feat!: adopt phoxal 0.9 domain-first contract enums

Cargo.toml

@@ -22,7 +22,7 @@ serde = { version = "1.0.228", features = ["derive"] }
 tokio = { version = "1", features = ["macros", "rt", "rt-multi-thread", "time", "signal", "sync", "fs"] }
 tracing = "0.1.44"
 urdf-rs = "0.9.0"
-phoxal = { version = "0.6.0" }
+phoxal = { version = "0.9.0" }
 
 [workspace.lints.rust]
 unused = "warn"

src/assets.rs

@@ -1,10 +1,9 @@
 use std::collections::{BTreeSet, HashMap};
 
 use anyhow::{Result, anyhow};
-use phoxal::api::v1::{
-    asset::{GetRequest as AssetRequest, GetResponse as AssetResponse},
-    topic,
-};
+use phoxal::api::asset::v1 as asset_v1;
+use phoxal::api::asset::{GetRequest as AssetRequest, GetResponse as AssetResponse};
+use phoxal::api::topic;
 use phoxal::bus::Bus;
 use phoxal::bus::query::Retry;
 use phoxal::model::structure::Structure;
@@ -15,21 +14,25 @@ use urdf_rs::Geometry;
 pub(crate) async fn fetch_asset(bus: &Bus, path: &str, retry: &Retry) -> Result<Vec<u8>> {
     match bus
         .request(
-            &topic::new().v1().asset().get(),
-            &AssetRequest::new(path),
+            &topic::new().asset().get(),
+            &AssetRequest::V1(asset_v1::GetRequest::new(path)),
             retry,
         )
         .await?
     {
-        Some(AssetResponse::Ok { bytes }) => Ok(bytes),
-        Some(AssetResponse::NotFound) => Err(anyhow!("asset '{path}' was not found")),
-        Some(AssetResponse::InvalidPath(reason)) => {
+        Some(AssetResponse::V1(asset_v1::GetResponse::Ok { bytes })) => Ok(bytes),
+        Some(AssetResponse::V1(asset_v1::GetResponse::NotFound)) => {
+            Err(anyhow!("asset '{path}' was not found"))
+        }
+        Some(AssetResponse::V1(asset_v1::GetResponse::InvalidPath(reason))) => {
             Err(anyhow!("asset '{path}' has invalid path: {reason:?}"))
         }
-        Some(AssetResponse::Unavailable(reason)) => {
+        Some(AssetResponse::V1(asset_v1::GetResponse::Unavailable(reason))) => {
             Err(anyhow!("asset '{path}' is unavailable: {reason:?}"))
         }
-        Some(AssetResponse::Busy) => Err(anyhow!("asset '{path}' provider is busy")),
+        Some(AssetResponse::V1(asset_v1::GetResponse::Busy)) => {
+            Err(anyhow!("asset '{path}' provider is busy"))
+        }
         None => Err(anyhow!("asset query '{path}' returned no response")),
     }
 }

src/capability/accelerometer.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::accelerometer::Sample;
+use phoxal::api::component::capability::accelerometer::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{Arrows3D, RecordingStream};
 

src/capability/battery.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::battery::State;
+use phoxal::api::component::capability::battery::v1::State;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/capability/camera.rs

@@ -1,5 +1,5 @@
 use anyhow::{Result, anyhow, ensure};
-use phoxal::api::v1::component::capability::camera::{Encoding, Frame};
+use phoxal::api::component::capability::camera::v1::{Encoding, Frame};
 use phoxal::bus::typed::Received;
 use phoxal::model::component::v1::capability::Capability;
 use rerun::{Image, RecordingStream};

src/capability/depth.rs

@@ -1,6 +1,6 @@
 use anyhow::{Result, anyhow};
 use image::{ExtendedColorType, ImageEncoder, codecs::png::PngEncoder};
-use phoxal::api::v1::component::capability::depth::{Depth, MILLIMETERS_PER_METER};
+use phoxal::api::component::capability::depth::v1::{Depth, MILLIMETERS_PER_METER};
 use phoxal::bus::typed::Received;
 use phoxal::model::component::v1::capability::Capability;
 use rerun::{EncodedDepthImage, RecordingStream, components::MediaType};
@@ -80,7 +80,7 @@ fn samples_to_native_bytes(samples: &[u16]) -> Vec<u8> {
 #[cfg(test)]
 mod tests {
     use image::ImageReader;
-    use phoxal::api::v1::component::capability::depth::Depth;
+    use phoxal::api::component::capability::depth::v1::Depth;
 
     use super::{payload_resolution, samples_to_png};
 

src/capability/encoder.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::encoder::Sample;
+use phoxal::api::component::capability::encoder::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/capability/gnss.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::gnss::Sample;
+use phoxal::api::component::capability::gnss::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/capability/gyroscope.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::gyroscope::Sample;
+use phoxal::api::component::capability::gyroscope::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{Arrows3D, RecordingStream};
 

