CI Update

.github/workflows/build-docs.yml

@@ -22,27 +22,18 @@ jobs:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
 
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - uses: actions/checkout@v4
-
-      - name: Update Ubuntu Packages
-        run: sudo apt-get update
-
-      - uses: awalsh128/cache-apt-pkgs-action@v1
-        with:
-          packages: llvm \
-            clang \
-            libclang-dev \
-            libopencv-dev
-
-      - uses: dtolnay/rust-toolchain@stable
+      - uses: actions/checkout@v5
+      - uses: cachix/install-nix-action@v31
         with:
-          components: clippy
+          github_access_token: ${{ secrets.GITHUB_TOKEN }}
+      - uses: DeterminateSystems/magic-nix-cache-action@v13
       - uses: Swatinem/rust-cache@v2
 
       - name: Build docs
-        run: cargo doc --features logging,graphing
+        run: nix develop ./#noFHS --command cargo doc --features logging,graphing
 
       - name: Add redirect
         run: echo '<meta http-equiv="refresh" content="0;url=sw8s_rust_lib/index.html">' > target/doc/index.html

.github/workflows/rust.yml

@@ -11,33 +11,13 @@ env:
 
 jobs:
   build:
-
-    runs-on: ubuntu-latest
-
+    runs-on: ubuntu-22.04
     steps:
-    - uses: actions/checkout@v4
-
-    - name: Update Ubuntu Packages
-      run: sudo apt-get update
-
-    - uses: awalsh128/cache-apt-pkgs-action@v1
-      with:
-        packages: llvm \
-          clang \
-          libclang-dev \
-          libopencv-dev \
-          libavutil-dev \
-          libavcodec-dev \
-          libavformat-dev
-
-    - name: Install gstreamer
-      run: |
-        sudo apt update
-        sudo apt install -y aptitude
-        sudo aptitude install -y libgstreamer1.0-dev
-
-    - uses: dtolnay/rust-toolchain@stable
-    - uses: Swatinem/rust-cache@v2
-
-    - name: Run tests
-      run: cargo test --features logging,graphing --verbose
+      - uses: actions/checkout@v5
+      - uses: cachix/install-nix-action@v31
+        with:
+          github_access_token: ${{ secrets.GITHUB_TOKEN }}
+      - uses: DeterminateSystems/magic-nix-cache-action@v13
+      - uses: Swatinem/rust-cache@v2
+      - name: Run tests
+        run: nix develop ./#noFHS --command cargo test --features logging,graphing --verbose

build.rs

@@ -125,14 +125,14 @@ mod graphing {
             })
             .for_each(|(path, file, actions)| {
                 let actions_str =
-                    "pub fn graph_actions<T: GraphActionContext::GetMainElectronicsBoard + GraphActionContext::GetControlBoard<tokio::io::WriteHalf<tokio_serial::SerialStream>> + GraphActionContext::GetFrontCamMat + GraphActionContext::GetBottomCamMat + Send + Sync + std::marker::Unpin>(context: &'static T) -> Vec<(String, Box<dyn GraphAction + '_>)> { vec!["
+                    "pub fn graph_actions<T: GraphActionContext::GetMainElectronicsBoard + GraphActionContext::GetControlBoard<tokio::io::WriteHalf<tokio_serial::SerialStream>> + GraphActionContext::FrontCamIO + GraphActionContext::BottomCamIO + Send + Sync + std::marker::Unpin>(context: &'static T) -> Vec<(String, Box<dyn GraphAction + '_>)> { vec!["
                         .to_string()
                         + &actions
                             .into_iter()
                             .fold("".to_string(), |acc, x| acc + &format!("(\"{x}\".to_string(), Box::new({x}(context))),"))
                         + "]}";
                 let file_contents =
-                    quote! { use sw8s_rust_lib::missions::action::Action as GraphAction; use sw8s_rust_lib::missions::action::ActionExec as GraphActionExec; use sw8s_rust_lib::missions::action_context as GraphActionContext; #file };
+                    quote! { use sw8s_rust_lib::missions::action::Action as GraphAction; use sw8s_rust_lib::missions::action::ActionExec as GraphActionExec; use sw8s_rust_lib::missions::action_context as GraphActionContext; use sw8s_rust_lib::logln; #file };
                 let output_loc = out_path.join(path.strip_prefix::<PathBuf>("src/missions".into()).unwrap());
                 create_dir_all(output_loc.parent().unwrap()).unwrap();
                 write(

