Fix missing dep when compiling with rosapi, some cleanups from review…

…, removed unused import

roslibrust/Cargo.toml

@@ -45,6 +45,8 @@ hyper = { version = "0.14", features = [
 ], optional = true } # Only used with native ros1
 gethostname = { version = "0.4", optional = true } # Only used with native ros1
 regex = { version = "1.9", optional = true } # Only used with native ros1
+# TODO I think we should move rosapi into its own crate...
+serde-big-array = { version = "0.5", optional = true } # Only used with rosapi
 
 [dev-dependencies]
 env_logger = "0.10"
@@ -57,7 +59,7 @@ default = []
 # Note: all does not include running_bridge as that is only intended for CI
 all = []
 # Provides a rosapi rust interface
-rosapi = []
+rosapi = ["serde-big-array"]
 # Intended for use with tests, includes tests that rely on a locally running rosbridge
 running_bridge = []
 # For use with integration tests, indicating we are testing integration with a ros1 bridge

roslibrust_codegen/src/gen.rs

@@ -173,16 +173,15 @@ fn generate_field_definition(
             quote! {}
         }
     };
-    let serde_line = if let Some(Some(fixed_array_length)) = field.field_type.array_info {
-        if fixed_array_length > 32 {
+    // This is the largest size of fixed sized array for which macros automatically implement traits
+    // Until serde supports const generics we need to use serde_big_array for fixed size arrays
+    // Larger than 32.
+    const MAX_FIXED_ARRAY_LEN: usize = 32;
+    let serde_line = match field.field_type.array_info {
+        Some(Some(fixed_array_len)) if fixed_array_len > MAX_FIXED_ARRAY_LEN => {
             quote! { #[serde(with = "::serde_big_array::BigArray")] }
-        } else {
-            // Nothing
-            quote! {}
         }
-    } else {
-        // Nothing
-        quote! {}
+        _ => quote! {},
     };
     Ok(quote! {
         #default_line

roslibrust_codegen/src/lib.rs

@@ -631,7 +631,7 @@ fn parse_ros_files(
 
 #[cfg(test)]
 mod test {
-    use crate::{find_and_generate_ros_messages, FieldInfo};
+    use crate::find_and_generate_ros_messages;
 
     /// Confirms we don't panic on ros1 parsing
     #[test_log::test]