merge main into branch

Author: drindr

.github/workflows/ci.yml

@@ -546,3 +546,12 @@ jobs:
           use-cross: true
           command: check
           args: --target  ${{ matrix.platform.target }} --all --exclude dora-dav1d --exclude dora-rav1e --exclude dora-node-api-python --exclude dora-operator-api-python --exclude dora-ros2-bridge-python
+
+  # copied from https://github.com/rust-lang/cargo/blob/6833aa715d724437dc1247d0166afe314ab6854e/.github/workflows/main.yml#L291
+  msrv:
+    name: "Check for specified `rust-version`"
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: taiki-e/install-action@cargo-hack
+    - run: cargo hack check --all-targets --rust-version --workspace --ignore-private --locked --exclude dora-rav1e --exclude dora-dav1d

.github/workflows/regenerate-schemas.yml

@@ -0,0 +1,40 @@
+name: Regenerate JSON schemas
+
+on:
+  push:
+    branches: ["main"]
+
+jobs:
+  regenerate_schemas:
+    runs-on: ubuntu-latest
+    permissions:
+      pull-requests: write
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+      - uses: r7kamura/rust-problem-matchers@v1.1.0
+      - run: cargo --version --verbose
+
+      - uses: Swatinem/rust-cache@v2
+        with:
+          cache-on-failure: true
+
+      - name: Update Schema
+        run: cargo run -p dora-core --bin generate_schema
+      - name: Create if changed
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        run: |
+          if git diff --exit-code -- libraries/core/dora-schema.json; then
+              echo "Schema file was not changed"
+          else
+              git switch -c schema-update-for-${{ github.sha }}
+              git add libraries/core/dora-schema.json
+              git config user.email "dora-bot@phil-opp.com"
+              git config user.name "Dora Bot"
+              git commit -m "Update JSON schema for ${{ github.sha }}"
+              git push -u origin HEAD
+              git fetch origin main
+              gh pr create --title "Update JSON schema for \`dora-core\`" --body "Update JSON schema for ${{ github.sha }}"
+          fi
+          

Cargo.lock

@@ -48,7 +48,7 @@ members = [
 ]
 
 [workspace.package]
-edition = "2021"
+edition = "2024"
 rust-version = "1.85.0"
 # Make sure to also bump `apis/node/python/__init__.py` version.
 version = "0.3.12"

Cargo.toml

@@ -62,7 +62,7 @@ mod ros2 {
     pub fn generate() -> PathBuf {
         use rust_format::Formatter;
         let paths = ament_prefix_paths();
-        let generated = dora_ros2_bridge_msg_gen::gen(paths.as_slice(), true);
+        let generated = dora_ros2_bridge_msg_gen::generate(paths.as_slice(), true);
         let generated_string = rust_format::PrettyPlease::default()
             .format_tokens(generated)
             .unwrap();

apis/c++/node/build.rs

@@ -1,16 +1,15 @@
 use std::{any::Any, vec};
 
 use dora_node_api::{
-    self,
+    self, Event, EventStream,
     arrow::array::{AsArray, UInt8Array},
     merged::{MergeExternal, MergedEvent},
-    Event, EventStream,
 };
 use eyre::bail;
 
 #[cfg(feature = "ros2-bridge")]
 use dora_ros2_bridge::{_core, ros2_client};
-use futures_lite::{stream, Stream, StreamExt};
+use futures_lite::{Stream, StreamExt, stream};
 
 #[cxx::bridge]
 #[allow(clippy::needless_lifetimes)]

apis/c++/node/src/lib.rs

@@ -2,7 +2,7 @@
 #![warn(unsafe_op_in_unsafe_fn)]
 
 use dora_operator_api::{
-    self, register_operator, DoraOperator, DoraOutputSender, DoraStatus, Event, IntoArrow,
+    self, DoraOperator, DoraOutputSender, DoraStatus, Event, IntoArrow, register_operator,
 };
 use ffi::DoraSendOutputResult;
 

apis/c++/operator/src/lib.rs

@@ -1,7 +1,7 @@
 #![deny(unsafe_op_in_unsafe_fn)]
 
 use arrow_array::UInt8Array;
-use dora_node_api::{arrow::array::AsArray, DoraNode, Event, EventStream};
+use dora_node_api::{DoraNode, Event, EventStream, arrow::array::AsArray};
 use eyre::Context;
 use std::{ffi::c_void, ptr, slice};
 
