client_server_single() {
+        let mut server = LocalServer::new();
+        let mut client = server.create_client(0u8);
+
+        let original_request = Request::new();
+        let original_response = Response::new(original_request);
+        client.send_request(original_request).unwrap();
+        if let Ok(Some((client, request))) = server.poll_for_request() {
+            assert_eq!(request, original_request);
+            server
+                .send_response(client, request, Response::new(request.clone()))
+                .unwrap()
+        } else {
+            assert!(false, "Expected to receive request");
+        }
+        if let Ok(Some((request, response))) = client.poll_for_response() {
+            assert_eq!(request, original_request);
+            assert_eq!(response, original_response);
+        } else {
+            assert!(false, "Expected to receive response");
+        }
+    }
 }