From aebc050ec08d22f664f2daaf833cc97f32f84046 Mon Sep 17 00:00:00 2001
From: Bourumir Wyngs <bourumir.wyngs@gmail.com>
Date: Tue, 21 May 2024 19:57:53 +0200
Subject: [PATCH] Going for 1.2.0

---
 Cargo.lock  |  2 +-
 Cargo.toml  |  2 +-
 README.md   |  4 ++--
 src/main.rs | 69 +++++++++++++++++++++++++++++++----------------------
 4 files changed, 44 insertions(+), 33 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 643f6dd..fa4b4bf 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -404,7 +404,7 @@ checksum = "adad44e29e4c806119491a7f06f03de4d1af22c3a680dd47f1e6e179439d1f56"
 
 [[package]]
 name = "rs-opw-kinematics"
-version = "1.1.2-alpha.1"
+version = "1.2.1"
 dependencies = [
  "clap",
  "nalgebra",
diff --git a/Cargo.toml b/Cargo.toml
index a821741..ffd56c7 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "rs-opw-kinematics"
-version = "1.2.1"
+version = "1.2.0"
 edition = "2021"
 authors = ["Bourumir Wyngs <bourumir.wyngs@gmail.com>"]
 description = "Inverse and forward kinematics for 6 axis robots with a parallel base and spherical wrist."
diff --git a/README.md b/README.md
index 012827f..67f4524 100644
--- a/README.md
+++ b/README.md
@@ -172,13 +172,13 @@ function that sometimes occurs there:
   let robot = OPWKinematics::new(parameters);
 ```
 
-Since version 1.2.1, parameters and constraints can also be directly extracted from URDF file:
+Since version 1.2.0, parameters and constraints can also be directly extracted from URDF file:
 ```Rust
   let robot = rs_opw_kinematics::urdf::from_urdf_file("/path/to/robot.urdf");
   println!("Reading:\n{}", &parameters.to_yaml());
 ```
 
-There is also more advanced function [rs_opw_kinematics::urdf::from_urdf](https://docs.rs/rs-opw-kinematics/1.2.1/rs_opw_kinematics/urdf/fn.from_urdf.html) 
+There is also more advanced function [rs_opw_kinematics::urdf::from_urdf](https://docs.rs/rs-opw-kinematics/1.2.0/rs_opw_kinematics/urdf/fn.from_urdf.html) 
 that takes URDF string rather than the file, provides error handling and much more control over how the solver
 is constructed from the extracted values.
 
diff --git a/src/main.rs b/src/main.rs
index af07fc0..1b88e2d 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,18 +1,42 @@
-use clap::{Parser};
-use std::fs::File;
-use std::io::{self, Read};
-use rs_opw_kinematics::constraints::BY_PREV;
-use rs_opw_kinematics::kinematic_traits::JOINTS_AT_ZERO;
-use rs_opw_kinematics::urdf;
-
-#[derive(Parser)]
-#[command(author, version, about, long_about = None)]
-struct Cli {
-    /// The file to read
-    file: Option<String>,
-}
+const VERSION: &str = "1.2.0";
 
+#[cfg(feature = "allow_filesystem")]
 fn main() {
+    use clap::{Parser};
+    use std::fs::File;
+    use std::io::{self, Read};
+    use rs_opw_kinematics::constraints::BY_PREV;
+    use rs_opw_kinematics::kinematic_traits::JOINTS_AT_ZERO;
+    use rs_opw_kinematics::urdf;
+
+    fn print_usage() {
+        println!("This command line utility extracts OPW parameters \
+              \nfor OPW robots from URDF or XACRO files. \
+              \n\nIf XACRO file is used, it must contain joint descriptions directly, file \
+              \ninclusions are not followed. The function ${{radians(degrees)}} is supported. \
+              \nWhile both parameters and constraints are printed out, constraints are not \
+              \npart of the OPW parameters. \
+              \n\nThis tool is Free software under BSD 3, hosted in repository \
+              \nhttps://github.com/bourumir-wyngs/rs-opw-kinematics\n");
+        println!("Usage: rs-opw-kinematics urdf_file.urdf");
+    }    
+
+    fn read_file(file_name: &str) -> io::Result<String> {
+        let mut file = File::open(file_name)?;
+        let mut content = String::new();
+        file.read_to_string(&mut content)?;
+        Ok(content)
+    }
+
+    #[derive(Parser)]
+    #[command(author, version, about, long_about = None)]
+    struct Cli {
+        /// The file to read
+        file: Option<String>,
+    }
+
+    println!("rs-opw-kinematics URDF extractor {VERSION} by Bourumir Wyngs.\n");
+    
     let cli = Cli::parse();
 
     if let Some(file_name) = cli.file {
@@ -35,21 +59,8 @@ fn main() {
     }
 }
 
-fn read_file(file_name: &str) -> io::Result<String> {
-    let mut file = File::open(file_name)?;
-    let mut content = String::new();
-    file.read_to_string(&mut content)?;
-    Ok(content)
+#[cfg(not(feature = "allow_filesystem"))]
+fn main() {
+    println!("rs-opw-kinematics {VERSION}, CLI not built.");
 }
 
-fn print_usage() {
-    println!("This command line utility extracts OPW parameters \
-              \nfor OPW robots from URDF or XACRO files. \
-              \n\nIf XACRO file is used, it must contain joint descriptions directly, file \
-              \ninclusions are not followed. The function ${{radians(degrees)}} is supported. \
-              \nWhile both parameters and constraints are printed out, constraints are not \
-              \npart of the OPW parameters. \
-              \n\nThis tool is Free software under BSD 3, hosted in repository \
-              \nhttps://github.com/bourumir-wyngs/rs-opw-kinematics\n");
-    println!("Usage: rs-opw-kinematics urdf_file.urdf");
-}