add From<Response<&[u8]>> for Response<Vec<u8>>, cargo fmt

src/bus.rs

@@ -1,16 +1,16 @@
-use core::time::Duration;
 use crate::endian::{read_u16_le, read_u32_le, read_u8_le};
 use crate::serial_port::SerialPort;
 use crate::{ReadError, TransferError, WriteError};
+use core::time::Duration;
 
 #[cfg(feature = "serial2")]
 use std::path::Path;
 
-#[cfg(feature = "alloc")]
-use alloc::{borrow::ToOwned, vec::Vec};
 use crate::instructions::instruction_id;
 use crate::messaging::Messenger;
 use crate::packet::{Packet, STATUS_HEADER_SIZE};
+#[cfg(feature = "alloc")]
+use alloc::{borrow::ToOwned, vec::Vec};
 
 /// Dynamixel Protocol 2 communication bus.
 pub struct Bus<ReadBuffer, WriteBuffer, T: SerialPort> {
@@ -85,11 +85,7 @@ where
 	///
 	/// The serial port must already be configured in raw mode with the correct baud rate,
 	/// character size (8), parity (disabled) and stop bits (1).
-	pub fn with_buffers(
-		serial_port: T,
-		read_buffer: ReadBuffer,
-		write_buffer: WriteBuffer,
-	) -> Result<Self, T::Error> {
+	pub fn with_buffers(serial_port: T, read_buffer: ReadBuffer, write_buffer: WriteBuffer) -> Result<Self, T::Error> {
 		let messenger = Messenger::with_buffers(serial_port, read_buffer, write_buffer)?;
 		Ok(Self { messenger })
 	}
@@ -318,6 +314,16 @@ impl<'a> TryFrom<StatusPacket<'a>> for Response<u32> {
 	}
 }
 
+impl From<Response<&[u8]>> for Response<Vec<u8>> {
+	fn from(response: Response<&[u8]>) -> Self {
+		Response {
+			motor_id: response.motor_id,
+			alert: response.alert,
+			data: response.data.into(),
+		}
+	}
+}
+
 #[cfg(test)]
 mod test {
 	use super::*;

src/instructions/bulk_read.rs

@@ -3,9 +3,9 @@ use crate::endian::{write_u16_le, write_u8_le};
 use crate::serial_port::SerialPort;
 use crate::{Bus, ReadError, Response, WriteError};
 
-#[cfg(feature = "alloc")]
-use alloc::{vec::Vec, borrow::ToOwned};
 use crate::packet::Packet;
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;
 
 impl<ReadBuffer, WriteBuffer, T> Bus<ReadBuffer, WriteBuffer, T>
 where
@@ -79,20 +79,16 @@ where
 	/// The protocol forbids specifying the same motor ID multiple times.
 	/// This function panics if the same motor ID is used for more than one read.
 	#[cfg(any(feature = "alloc", feature = "std"))]
-	pub fn bulk_read<Read>(&mut self, reads: &[Read]) -> Result<Vec<Result<Response<Vec<u8>>, ReadError<T::Error>>>, crate::TransferError<T::Error>>
+	pub fn bulk_read<Read>(
+		&mut self,
+		reads: &[Read],
+	) -> Result<Vec<Result<Response<Vec<u8>>, ReadError<T::Error>>>, crate::TransferError<T::Error>>
 	where
 		Read: AsRef<BulkReadData>,
 	{
 		let mut responses = Vec::with_capacity(reads.len());
 
-		self.bulk_read_cb(reads, |_read, response| match response {
-			Err(e) => responses.push(Err(e)),
-			Ok(response) => responses.push(Ok(Response {
-				motor_id: response.motor_id,
-				alert: response.alert,
-				data: response.data.to_owned(),
-			})),
-		})?;
+		self.bulk_read_cb(reads, |_read, response| responses.push(response.map(Into::into)))?;
 		Ok(responses)
 	}
 }

src/instructions/sync_read.rs

@@ -5,7 +5,7 @@ use crate::{Bus, ReadError, Response, WriteError};
 
 use crate::packet::Packet;
 #[cfg(feature = "alloc")]
-use alloc::{borrow::ToOwned, vec::Vec};
+use alloc::vec::Vec;
 
 impl<ReadBuffer, WriteBuffer, T> Bus<ReadBuffer, WriteBuffer, T>
 where
@@ -132,14 +132,7 @@ where
 		count: u16,
 	) -> Result<Vec<Result<Response<Vec<u8>>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
 		let mut result = Vec::with_capacity(motor_ids.len());
-		self.sync_read_cb(motor_ids, address, count, |data| match data {
-			Err(e) => result.push(Err(e)),
-			Ok(response) => result.push(Ok(Response {
-				motor_id: response.motor_id,
-				alert: response.alert,
-				data: response.data.to_owned(),
-			})),
-		})?;
+		self.sync_read_cb(motor_ids, address, count, |data| result.push(data.map(Into::into)))?;
 		Ok(result)
 	}
 
@@ -148,7 +141,11 @@ where
 	/// If this function fails to get the data from any of the motors, the entire function retrns an error.
 	/// If you need access to the data from other motors, or if you want acces to the error for each motor, see [`Self::sync_read_u8_cb`].
 	#[cfg(any(feature = "alloc", feature = "std"))]
-	pub fn sync_read_u8<'a>(&'a mut self, motor_ids: &'a [u8], address: u16) -> Result<Vec<Result<Response<u8>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
+	pub fn sync_read_u8<'a>(
+		&'a mut self,
+		motor_ids: &'a [u8],
+		address: u16,
+	) -> Result<Vec<Result<Response<u8>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
 		let mut result = Vec::with_capacity(motor_ids.len());
 		self.sync_read_u8_cb(motor_ids, address, |data| result.push(data))?;
 		Ok(result)
@@ -159,7 +156,11 @@ where
 	/// If this function fails to get the data from any of the motors, the entire function retrns an error.
 	/// If you need access to the data from other motors, or if you want acces to the error for each motor, see [`Self::sync_read_u16_cb`].
 	#[cfg(any(feature = "alloc", feature = "std"))]
-	pub fn sync_read_u16<'a>(&'a mut self, motor_ids: &'a [u8], address: u16) ->  Result<Vec<Result<Response<u16>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
+	pub fn sync_read_u16<'a>(
+		&'a mut self,
+		motor_ids: &'a [u8],
+		address: u16,
+	) -> Result<Vec<Result<Response<u16>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
 		let mut result = Vec::with_capacity(motor_ids.len());
 		self.sync_read_u16_cb(motor_ids, address, |data| result.push(data))?;
 		Ok(result)
@@ -170,7 +171,11 @@ where
 	/// If this function fails to get the data from any of the motors, the entire function retrns an error.
 	/// If you need access to the data from other motors, or if you want acces to the error for each motor, see [`Self::sync_read_u32_cb`].
 	#[cfg(any(feature = "alloc", feature = "std"))]
-	pub fn sync_read_u32<'a>(&'a mut self, motor_ids: &'a [u8], address: u16) ->  Result<Vec<Result<Response<u32>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
+	pub fn sync_read_u32<'a>(
+		&'a mut self,
+		motor_ids: &'a [u8],
+		address: u16,
+	) -> Result<Vec<Result<Response<u32>, ReadError<T::Error>>>, crate::TransferError<T::Error>> {
 		let mut result = Vec::with_capacity(motor_ids.len());
 		self.sync_read_u32_cb(motor_ids, address, |data| result.push(data))?;
 		Ok(result)