@@ -21,7 +21,7 @@ struct DoraContext {
 /// needed, use the [`free_dora_context`] function.
 ///
 /// On error, a null pointer is returned.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub extern "C" fn init_dora_context_from_env() -> *mut c_void {
     let context = || {
         let (node, events) = DoraNode::init_from_env()?;
@@ -47,7 +47,7 @@ pub extern "C" fn init_dora_context_from_env() -> *mut c_void {
 /// Only pointers created through [`init_dora_context_from_env`] are allowed
 /// as arguments. Each context pointer must be freed exactly once. After
 /// freeing, the pointer must not be used anymore.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn free_dora_context(context: *mut c_void) {
     let context: Box<DoraContext> = unsafe { Box::from_raw(context.cast()) };
     // drop all fields except for `node`
@@ -71,7 +71,7 @@ pub unsafe extern "C" fn free_dora_context(context: *mut c_void) {
 /// The `context` argument must be a dora context created through
 /// [`init_dora_context_from_env`]. The context must be still valid, i.e., not
 /// freed yet.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn dora_next_event(context: *mut c_void) -> *mut c_void {
     let context: &mut DoraContext = unsafe { &mut *context.cast() };
     match context.events.recv() {
@@ -87,7 +87,7 @@ pub unsafe extern "C" fn dora_next_event(context: *mut c_void) -> *mut c_void {
 /// The `event` argument must be a dora event received through
 /// [`dora_next_event`]. The event must be still valid, i.e., not
 /// freed yet.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn read_dora_event_type(event: *const ()) -> EventType {
     let event: &Event = unsafe { &*event.cast() };
     match event {
@@ -125,7 +125,7 @@ pub enum EventType {
 ///
 /// - Note: `Out_ptr` is not a null-terminated string. The length of the string
 ///   is given by `out_len`.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn read_dora_input_id(
     event: *const (),
     out_ptr: *mut *const u8,
@@ -165,7 +165,7 @@ pub unsafe extern "C" fn read_dora_input_id(
 /// freed yet. The returned `out_ptr` must not be used after
 /// freeing the `event`, since it points directly into the event's
 /// memory.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn read_dora_input_data(
     event: *const (),
     out_ptr: *mut *const u8,
@@ -203,7 +203,7 @@ pub unsafe extern "C" fn read_dora_input_data(
 /// ## Safety
 ///
 /// Return `0` if the given event is not an input event.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn read_dora_input_timestamp(event: *const ()) -> core::ffi::c_ulonglong {
     let event: &Event = unsafe { &*event.cast() };
     match event {
@@ -221,7 +221,7 @@ pub unsafe extern "C" fn read_dora_input_timestamp(event: *const ()) -> core::ff
 /// freeing, the pointer and all derived pointers must not be used anymore.
 /// This also applies to the `read_dora_event_*` functions, which return
 /// pointers into the original event structure.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn free_dora_event(event: *mut c_void) {
     let _: Box<Event> = unsafe { Box::from_raw(event.cast()) };
 }
@@ -241,7 +241,7 @@ pub unsafe extern "C" fn free_dora_event(event: *mut c_void) {
 ///   UTF8-encoded string.
 /// - The `data_ptr` and `data_len` fields must be the start pointer and length
 ///   a byte array.
-#[no_mangle]
+#[unsafe(no_mangle)]
 pub unsafe extern "C" fn dora_send_output(
     context: *mut c_void,
     id_ptr: *const u8,

apis/c/node/src/lib.rs

@@ -11,7 +11,7 @@ use dora_node_api::dora_core::config::NodeId;
 use dora_node_api::dora_core::descriptor::source_is_url;
 use dora_node_api::merged::{MergeExternalSend, MergedEvent};
 use dora_node_api::{DataflowId, DoraNode, EventStream};
-use dora_operator_api_python::{pydict_to_metadata, DelayedCleanup, NodeCleanupHandle, PyEvent};
+use dora_operator_api_python::{DelayedCleanup, NodeCleanupHandle, PyEvent, pydict_to_metadata};
 use dora_ros2_bridge_python::Ros2Subscription;
 use eyre::Context;
 use futures::{Stream, StreamExt};

apis/python/node/src/lib.rs

@@ -5,8 +5,8 @@ use std::{
 
 use arrow::pyarrow::ToPyArrow;
 use dora_node_api::{
-    merged::{MergeExternalSend, MergedEvent},
     DoraNode, Event, EventStream, Metadata, MetadataParameters, Parameter, StopCause,
+    merged::{MergeExternalSend, MergedEvent},
 };
 use eyre::{Context, Result};
 use futures::{Stream, StreamExt};
@@ -282,7 +282,7 @@ mod tests {
     use aligned_vec::{AVec, ConstAlign};
     use arrow::{
         array::{
-            ArrayData, ArrayRef, BooleanArray, Float64Array, Int32Array, Int64Array, Int8Array,
+            ArrayData, ArrayRef, BooleanArray, Float64Array, Int8Array, Int32Array, Int64Array,
             ListArray, StructArray,
         },
         buffer::Buffer,