ctu-mrs · pum1k · Mar 11, 2026 · Mar 12, 2026
diff --git a/.clang-format b/.clang-format
@@ -39,4 +39,8 @@ KeepEmptyLinesAtTheStartOfBlocks: true
 NamespaceIndentation: All
 SortIncludes: false
 SpaceBeforeParens: ControlStatements
+
+Macros:
+  - MRS_LIB_INTERNAL_INLINE_API_V1=inline
+  - MRS_LIB_INTERNAL_INLINE_API_V2=inline
 ...
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -183,6 +183,7 @@ target_sources(mrs_lib_mrs_lib
     "include/mrs_lib/impl/ukf.hpp"
     # include/mrs_lib/internal
     "include/mrs_lib/internal/coroutine_callback_helpers.hpp"
+    "include/mrs_lib/internal/version_macros.hpp"
     # include/mrs_lib/safety_zone
     "include/mrs_lib/safety_zone/line_operations.h"
     "include/mrs_lib/safety_zone/polygon.h"
@@ -211,7 +212,7 @@ target_link_libraries(mrs_lib_mrs_lib
 # Dynamic param manager tests
 
 add_executable(dynparam_tests
-  src/dynparam_mgr/dynparam_tests.cpp
+  examples/dynparam_mgr/dynparam_tests.cpp
 )
 
 target_link_libraries(dynparam_tests
@@ -224,7 +225,7 @@ target_link_libraries(dynparam_tests
 
 # TODO why is it built from all these different files?
 add_executable(subscribe_handler_example
-  src/subscriber_handler/example.cpp
+  examples/subscriber_handler/example.cpp
   src/timeout_manager/timeout_manager.cpp
   src/timer_handler/timer_handler.cpp
 )

diff --git a/Doxyfile b/Doxyfile
@@ -2330,15 +2330,15 @@ ENABLE_PREPROCESSING   = YES
 # The default value is: NO.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-MACRO_EXPANSION        = NO
+MACRO_EXPANSION        = YES
 
 # If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
 # the macro expansion is limited to the macros specified with the PREDEFINED and
 # EXPAND_AS_DEFINED tags.
 # The default value is: NO.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-EXPAND_ONLY_PREDEF     = NO
+EXPAND_ONLY_PREDEF     = YES
 
 # If the SEARCH_INCLUDES tag is set to YES, the include files in the
 # INCLUDE_PATH will be searched if a #include is found.
@@ -2371,7 +2371,9 @@ INCLUDE_FILE_PATTERNS  =
 # recursively expanded use the := operator instead of the = operator.
 # This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
 
-PREDEFINED             =
+PREDEFINED             = \
+    "MRS_LIB_INTERNAL_INLINE_API_V1=" \
+    "MRS_LIB_INTERNAL_INLINE_API_V2="
 
 # If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
 # tag can be used to specify a list of macro names that should be expanded. The

diff --git a/src/dynparam_mgr/dynparam_tests.cpp → examples/dynparam_mgr/dynparam_tests.cpp b/src/dynparam_mgr/dynparam_tests.cpp → examples/dynparam_mgr/dynparam_tests.cpp
diff --git a/src/geometry/cyclic_example.cpp → examples/geometry/cyclic_example.cpp b/src/geometry/cyclic_example.cpp → examples/geometry/cyclic_example.cpp
diff --git a/src/param_loader/example.cpp → examples/param_loader/example.cpp b/src/param_loader/example.cpp → examples/param_loader/example.cpp
diff --git a/src/param_provider/example.cpp → examples/param_provider/example.cpp b/src/param_provider/example.cpp → examples/param_provider/example.cpp
diff --git a/src/service_client_handler/example.cpp → examples/service_client_handler/example.cpp b/src/service_client_handler/example.cpp → examples/service_client_handler/example.cpp
diff --git a/src/subscriber_handler/example.cpp → examples/subscriber_handler/example.cpp b/src/subscriber_handler/example.cpp → examples/subscriber_handler/example.cpp
diff --git a/src/subscriber_handler/simple_example.cpp → ...les/subscriber_handler/simple_example.cpp b/src/subscriber_handler/simple_example.cpp → ...les/subscriber_handler/simple_example.cpp
diff --git a/src/transformer/example.cpp → examples/transformer/example.cpp b/src/transformer/example.cpp → examples/transformer/example.cpp
diff --git a/include/mrs_lib/attitude_converter.h b/include/mrs_lib/attitude_converter.h
@@ -19,8 +19,9 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #include <mrs_lib/geometry/misc.h>
+#include <mrs_lib/internal/version_macros.hpp>
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
 
