Re-Framework

[schmidma]

Introduced Changes

This refactors the existing framework parts of source analyzation and code generation.

• introduction of framework.toml (crates/hulk/framework.toml)
• rewrite of crates/source_analyzer
  • central Cyclers struct containing all info in a single tree
  • no bidirectional mappings
  • no code generation related information in source analyzation step
  • error handling using thiserror including span information
  • circular dependencies are identified and lead to errors
• refactor code generation
  • improve readability
  • use quote!{ ... }
  • error handling using thiserror

ToDo / Known Issues

• recheck the rerun-if-changed calls, it seems the binary is always recompiled
• selection of different framework.toml configurations to allow for different run-configurations.
  • reintegration of the behavior simulator
• Check allows

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. Additionally, they are not shown in the rust analyzer diagnostics. I did not find a way to do that yet.
• parameter as value not as reference by default
• default should not be required for parameters

How to Test

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

[knoellle]

Tested recompilation times with the code generation extraction from 4e7000e.

Hot builds

Recompilation time when touching walking_engine.rs without changing the code.

pepsi build # --profile release
touch crates/control/src/motion/walking_engine.rs
pepsi build # --profile release

	now	previous commit	main
release	18s	15.5s	17.5s
incremental	5.5s	15.5s	5.5s

Cold builds

Using a locally installed pepsi to prevent unfair reuse in incremental mode of crates already built for pepsi.

cargo clean
pepsi build # --profile release

	now	previous commit	main
release	42s	49s	40s
incremental	45s	52.5s	44s

Edit: added measurements for main.

[knoellle]

Rebased and resolved conflicts.
Had to downgrade the toml crate to make it compile because of toml-rs/toml#490.
We should undo this when removing toml parsing.

[h3ndrk]

Thanks @schmidma and @knoellle! 🎉

Let's test this once more and then feel free to merge @knoellle! 🤩

merge merge merge