src/capability/imu.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::imu::Sample;
+use phoxal::api::component::capability::imu::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{Quaternion, RecordingStream, Transform3D};
 

src/capability/lidar.rs

@@ -1,5 +1,5 @@
 use anyhow::{Result, anyhow};
-use phoxal::api::v1::component::capability::lidar::Scan;
+use phoxal::api::component::capability::lidar::v1::Scan;
 use phoxal::bus::typed::Received;
 use phoxal::model::component::v1::CapabilityRef;
 use phoxal::model::component::v1::capability::{Capability, LidarOutput};

src/capability/magnetometer.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::magnetometer::Sample;
+use phoxal::api::component::capability::magnetometer::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{Arrows3D, RecordingStream};
 

src/capability/microphone.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::microphone::Frame;
+use phoxal::api::component::capability::microphone::v1::Frame;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/capability/mmwave.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::mmwave::Scan;
+use phoxal::api::component::capability::mmwave::v1::Scan;
 use phoxal::bus::typed::Received;
 use rerun::{Arrows3D, Clear, Points3D, RecordingStream, Scalars};
 

src/capability/mod.rs

@@ -15,20 +15,20 @@ mod speaker;
 
 use crate::scene::SceneModel;
 use anyhow::Result;
-use phoxal::api::v1::component::capability::accelerometer::Sample as AccelerometerSample;
-use phoxal::api::v1::component::capability::battery::State as BatteryState;
-use phoxal::api::v1::component::capability::camera::Frame as CameraFrame;
-use phoxal::api::v1::component::capability::depth::Depth;
-use phoxal::api::v1::component::capability::encoder::Sample as EncoderSample;
-use phoxal::api::v1::component::capability::gnss::Sample as GnssSample;
-use phoxal::api::v1::component::capability::gyroscope::Sample as GyroscopeSample;
-use phoxal::api::v1::component::capability::imu::Sample as ImuSample;
-use phoxal::api::v1::component::capability::lidar::Scan as LidarScan;
-use phoxal::api::v1::component::capability::magnetometer::Sample as MagnetometerSample;
-use phoxal::api::v1::component::capability::microphone::Frame as MicrophoneFrame;
-use phoxal::api::v1::component::capability::mmwave::Scan as MmwaveScan;
-use phoxal::api::v1::component::capability::range::Sample as RangeSample;
-use phoxal::api::v1::component::capability::speaker::audio::Audio;
+use phoxal::api::component::capability::accelerometer::v1::Sample as AccelerometerSample;
+use phoxal::api::component::capability::battery::v1::State as BatteryState;
+use phoxal::api::component::capability::camera::v1::Frame as CameraFrame;
+use phoxal::api::component::capability::depth::v1::Depth;
+use phoxal::api::component::capability::encoder::v1::Sample as EncoderSample;
+use phoxal::api::component::capability::gnss::v1::Sample as GnssSample;
+use phoxal::api::component::capability::gyroscope::v1::Sample as GyroscopeSample;
+use phoxal::api::component::capability::imu::v1::Sample as ImuSample;
+use phoxal::api::component::capability::lidar::v1::Scan as LidarScan;
+use phoxal::api::component::capability::magnetometer::v1::Sample as MagnetometerSample;
+use phoxal::api::component::capability::microphone::v1::Frame as MicrophoneFrame;
+use phoxal::api::component::capability::mmwave::v1::Scan as MmwaveScan;
+use phoxal::api::component::capability::range::v1::Sample as RangeSample;
+use phoxal::api::component::capability::speaker::audio::v1::Audio;
 use phoxal::bus::typed::Received;
 use rerun::RecordingStream;
 

src/capability/range.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::range::Sample;
+use phoxal::api::component::capability::range::v1::Sample;
 use phoxal::bus::typed::Received;
 use rerun::{Color, LineStrips3D, Points3D, RecordingStream, TextLog, TextLogLevel};
 

src/capability/speaker.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::component::capability::speaker::audio::Audio;
+use phoxal::api::component::capability::speaker::audio::v1::Audio;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/event.rs

