tidy CI a little

.github/workflows/CI.yml

@@ -16,7 +16,7 @@ jobs:
         include:
           - build: msrv
             os: ubuntu-latest
-            rust: 1.56
+            rust: 1.65.0
           - build: stable
             os: ubuntu-latest
             rust: stable
@@ -36,16 +36,11 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: true
-      - uses: actions-rs/toolchain@v1
+      - uses: dtolnay/rust-toolchain@master
         with:
-          profile: minimal
           toolchain: ${{ matrix.rust }}
-          override: true
           components: rustfmt
-      - uses: actions-rs/cargo@v1
-        with:
-          command: check
-          args: --all-targets
+      - run: cargo check --all-targets
 
   fmt:
     name: format
@@ -54,16 +49,10 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: true
-      - uses: actions-rs/toolchain@v1
+      - uses: dtolnay/rust-toolchain@nightly
         with:
-          toolchain: nightly
-          override: true
-          profile: minimal
           components: rustfmt
-      - uses: actions-rs/cargo@v1
-        with:
-          command: fmt
-          args: -- --check
+      - run: cargo fmt -- --check
 
   clippy:
     name: lint
@@ -72,16 +61,13 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: true
-      - uses: actions-rs/toolchain@v1
+      - uses: dtolnay/rust-toolchain@nightly
         with:
-          toolchain: nightly
-          override: true
-          profile: minimal
           components: clippy, rustfmt
       - uses: actions-rs/clippy-check@v1
         with:
           token: ${{ secrets.GITHUB_TOKEN }}
-          args: --tests --examples
+          args: --all-targets
 
   docs:
     name: docs
@@ -90,12 +76,5 @@ jobs:
       - uses: actions/checkout@v2
         with:
           submodules: true
-      - uses: actions-rs/toolchain@v1
-        with:
-          toolchain: stable
-          override: true
-          profile: minimal
-      - uses: actions-rs/cargo@v1
-        with:
-          command: doc
-          args: --no-deps
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo doc --no-deps

Cargo.toml

@@ -3,6 +3,7 @@ name = "libmavsdk"
 version = "0.1.0"
 authors = ["Ildar Sadykov <[email protected]>"]
 edition = "2021"
+rust-version = "1.65.0"
 
 [dependencies]
 tonic = "0.6.0"

build.rs

@@ -18,7 +18,7 @@ const PLUGINS: &[&str] = &[
 
 fn main() -> std::io::Result<()> {
     for plugin in PLUGINS {
-        let proto_path = format!("{0}/{1}/{1}.proto", PROTO_INCLUDE_PATH, plugin);
+        let proto_path = format!("{PROTO_INCLUDE_PATH}/{plugin}/{plugin}.proto");
 
         tonic_build::configure()
             .build_server(false)

examples/info.rs

@@ -12,13 +12,11 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
         std::process::exit(1);
     }
 
-    let url = args.get(0).cloned();
+    let url = args.first().cloned();
 
-    let mut system = System::connect(url).await?;
+    let version = System::connect(url).await?.info.get_version().await?;
 
-    let version = system.info.get_version().await?;
-
-    println!("Version received: {:?}", version);
+    println!("Version received: {version:?}");
 
     Ok(())
 }

examples/mocap.rs

@@ -13,7 +13,7 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
         std::process::exit(1);
     }
 
-    let url = args.get(0).cloned();
+    let url = args.first().cloned();
 
     let mut system = System::connect(url).await?;
 

examples/telemetry.rs

@@ -13,11 +13,14 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
         std::process::exit(1);
     }
 
-    let url = args.get(0).cloned();
+    let url = args.first().cloned();
 
-    let mut system = System::connect(url).await?;
+    let mut stream_odometry = System::connect(url)
+        .await?
+        .telemetry
+        .subscribe_odometry()
+        .await?;
 
-    let mut stream_odometry = system.telemetry.subscribe_odometry().await?;
     while let Some(odometry) = stream_odometry.next().await {
         println!("Received: {:?}", odometry?);
     }

src/info.rs

@@ -4,7 +4,7 @@ mod pb {
     tonic::include_proto!("mavsdk.rpc.info");
 }
 
-#[derive(PartialEq, Clone, Default, Debug)]
+#[derive(PartialEq, Eq, Clone, Default, Debug)]
 pub struct Version {
     /// Flight software major version
     pub flight_sw_major: i32,
@@ -28,7 +28,7 @@ pub struct Version {
 
 impl From<&pb::Version> for Version {
     fn from(rpc_version: &pb::Version) -> Self {
-        Version {
+        Self {
             flight_sw_major: rpc_version.flight_sw_major,
             flight_sw_minor: rpc_version.flight_sw_minor,
             flight_sw_patch: rpc_version.flight_sw_patch,
@@ -42,7 +42,7 @@ impl From<&pb::Version> for Version {
     }
 }
 
