Fix new Clippy 1.67.0 warns and bump Zenoh

zenoh-bridge-dds/src/main.rs

@@ -178,7 +178,7 @@ r#"--watchdog=[PERIOD]   'Experimental!! Run a watchdog thread that monitors the
     }
     if let Some(port) = args.value_of("rest-http-port") {
         config
-            .insert_json5("plugins/rest/http_port", &format!(r#""{}""#, port))
+            .insert_json5("plugins/rest/http_port", &format!(r#""{port}""#))
             .unwrap();
     }
     // Always add timestamps to publications (required for PublicationCache used in case of TRANSIENT_LOCAL topics)

zplugin-dds/src/config.rs

@@ -120,7 +120,7 @@ where
     let s: String = Deserialize::deserialize(deserializer)?;
     Regex::new(&s)
         .map(Some)
-        .map_err(|e| de::Error::custom(format!("Invalid regex 'allow={}': {}", s, e)))
+        .map_err(|e| de::Error::custom(format!("Invalid regex 'allow={s}': {e}")))
 }
 
 fn deserialize_max_frequencies<'de, D>(deserializer: D) -> Result<Vec<(Regex, f32)>, D::Error>
@@ -132,14 +132,13 @@ where
     for s in strs {
         let i = s
             .find('=')
-            .ok_or_else(|| de::Error::custom(format!("Invalid 'max_frequency': {}", s)))?;
+            .ok_or_else(|| de::Error::custom(format!("Invalid 'max_frequency': {s}")))?;
         let regex = Regex::new(&s[0..i]).map_err(|e| {
-            de::Error::custom(format!("Invalid regex for 'max_frequency': '{}': {}", s, e))
+            de::Error::custom(format!("Invalid regex for 'max_frequency': '{s}': {e}"))
         })?;
         let frequency: f32 = s[i + 1..].parse().map_err(|e| {
             de::Error::custom(format!(
-                "Invalid float value for 'max_frequency': '{}': {}",
-                s, e
+                "Invalid float value for 'max_frequency': '{s}': {e}"
             ))
         })?;
         result.push((regex, frequency));

zplugin-dds/src/dds_mgt.rs

@@ -374,7 +374,7 @@ pub fn delete_dds_entity(entity: dds_entity_t) -> Result<(), String> {
         let r = dds_delete(entity);
         match r {
             0 | DDS_RETCODE_ALREADY_DELETED => Ok(()),
-            e => Err(format!("Error deleting DDS entity - retcode={}", e)),
+            e => Err(format!("Error deleting DDS entity - retcode={e}")),
         }
     }
 }
@@ -386,7 +386,7 @@ pub fn get_guid(entity: &dds_entity_t) -> Result<String, String> {
         if r == 0 {
             Ok(hex::encode(guid.v))
         } else {
-            Err(format!("Error getting GUID of DDS entity - retcode={}", r))
+            Err(format!("Error getting GUID of DDS entity - retcode={r}"))
         }
     }
 }

zplugin-dds/src/lib.rs

@@ -270,7 +270,7 @@ impl Serialize for DdsPluginRuntime<'_> {
                 .config
                 .max_frequencies
                 .iter()
-                .map(|(re, freq)| format!("{}={}", re, freq))
+                .map(|(re, freq)| format!("{re}={freq}"))
                 .collect::<Vec<String>>(),
         )?;
         s.serialize_field("forward_discovery", &self.config.forward_discovery)?;
@@ -646,9 +646,9 @@ impl<'a> DdsPluginRuntime<'a> {
     ) -> ZResult<OwnedKeyExpr> {
         // key_expr for a topic is: "<scope>/<partition>/<topic_name>" with <scope> and <partition> being optional
         match (scope, partition) {
-            (Some(scope), Some(part)) => scope.join(&format!("{}/{}", part, topic_name)),
+            (Some(scope), Some(part)) => scope.join(&format!("{part}/{topic_name}")),
             (Some(scope), None) => scope.join(topic_name),
-            (None, Some(part)) => format!("{}/{}", part, topic_name).try_into(),
+            (None, Some(part)) => format!("{part}/{topic_name}").try_into(),
             (None, None) => topic_name.try_into(),
         }
     }
@@ -1272,7 +1272,7 @@ impl<'a> DdsPluginRuntime<'a> {
                             // remove all the references to the plugin's enities, removing no longer used routes
                             // and updating/re-publishing ParticipantEntitiesInfo
                             let admin_space = &mut self.admin_space;
-                            let admin_subke = format!("@/service/{}/dds/", mid);
+                            let admin_subke = format!("@/service/{mid}/dds/");
                             let mut participant_info_changed = false;
                             self.routes_to_dds.retain(|zkey, route| {
                                 route.remove_remote_routed_writers_containing(&admin_subke);

zplugin-dds/src/qos.rs

@@ -535,7 +535,7 @@ fn test_qos_serialization() {
     let qos = Qos::from_writer_qos_native(native);
     let json = serde_json::to_string(&qos).unwrap();
 