src/comms/auv_control_board/response.rs

@@ -5,7 +5,6 @@ use tokio::io::AsyncReadExt;
 use tokio::{fs::OpenOptions, io::AsyncWriteExt, sync::Mutex};
 
 use super::util::{END_BYTE, ESCAPE_BYTE, START_BYTE};
-use crate::logln;
 
 #[cfg(feature = "logging")]
 static LOG_NAMES: Mutex<Vec<String>> = Mutex::const_new(Vec::new());
@@ -194,7 +193,7 @@ mod tests {
             )
             .collect::<Vec<Vec<u8>>>()
             .await,
-            vec![vec![]]
+            Vec::<Vec<u8>>::from([vec![]])
         );
 
         assert_eq!(

src/comms/control_board/mod.rs

@@ -16,7 +16,6 @@ use self::{
 };
 
 use super::auv_control_board::{AUVControlBoard, MessageId};
-use crate::logln;
 
 pub mod response;
 pub mod util;

src/missions/basic.rs

@@ -1,5 +1,3 @@
-use crate::logln;
-
 use super::{
     action::{Action, ActionChain, ActionExec, ActionSequence},
     action_context::{GetControlBoard, GetMainElectronicsBoard},

src/missions/extra.rs

@@ -4,8 +4,6 @@ use std::marker::PhantomData;
 use anyhow::{anyhow, bail};
 use uuid::Uuid;
 
-use crate::logln;
-
 use super::{
     action::{Action, ActionExec, ActionMod},
     graph::{stripped_fn, stripped_type, DotString},

src/missions/meb.rs

@@ -2,8 +2,6 @@ use std::time::Duration;
 
 use tokio::time::sleep;
 
-use crate::logln;
-
 use super::{
     action::{Action, ActionExec},
     action_context::GetMainElectronicsBoard,

src/missions/movement.rs

@@ -1,6 +1,5 @@
 use crate::comms::control_board::ControlBoard;
 use crate::comms::control_board::LAST_YAW;
-use crate::logln;
 use crate::vision::DrawRect2d;
 use crate::vision::Offset2D;
 use crate::vision::RelPos;

src/missions/vision.rs

@@ -7,7 +7,6 @@ use std::{iter::Sum, marker::PhantomData};
 use super::action::{Action, ActionExec, ActionMod};
 use super::action_context::BottomCamIO;
 use super::graph::DotString;
-use crate::logln;
 use crate::vision::{
     Angle2D, Draw, DrawRect2d, Offset2D, RelPos, RelPosAngle, VisualDetection, VisualDetector,
 };

src/vision/buoy_model.rs

@@ -2,7 +2,7 @@ use anyhow::Result;
 use derive_getters::Getters;
 use opencv::{core::Rect2d, core::Size, prelude::Mat};
 
-use crate::{load_onnx, logln};
+use crate::load_onnx;
 
 use super::{
     nn_cv2::{OnnxModel, VisionModel, YoloClass, YoloDetection},

src/vision/path.rs

@@ -371,7 +371,7 @@ mod tests {
         imgcodecs::{imread, imwrite, IMREAD_COLOR},
     };
 
-    use crate::{logln, vision::Draw};
+    use crate::vision::Draw;
 
     use super::*;
 

src/vision/path_cv.rs

@@ -326,7 +326,7 @@ mod tests {
         imgcodecs::{imread, imwrite, IMREAD_COLOR},
     };
 
-    use crate::{logln, vision::Draw};
+    use crate::vision::Draw;
 
     use super::*;
 

src/vision/pca.rs

@@ -7,8 +7,6 @@ use opencv::{
     prelude::Mat,
 };
 
-use crate::logln;
-
 use super::{Angle2D, Draw, Offset2D, RelPosAngle, VisualDetection};
 
 #[derive(Debug, Clone, Getters)]