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spatialrust_runtime/
lib.rs

1//! Bounded pipelines, tracing, diagnostics, and ROS 2 CDR/loopback adapters.
2//!
3//! Enable `ros2` for PointCloud2 CDR codecs and negotiation without linking
4//! `rclrs`. Native ROS 2 executors remain an install-time toolchain concern.
5
6#![deny(unsafe_code)]
7#![warn(missing_docs)]
8
9mod diagnostics;
10mod error;
11#[cfg(feature = "execution-graph")]
12mod graph;
13mod pipeline;
14mod trace;
15
16#[cfg(feature = "ros2")]
17mod ros2;
18
19pub use diagnostics::{DiagnosticCode, FailureDiagnostic};
20pub use error::{RuntimeError, RuntimeResult};
21#[cfg(feature = "execution-graph")]
22pub use graph::{
23    CompiledSpatialGraph, ExecutionReceipt, FnOperator, GraphNodeSpec, GraphOperator,
24    SpatialExecutionGraph,
25};
26pub use pipeline::{BoundedPipeline, PipelineConfig, PipelineStage};
27pub use trace::{TraceEvent, TraceLevel, TraceLog};
28
29#[cfg(feature = "ros2")]
30pub use ros2::{
31    decode_point_cloud2_xyz, decode_tf_message, encode_point_cloud2_xyz,
32    point_cloud2_has_intensity, CatalogRos2Adapter, LoopbackRos2Node, PointCloud2Xyz, Ros2Adapter,
33    Ros2MessageHint, TfTransform, POINT_CLOUD2_TYPE, TF_MESSAGE_TYPE,
34};