   // type of the object we are grasping
@@ -507,28 +508,28 @@ namespace mrs_lib
     }
   }
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 template <>
-struct std::tuple_size<mrs_lib::AttitudeConverter>
+struct std::tuple_size<mrs_lib::v1::AttitudeConverter>
 {
   static constexpr int value = 3;
 };
 
 template <>
-struct std::tuple_element<0, mrs_lib::AttitudeConverter>
+struct std::tuple_element<0, mrs_lib::v1::AttitudeConverter>
 {
   using type = double;
 };
 
 template <>
-struct std::tuple_element<1, mrs_lib::AttitudeConverter>
+struct std::tuple_element<1, mrs_lib::v1::AttitudeConverter>
 {
   using type = double;
 };
 
 template <>
-struct std::tuple_element<2, mrs_lib::AttitudeConverter>
+struct std::tuple_element<2, mrs_lib::v1::AttitudeConverter>
 {
   using type = double;
 };

diff --git a/include/mrs_lib/batch_visualizer.h b/include/mrs_lib/batch_visualizer.h
@@ -9,10 +9,11 @@
 #include <mrs_msgs/msg/trajectory_reference.hpp>
 #include <mrs_lib/visual_object.h>
 #include <set>
+#include <mrs_lib/internal/version_macros.hpp>
 
 #define DEFAULT_ELLIPSE_POINTS 64
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
 
   /**
@@ -263,6 +264,6 @@ namespace mrs_lib
     unsigned long uuid = 0; // create unique ID for items in object buffer
   };
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif
diff --git a/include/mrs_lib/coro/internal/thread_local_continuation_scheduler.hpp b/include/mrs_lib/coro/internal/thread_local_continuation_scheduler.hpp
@@ -4,7 +4,9 @@
 
 #include <coroutine>
 
-namespace mrs_lib::internal
+#include <mrs_lib/internal/version_macros.hpp>
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V2 v2::internal
 {
 
   // This is a workaround to GCC generated code overflowing stack when using symmetric transfer
@@ -39,7 +41,14 @@ namespace mrs_lib::internal
     }
   };
 
-} // namespace mrs_lib::internal
+} // namespace mrs_lib::inline v2::internal
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1::internal
+{
+
+  // Backport resume_coroutine to v1 interfaces
+  using ::mrs_lib::v2::internal::resume_coroutine;
 
+} // namespace mrs_lib::inline v1::internal
 
 #endif // MRS_LIB_CORO_INTERNAL_THREAD_LOCAL_CONTINUATION_SCHEDULER_HPP_
diff --git a/include/mrs_lib/coro/runners.hpp b/include/mrs_lib/coro/runners.hpp
@@ -6,9 +6,10 @@
 
 #include <mrs_lib/coro/internal/thread_local_continuation_scheduler.hpp>
 #include <mrs_lib/coro/task.hpp>
+#include <mrs_lib/internal/version_macros.hpp>
 
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V2 v2
 {
 
   namespace internal
@@ -87,6 +88,15 @@ namespace mrs_lib
 
   } // namespace internal
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v2
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1::internal
+{
+
+  // Backport start_task to v1 interfaces
+  using ::mrs_lib::v2::internal::start_task;
+
+} // namespace mrs_lib::inline v1::internal
+
 
 #endif // MRS_LIB_CORO_RUNNERS_HPP_
diff --git a/include/mrs_lib/coro/task.hpp b/include/mrs_lib/coro/task.hpp
@@ -10,6 +10,7 @@
 #include <utility>
 
 #include <mrs_lib/coro/internal/attributes.hpp>
+#include <mrs_lib/internal/version_macros.hpp>
 
 // Note on ownership semantics:
 // Since we want to support cancellation at any point in the coroutine stacks,
@@ -18,7 +19,7 @@
 // either suspend and become continuation of some other task thus transferring
 // ownership or destruct itself once completed.
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V2 v2
 {
 
   template <typename T = void>
@@ -335,7 +336,15 @@ namespace mrs_lib
     friend class internal::PromiseType<T>;
   };
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v2
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
+{
+
+  // Backport Task to v1 interfaces
+  using ::mrs_lib::v2::Task;
+
+} // namespace mrs_lib::inline v1
 
 #ifndef MRS_LIB_CORO_TASK_IMPL_HPP_
 #include <mrs_lib/coro/task.impl.hpp> // IWYU pragma: export

diff --git a/include/mrs_lib/coro/task.impl.hpp b/include/mrs_lib/coro/task.impl.hpp
@@ -3,8 +3,9 @@
 
