the wheels on the bus go round and round

[schmidma]

Introduced Changes

Depends on #110

This PR introduces a major cleanup of the framework code generation.

• The most obvious change is the framework intialization by a framework.toml file (crates/hulk/framework.toml). This file specifies all necessary information to build a auto generate a framework.
• reduction of crates and merge of all autogenerated code to the crates/hulk crate.
• The source analyzer was restructured to a central Cyclers hierarchy. This makes the entire structure much more readable and usable from external tools.
• No bidirectional mappings etc.
• Nearly all code generation was refactored to improve readability and use libary features of syn and quote.
• Error handling is changed from color_eyre to custom thiserror derived types.
• Circular dependencies are identified and lead to errors during compilation.
• reduces compilation time by 7 seconds on my machine (little, but still...)

ToDo / Known Issues

• test on the Nao
• rerun if changed for build.rs

Ideas for Next Iterations (Not This PR)

• Framework v2 #21
• Ideas for next iteration #71
• Errors have to be improved, when hitting them. I tried to test many of them, but definitely missed corner cases.
• structuring by framework.toml allow for different framework configuration for different targets or run-configurations

How to Test

./pepsi run (for webots)
./pepsi upload xx (to test the nao)
./pepsi analyze xxxxxx to query framework information

[knoellle]

Moved to Post-GORE iteration as discussed today.

[schmidma]

Superseded by #182