@@ -1,22 +1,22 @@
-use phoxal::api::v1::component::capability::accelerometer::Sample as AccelerometerSample;
-use phoxal::api::v1::component::capability::battery::State as BatteryState;
-use phoxal::api::v1::component::capability::camera::Frame as CameraFrame;
-use phoxal::api::v1::component::capability::depth::Depth;
-use phoxal::api::v1::component::capability::encoder::Sample as EncoderSample;
-use phoxal::api::v1::component::capability::gnss::Sample as GnssSample;
-use phoxal::api::v1::component::capability::gyroscope::Sample as GyroscopeSample;
-use phoxal::api::v1::component::capability::imu::Sample as ImuSample;
-use phoxal::api::v1::component::capability::lidar::Scan as LidarScan;
-use phoxal::api::v1::component::capability::magnetometer::Sample as MagnetometerSample;
-use phoxal::api::v1::component::capability::microphone::Frame as MicrophoneFrame;
-use phoxal::api::v1::component::capability::mmwave::Scan as MmwaveScan;
-use phoxal::api::v1::component::capability::range::Sample as RangeSample;
-use phoxal::api::v1::component::capability::speaker::audio::Audio;
-use phoxal::api::v1::drive::State as DriveState;
-use phoxal::api::v1::frame::FrameTransform;
-use phoxal::api::v1::joint::JointState;
-use phoxal::api::v1::odometry::OdometryEstimate;
-use phoxal::api::v1::presence::Heartbeat;
+use phoxal::api::component::capability::accelerometer::v1::Sample as AccelerometerSample;
+use phoxal::api::component::capability::battery::v1::State as BatteryState;
+use phoxal::api::component::capability::camera::v1::Frame as CameraFrame;
+use phoxal::api::component::capability::depth::v1::Depth;
+use phoxal::api::component::capability::encoder::v1::Sample as EncoderSample;
+use phoxal::api::component::capability::gnss::v1::Sample as GnssSample;
+use phoxal::api::component::capability::gyroscope::v1::Sample as GyroscopeSample;
+use phoxal::api::component::capability::imu::v1::Sample as ImuSample;
+use phoxal::api::component::capability::lidar::v1::Scan as LidarScan;
+use phoxal::api::component::capability::magnetometer::v1::Sample as MagnetometerSample;
+use phoxal::api::component::capability::microphone::v1::Frame as MicrophoneFrame;
+use phoxal::api::component::capability::mmwave::v1::Scan as MmwaveScan;
+use phoxal::api::component::capability::range::v1::Sample as RangeSample;
+use phoxal::api::component::capability::speaker::audio::v1::Audio;
+use phoxal::api::drive::v1::State as DriveState;
+use phoxal::api::frame::v1::FrameTransform;
+use phoxal::api::joint::v1::JointState;
+use phoxal::api::odometry::v1::OdometryEstimate;
+use phoxal::api::presence::v1::Heartbeat;
 use phoxal::bus::typed::Received;
 
 macro_rules! define_event_enum {

src/frame_graph.rs

@@ -2,8 +2,8 @@ use std::collections::{HashMap, HashSet};
 
 use anyhow::{Result, anyhow};
 use nalgebra::{Isometry3, Quaternion as NaQuaternion, Translation3, UnitQuaternion};
-use phoxal::api::v1::frame::FrameTransform;
-use phoxal::api::v1::odometry::OdometryEstimate;
+use phoxal::api::frame::v1::FrameTransform;
+use phoxal::api::odometry::v1::OdometryEstimate;
 use rerun::{Quaternion, Transform3D};
 
 #[derive(Debug, Clone)]
@@ -124,8 +124,8 @@ mod tests {
     use std::collections::HashMap;
 
     use anyhow::Result;
-    use phoxal::api::v1::frame::{FrameId, FrameTransform, Source};
-    use phoxal::api::v1::odometry::{
+    use phoxal::api::frame::v1::{FrameId, FrameTransform, Source};
+    use phoxal::api::odometry::v1::{
         Covariance, OdometryEstimate, PoseEstimate, Status, StatusMode, VelocityEstimate,
     };
 

src/logging/drive.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::drive::State;
+use phoxal::api::drive::v1::State;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 
@@ -28,7 +28,7 @@ pub(crate) fn log_drive_state_update(
 fn log_target(
     rec: &RecordingStream,
     path_root: &str,
-    target: phoxal::api::v1::drive::Target,
+    target: phoxal::api::drive::v1::Target,
 ) -> Result<()> {
     rec.log(
         format!("{path_root}/linear_x_mps"),

src/logging/joint.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::joint::JointState as JointData;
+use phoxal::api::joint::v1::JointState as JointData;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/logging/odometry.rs

@@ -1,5 +1,5 @@
 use anyhow::Result;
-use phoxal::api::v1::odometry::OdometryEstimate as OdometryData;
+use phoxal::api::odometry::v1::OdometryEstimate as OdometryData;
 use phoxal::bus::typed::Received;
 use rerun::{RecordingStream, Scalars};
 

src/scene.rs

@@ -1,8 +1,8 @@
 use std::collections::HashMap;
 
 use anyhow::{Context, Result, anyhow};
-use phoxal::api::v1::frame::{FrameId, FrameTransform as FrameData, Source};
-use phoxal::api::v1::joint::JointId;
+use phoxal::api::frame::v1::{FrameId, FrameTransform as FrameData, Source};
+use phoxal::api::joint::v1::JointId;
 use phoxal::bus::Bus;
 use phoxal::bus::query::Retry;
 use phoxal::model::component::v1::capability::{CameraMode, Capability, StructuralTarget};