 #include <mrs_lib/coro/internal/thread_local_continuation_scheduler.hpp>
 #include <mrs_lib/coro/task.hpp>
+#include <mrs_lib/internal/version_macros.hpp>
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V2 v2
 {
   namespace internal
   {
@@ -79,7 +80,7 @@ namespace mrs_lib
     }
 
   } // namespace internal
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v2
 
 
 #endif // MRS_LIB_CORO_TASK_IMPL_HPP_
diff --git a/include/mrs_lib/dkf.h b/include/mrs_lib/dkf.h
@@ -9,9 +9,10 @@
 
 #include <mrs_lib/lkf.h>
 #include <mrs_lib/geometry/misc.h>
+#include <mrs_lib/internal/version_macros.hpp>
 #include <iostream>
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
 
   /* class DKF //{ */
@@ -156,6 +157,6 @@ namespace mrs_lib
   };
   //}
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif // DKF_H
diff --git a/include/mrs_lib/dynparam_mgr.h b/include/mrs_lib/dynparam_mgr.h
@@ -7,8 +7,9 @@
 
 #include <rclcpp/rclcpp.hpp>
 #include <mrs_lib/param_provider.h>
+#include <mrs_lib/internal/version_macros.hpp>
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
 
   /**
@@ -168,6 +169,6 @@ namespace mrs_lib
     std::vector<registered_param_t> m_registered_params;
   };
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #include <mrs_lib/impl/dynparam_mgr.hpp>
diff --git a/include/mrs_lib/geometry/conversions_eigen.h b/include/mrs_lib/geometry/conversions_eigen.h
@@ -5,11 +5,12 @@
 #include <geometry_msgs/msg/vector3.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <geometry_msgs/msg/vector3.h>
+#include <mrs_lib/internal/version_macros.hpp>
 
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
 
-namespace mrs_lib
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
   namespace geometry
   {
@@ -33,6 +34,6 @@ namespace mrs_lib
     //}
 
   } // namespace geometry
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif // GEOMETRY_CONVERSIONS_EIGEN_H
diff --git a/include/mrs_lib/geometry/cyclic.h b/include/mrs_lib/geometry/cyclic.h
@@ -10,7 +10,9 @@
 #include <cmath>
 #include <ostream>
 
-namespace mrs_lib
+#include <mrs_lib/internal/version_macros.hpp>
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
   namespace geometry
   {
@@ -523,6 +525,6 @@ namespace mrs_lib
       static constexpr double supremum = 180;
     };
   } // namespace geometry
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif // CYCLIC_H
diff --git a/include/mrs_lib/geometry/misc.h b/include/mrs_lib/geometry/misc.h
@@ -13,7 +13,9 @@
 #include <geometry_msgs/msg/point.h>
 #include <geometry_msgs/msg/quaternion.h>
 
-namespace mrs_lib
+#include <mrs_lib/internal/version_macros.hpp>
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
   namespace geometry
   {
@@ -319,6 +321,6 @@ namespace mrs_lib
     //}
 
   } // namespace geometry
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif
diff --git a/include/mrs_lib/geometry/shapes.h b/include/mrs_lib/geometry/shapes.h
@@ -12,7 +12,9 @@
 
 #include <Eigen/Dense>
 
-namespace mrs_lib
+#include <mrs_lib/internal/version_macros.hpp>
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
   namespace geometry
   {
@@ -654,6 +656,6 @@ namespace mrs_lib
     };
     //}
   } // namespace geometry
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif // SHAPES_H
diff --git a/include/mrs_lib/gps_conversions.h b/include/mrs_lib/gps_conversions.h
@@ -21,7 +21,9 @@
 #include <cstdlib>
 #include <string>
 
-namespace mrs_lib
+#include <mrs_lib/internal/version_macros.hpp>
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
 
   const double RADIANS_PER_DEGREE = M_PI / 180.0;
@@ -313,6 +315,6 @@ namespace mrs_lib
     UTMtoLL(UTMNorthing, UTMEasting, UTMZone.c_str(), Lat, Long);
   }
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif // _UTM_H
diff --git a/include/mrs_lib/iir_filter.h b/include/mrs_lib/iir_filter.h
@@ -6,7 +6,9 @@
 
 #include <vector>
 
-namespace mrs_lib
+#include <mrs_lib/internal/version_macros.hpp>
+
+namespace mrs_lib::MRS_LIB_INTERNAL_INLINE_API_V1 v1
 {
 
   class IirFilter
@@ -34,6 +36,6 @@ namespace mrs_lib
     std::vector<double> buffer_;
   };
 
-} // namespace mrs_lib
+} // namespace mrs_lib::inline v1
 
 #endif