-    println!("{}", json);
+    println!("{json}");
     let qos2 = serde_json::from_str::<Qos>(&json).unwrap();
     assert!(qos == qos2);
 

zplugin-dds/src/ros_discovery.rs

@@ -167,7 +167,7 @@ impl RosDiscoveryInfoMgr {
     pub(crate) fn write(&self, info: &ParticipantEntitiesInfo) -> Result<(), String> {
         unsafe {
             let buf = cdr::serialize::<_, _, CdrLe>(info, Infinite)
-                .map_err(|e| format!("Error serializing ParticipantEntitiesInfo: {}", e))?;
+                .map_err(|e| format!("Error serializing ParticipantEntitiesInfo: {e}"))?;
 
             // create sertype (Unfortunatelly cdds_ddsi_payload_create() takes *mut ddsi_sertype. And keeping it in Self would make it not Send)
             let ctyn = CString::new(ROS_DISCOVERY_INFO_TOPIC_TYPE)
@@ -188,7 +188,7 @@ impl RosDiscoveryInfoMgr {
                 ddsi_serdata_kind_SDK_DATA,
                 ptr,
                 len.try_into().map_err(|e| {
-                    format!("Error creating payload for ParticipantEntitiesInfo: {}", e)
+                    format!("Error creating payload for ParticipantEntitiesInfo: {e}")
                 })?,
             );
             dds_writecdr(self.writer, fwdp as *mut ddsi_serdata);
@@ -253,7 +253,7 @@ impl std::fmt::Display for ParticipantEntitiesInfo {
     fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
         write!(f, "participant {} : [", self.gid)?;
         for i in self.node_entities_info_seq.values() {
-            write!(f, "({}), ", i)?;
+            write!(f, "({i}), ")?;
         }
         write!(f, "]")?;
         Ok(())
@@ -291,7 +291,7 @@ where
     S: Serializer,
 {
     let mut buf = hex::decode(gid).map_err(|e| {
-        serde::ser::Error::custom(format!("Failed to decode gid {} as hex: {}", gid, e))
+        serde::ser::Error::custom(format!("Failed to decode gid {gid} as hex: {e}"))
     })?;
     // Gid size in ROS messages in 24 bytes (The DDS gid is usually 16 bytes). Resize the buffer
     buf.resize(24, 0);
@@ -317,7 +317,7 @@ where
     let mut seq = serializer.serialize_seq(Some(gids.len()))?;
     for s in gids {
         let mut buf = hex::decode(s).map_err(|e| {
-            serde::ser::Error::custom(format!("Failed to decode gid {} as hex: {}", s, e))
+            serde::ser::Error::custom(format!("Failed to decode gid {s} as hex: {e}"))
         })?;
         // Gid size in ROS messages in 24 bytes (The DDS gid is usually 16 bytes). Resize the buffer
         buf.resize(24, 0);

zplugin-dds/src/route_dds_zenoh.rs

@@ -104,10 +104,7 @@ impl RouteDDSZenoh<'_> {
             .res()
             .await
             .map_err(|e| {
-                format!(
-                    "Route Zenoh->DDS ({} -> {}): failed to declare KeyExpr: {}",
-                    topic_name, ke, e
-                )
+                format!("Route Zenoh->DDS ({topic_name} -> {ke}): failed to declare KeyExpr: {e}")
             })?;
 
         // declare the zenoh Publisher
@@ -152,10 +149,7 @@ impl RouteDDSZenoh<'_> {
                 .res()
                 .await
                 .map_err(|e| {
-                    format!(
-                        "Failed create PublicationCache for key {} (rid={}): {}",
-                        ke, declared_ke, e
-                    )
+                    format!("Failed create PublicationCache for key {ke} (rid={declared_ke}): {e}")
                 })?;
             ZPublisher::PublicationCache(pub_cache)
         } else {