diff --git a/Cargo.toml b/Cargo.toml
index df663f88..5ba91062 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,17 +16,42 @@ categories = [
 ]
 
 [workspace.dependencies]
-schemars = { version = "0.9.0" }
-serde = { version = "1.0.210", features = ["derive", "rc"] }
-serde_json = { version = "1.0.128" }
+axum = "0.8.4"
+bevy_app = "0.12.1"
+bevy_core = "0.12.1"
+bevy_derive = "0.12.1"
+bevy_ecs = "0.12.1"
+bevy_hierarchy = "0.12.1"
+bevy_time = "0.12.1"
+bevy_utils = "0.12.1"
+clap = { version = "4.5.23", features = ["derive"] }
+mime_guess = "2.0.5"
+schemars = "0.9.0"
+serde = "1.0.219"
+serde_json = "1.0.140"
+tokio = "1.47.1"
+tonic = "0.14"
+prost = "0.14"
+tonic-prost = "0.14"
+tonic-prost-build = "0.14"
+prost-build = "0.14"
+prost-reflect = "0.16"
+tracing = "0.1.41"
+tracing-subscriber = "0.3.19"
+futures = "0.3.31"
+futures-util = "0.3.31"
+uuid = "1.13.1"
+wasm-bindgen = "0.2.100"
+zenoh = "1.3.2"
+zenoh-ext = "1.4.0"
 
 [dependencies]
 bevy_impulse_derive = { path = "macros", version = "0.0.2" }
-bevy_ecs = "0.12"
-bevy_utils = "0.12"
-bevy_hierarchy = "0.12"
-bevy_derive = "0.12"
-bevy_app = "0.12"
+bevy_ecs = { workspace = true }
+bevy_utils = { workspace = true }
+bevy_hierarchy = { workspace = true }
+bevy_derive = { workspace = true }
+bevy_app = { workspace = true }
 
 async-task = { version = "4.7.1", optional = true }
 
@@ -37,8 +62,8 @@ bevy_tasks = { version = "0.12", features = ["multi-threaded"] }
 
 itertools = "0.13"
 smallvec = { version = "1.13", features = ["serde"] }
-tokio = { version = "1.39", features = ["sync"] }
-futures = "0.3"
+tokio = { workspace = true, features = ["sync"] }
+futures = { workspace = true }
 backtrace = "0.3"
 anyhow = "1.0"
 thiserror = "1.0"
@@ -48,35 +73,35 @@ thiserror = "1.0"
 # the testing module for doctests, and doctests can only
 # make use of default features, so we're a bit stuck with
 # these for now.
-bevy_core = "0.12"
-bevy_time = "0.12"
+bevy_core = { workspace = true }
+bevy_time = { workspace = true }
 
 schemars = { workspace = true, optional = true }
-serde = { workspace = true, optional = true }
+serde = { workspace = true, optional = true, features = ["derive", "rc"] }
 serde_json = { workspace = true, optional = true }
 cel-interpreter = { version = "0.9.0", features = ["json"], optional = true }
 
 # --- Dependencies for grpc feature
-tonic = { version = "0.14", optional = true }
-prost = { version = "0.14", optional = true }
-tonic-prost = { version = "0.14", optional = true }
-prost-reflect = { version = "0.16", features = ["serde"], optional = true }
+tonic = { workspace = true, optional = true }
+prost = { workspace = true, optional = true }
+tonic-prost = { workspace = true, optional = true }
+prost-reflect = { workspace = true, features = ["serde"], optional = true }
 http = { version = "1.3", optional = true }
 futures-lite = { version = "2.6", features = ["std", "race"], optional = true }
 async-std = { version = "1.12", optional = true}
 # --- end grpc
 
 # --- Dependencies for zenoh feature
-zenoh = { version = "1.3.2", features = ["unstable"], optional = true }
-zenoh-ext = { version = "*", features = ["unstable"], optional = true }
+zenoh = { workspace = true, features = ["unstable"], optional = true }
+zenoh-ext = { workspace = true, features = ["unstable"], optional = true }
 # --- end zenoh
 
-tracing = "0.1.41"
+tracing = { workspace = true }
 strum = { version = "0.26.3", optional = true, features = ["derive"] }
 semver = { version = "1.0.24", optional = true }
 
 [target.wasm32-unknown-unknown.dependencies]
-uuid = { version = "1.13.1", default-features = false, features = ["js"] }
+uuid = { workspace = true, default-features = false, features = ["js"] }
 getrandom = { version = "0.3.3", features = ["wasm_js"] }
 
 [features]
@@ -143,4 +168,4 @@ required-features = ["diagram"]
 doc = false
 
 [build-dependencies]
-tonic-prost-build = { version = "0.14", optional = true }
+tonic-prost-build = { workspace = true, optional = true }
diff --git a/diagram-editor/Cargo.toml b/diagram-editor/Cargo.toml
index 045ec5ee..44f29243 100644
--- a/diagram-editor/Cargo.toml
+++ b/diagram-editor/Cargo.toml
@@ -28,26 +28,26 @@ exclude = ["/build.rs"]
 path = "server/lib.rs"
 
