github: update to use git repo of master

.github/workflows/build.yml

@@ -1,9 +1,8 @@
-name: Build
+name: CI
 
 on:
   push:
-    branches:
-      - master
+    branches: [master]
   pull_request:
 
 env:
@@ -13,34 +12,37 @@ jobs:
   fmt:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v4
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
           toolchain: stable
-          profile: minimal
           components: rustfmt
-      - name: Check rust formatting (rustfmt)
-        run: cargo fmt --all -- --check
+      - run: cargo fmt --all -- --check
 
   build:
     runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        toolchain:
+          - 1.63.0
+          - stable
+          - nightly
+    env:
+      ETHERCAT_PATH: ../ethercat-git
     steps:
-      - uses: actions/checkout@v2
-      - name: Install Rust toolchain
-        uses: actions-rs/toolchain@v1
+      - uses: actions/checkout@v4
+      - uses: actions-rust-lang/setup-rust-toolchain@v1
         with:
-          toolchain: stable
-          profile: minimal
+          toolchain: ${{ matrix.toolchain }}
+          components: clippy
 
-      - name: Install Mercurial
-        run: sudo apt-get install -y mercurial
       - name: Set up IgH repo
         run: |
-          hg clone http://hg.code.sf.net/p/etherlabmaster/code ethercat-hg
-          cd ethercat-hg
-          hg update stable-1.5
+          git clone https://gitlab.com/etherlab.org/ethercat ethercat-git
+          cd ethercat-git
+          git checkout stable-1.5
           ./bootstrap
           ./configure --disable-8139too
 
-      - name: Build
-        run: ETHERCAT_PATH=$(pwd)/ethercat-hg cargo build
+      - run: cargo clippy --all-targets
+      - run: cargo build --all-targets

ethercat-sys/Cargo.toml

@@ -14,6 +14,8 @@ ioctl-sys = "0.5.2"
 [build-dependencies]
 bindgen = "0.63.0"
 regex = "=1.9.6"
+# for 1.63 compatibility
+home = "=0.5.5"
 
 [features]
 default = []

ethercat-sys/build.rs

@@ -31,7 +31,7 @@ fn main() {
             .expect("Couldn't write bindings!");
 
         // Generate the EC_IOCTL_ ioctl numbers -- bindgen can't handle them.
-        let code = fs::read_to_string(&format!("{}/master/ioctl.h", path))
+        let code = fs::read_to_string(format!("{}/master/ioctl.h", path))
             .expect("master/ioctl.h not found");
         let mut new = String::new();
         for line in code.split('\n') {

examples/cyclic-data.rs

@@ -64,17 +64,12 @@ pub fn main() -> Result<(), io::Error> {
     }
 }
 
+type SlaveMap = HashMap<SlavePos, HashMap<PdoEntryIndex, (BitLen, Offset)>>;
+
 pub fn init_master(
     esi: &EtherCatInfo,
     idx: u32,
-) -> Result<
-    (
-        Master,
-        DomainIndex,
-        HashMap<SlavePos, HashMap<PdoEntryIndex, (BitLen, Offset)>>,
-    ),
-    io::Error,
-> {
+) -> Result<(Master, DomainIndex, SlaveMap), io::Error> {
     let mut master = Master::open(idx, MasterAccess::ReadWrite)?;
     log::debug!("Reserve master");
     master.reserve()?;
@@ -111,7 +106,7 @@ pub fn init_master(
                             sub_idx: SubIdx::from(e.sub_index.unwrap_or(1) as u8),
                         },
                         bit_len: e.bit_len as u8,
-                        name: e.name.clone().unwrap_or(String::new()),
+                        name: e.name.clone().unwrap_or_default(),
                         pos: PdoEntryPos::from(i as u8),
                     })
                     .collect(),
@@ -133,7 +128,7 @@ pub fn init_master(
                             sub_idx: SubIdx::from(e.sub_index.unwrap_or(1) as u8),
                         },
                         bit_len: e.bit_len as u8,
-                        name: e.name.clone().unwrap_or(String::new()),
+                        name: e.name.clone().unwrap_or_default(),
                         pos: PdoEntryPos::from(i as u8),
                     })
                     .collect(),

src/master.rs

@@ -89,7 +89,7 @@ impl Master {
         let p = self
             .domain_data_placement(idx)
             .map_err(|_| Error::NoDomain)?;
-        let data = self.map.as_mut().ok_or_else(|| Error::NotActivated)?;
+        let data = self.map.as_mut().ok_or(Error::NotActivated)?;
         Ok(&mut data[p.offset..p.offset + p.size])
     }
 
@@ -119,7 +119,7 @@ impl Master {
                 .map_mut(&self.file)
                 .map(Some)?
         };
-        self.map.as_mut().ok_or_else(|| Error::NotActivated)?[0] = 0;
+        self.map.as_mut().ok_or(Error::NotActivated)?[0] = 0;
         Ok(())
     }
 
@@ -183,7 +183,7 @@ impl Master {
             app_time,
             ..
         } = data;
-        let first_device = devices.get(0).ok_or_else(|| Error::NoDevices)?;
+        let first_device = devices.first().ok_or(Error::NoDevices)?;
         let link_up = first_device.link_state != 0;
         let scan_busy = scan_busy != 0;
         Ok(MasterInfo {