-#[derive(PartialEq, Clone, Debug, thiserror::Error)]
+#[derive(PartialEq, Eq, Clone, Debug, thiserror::Error)]
 pub enum Error {
     #[error("Unknown error: {0}")]
     Unknown(String),
@@ -72,8 +72,8 @@ impl FromRpcResponse<pb::GetVersionResponse> for GetVersionResult {
             .ok_or_else(|| Error::Unknown("Unsupported InfoResult.result value".into()))?;
 
         match info_result {
-            pb::info_result::Result::Success => match get_version_response.version {
-                Some(ref rpc_version) => Ok(Version::from(rpc_version)),
+            pb::info_result::Result::Success => match &get_version_response.version {
+                Some(rpc_version) => Ok(Version::from(rpc_version)),
                 None => Err(Error::Unknown("Version does not received".into()).into()),
             },
             pb::info_result::Result::Unknown => {
@@ -104,8 +104,8 @@ impl Info {
 
 #[tonic::async_trait]
 impl crate::Connect for Info {
-    async fn connect(url: String) -> std::result::Result<Info, tonic::transport::Error> {
-        Ok(Info {
+    async fn connect(url: String) -> std::result::Result<Self, tonic::transport::Error> {
+        Ok(Self {
             service_client: pb::info_service_client::InfoServiceClient::connect(url).await?,
         })
     }

src/lib.rs

@@ -31,7 +31,7 @@ pub struct System {
 }
 
 impl System {
-    pub async fn connect(url: Option<String>) -> Result<System, tonic::transport::Error> {
+    pub async fn connect(url: Option<String>) -> Result<Self, tonic::transport::Error> {
         let url = url.unwrap_or_else(|| String::from("http://0.0.0.0:50051"));
 
         let (mocap, info, telemetry) = try_join3(
@@ -41,7 +41,7 @@ impl System {
         )
         .await?;
 
-        Ok(System {
+        Ok(Self {
             mocap,
             info,
             telemetry,

src/mocap.rs

@@ -223,7 +223,7 @@ impl From<Quaternion> for pb::Quaternion {
     }
 }
 
-#[derive(PartialEq, Clone, Debug, thiserror::Error)]
+#[derive(PartialEq, Eq, Clone, Debug, thiserror::Error)]
 pub enum Error {
     /// Unknown error
     #[error("Unknown error: {0}")]
@@ -304,8 +304,8 @@ impl Mocap {
 
 #[tonic::async_trait]
 impl crate::Connect for Mocap {
-    async fn connect(url: String) -> std::result::Result<Mocap, tonic::transport::Error> {
-        Ok(Mocap {
+    async fn connect(url: String) -> std::result::Result<Self, tonic::transport::Error> {
+        Ok(Self {
             service_client: pb::mocap_service_client::MocapServiceClient::connect(url).await?,
         })
     }

src/telemetry.rs

@@ -56,7 +56,7 @@ pub struct PositionBody {
 
 impl From<&pb::PositionBody> for PositionBody {
     fn from(rpc_position_body: &pb::PositionBody) -> Self {
-        PositionBody {
+        Self {
             x_m: rpc_position_body.x_m,
             y_m: rpc_position_body.y_m,
             z_m: rpc_position_body.z_m,
@@ -108,7 +108,7 @@ pub struct AngularVelocityBody {
 
 impl From<&pb::AngularVelocityBody> for AngularVelocityBody {
     fn from(rpc_angular_velocity_body: &pb::AngularVelocityBody) -> Self {
-        AngularVelocityBody {
+        Self {
             roll_rad_s: rpc_angular_velocity_body.roll_rad_s,
             pitch_rad_s: rpc_angular_velocity_body.pitch_rad_s,
             yaw_rad_s: rpc_angular_velocity_body.yaw_rad_s,
@@ -136,8 +136,8 @@ pub struct Covariance {
 }
 
 impl From<pb::Odometry> for Odometry {
-    fn from(rpc_odometry: pb::Odometry) -> Odometry {
-        Odometry {
+    fn from(rpc_odometry: pb::Odometry) -> Self {
+        Self {
             time_usec: 0,
             frame_id: MavFrame::from_i32(rpc_odometry.frame_id).unwrap(),
             child_frame_id: MavFrame::from_i32(rpc_odometry.child_frame_id).unwrap(),
@@ -266,10 +266,10 @@ pub type OdometryResult = RequestResult<Odometry, Error>;
 
 #[tonic::async_trait]
 impl crate::Connect for Telemetry {
-    async fn connect(url: String) -> std::result::Result<Telemetry, tonic::transport::Error> {
+    async fn connect(url: String) -> std::result::Result<Self, tonic::transport::Error> {
         let service_client =
             pb::telemetry_service_client::TelemetryServiceClient::connect(url).await?;
 
-        Ok(Telemetry { service_client })
+        Ok(Self { service_client })
     }
 }