 [dependencies]
-axum = { version = "0.8.4", features = ["json"], default-features = false }
-bevy_app = "0.12.1"
-bevy_ecs = "0.12.1"
+axum = { workspace = true, features = ["json"], default-features = false }
+bevy_app = { workspace = true }
+bevy_ecs = { workspace = true }
 bevy_impulse = { version = "0.0.2", path = "..", features = [
   "diagram",
   "trace",
 ] }
-clap = { version = "4.5.23", features = ["derive"], optional = true }
+clap = { workspace = true, features = ["derive"], optional = true }
 flate2 = { version = "1.1.1", optional = true }
-futures-util = "0.3.31"
+futures-util = { workspace = true }
 indexmap = { version = "2.10.0", optional = true, features = ["serde"] }
-mime_guess = "2.0.5"
-schemars = { version = "0.9", optional = true }
-serde = "1.0.219"
-serde_json = "1.0.140"
+mime_guess = { workspace = true }
+schemars = { workspace = true, optional = true }
+serde = { workspace = true }
+serde_json = { workspace = true }
 tar = { version = "0.4.44", optional = true }
 thiserror = "2.0.16"
-tokio = { version = "1.45.1", features = ["macros"] }
-tracing = "0.1.41"
-tracing-subscriber = { version = "0.3.19", optional = true }
+tokio = { workspace = true, features = ["macros"] }
+tracing = { workspace = true }
+tracing-subscriber = { workspace = true, optional = true }
 
 [build-dependencies]
 flate2 = { version = "1.1.1", optional = true }
@@ -56,7 +56,7 @@ tar = { version = "0.4.44", optional = true }
 [dev-dependencies]
 futures-channel = "0.3.31"
 test-log = "0.2.18"
-tokio = { version = "1.45.1", features = ["macros", "rt-multi-thread"] }
+tokio = { workspace = true, features = ["macros", "rt-multi-thread"] }
 tower = "0.5.2"
 
 [features]
diff --git a/diagram-editor/wasm/Cargo.toml b/diagram-editor/wasm/Cargo.toml
index 269ba46a..3e9075a6 100644
--- a/diagram-editor/wasm/Cargo.toml
+++ b/diagram-editor/wasm/Cargo.toml
@@ -25,20 +25,20 @@ categories = [
 ]
 
 [dependencies]
-axum = { version = "0.8.4", features = ["json"], default-features = false }
-bevy_app = "0.12.1"
+axum = { workspace = true, features = ["json"], default-features = false }
+bevy_app = { workspace = true }
 bevy_impulse = { version = "0.0.2", path = "../..", features = [
   "diagram",
   "single_threaded_async",
 ] }
 bevy_impulse_diagram_editor = { version = "0.0.1", path = "..", default-features = false }
-mime_guess = { version = "2.0.5" }
-serde_json = "1.0.140"
+mime_guess = { workspace = true }
+serde_json = { workspace = true }
 serde-wasm-bindgen = "0.6.5"
-wasm-bindgen = "0.2.100"
+wasm-bindgen = { workspace = true }
 wasm-bindgen-futures = "0.4.50"
-tokio = { version = "1.47.1", default-features = false, features = ["rt"] }
-futures = "0.3.31"
+tokio = { workspace = true, default-features = false, features = ["rt"] }
+futures = { workspace = true }
 serde.workspace = true
 
 [build-dependencies]
diff --git a/diagram-editor/wasm/src/executor.rs b/diagram-editor/wasm/src/executor.rs
index 7421edd1..9f9370ed 100644
--- a/diagram-editor/wasm/src/executor.rs
+++ b/diagram-editor/wasm/src/executor.rs
@@ -58,6 +58,7 @@ pub async fn post_run(request: PostRunRequestWasm) -> Result<JsValue, JsValue> {
 }
 
 #[cfg(test)]
+#[cfg(target_arch = "wasm32")]
 mod tests {
     use std::{collections::HashMap, sync::Arc};
 
diff --git a/diagram-editor/wasm/src/globals.rs b/diagram-editor/wasm/src/globals.rs
index b10f34f0..515c2a78 100644
--- a/diagram-editor/wasm/src/globals.rs
+++ b/diagram-editor/wasm/src/globals.rs
@@ -26,12 +26,6 @@ pub fn setup_wasm(
     BEVY_APP.lock().unwrap().replace(app);
 }
 
-pub(super) fn with_bevy_app<R>(f: impl FnOnce(&mut bevy_app::App) -> R) -> R {
-    let mut mg = BEVY_APP.lock().unwrap();
-    let app = mg.as_mut().expect("`init_wasm` not called");
-    f(app)
-}
-
 pub(super) async fn with_bevy_app_async<R>(f: impl AsyncFnOnce(&mut bevy_app::App) -> R) -> R {
     let mut mg = BEVY_APP.lock().unwrap();
     let app = mg.as_mut().expect("`init_wasm` not called");
diff --git a/diagram-editor/wasm/src/registry.rs b/diagram-editor/wasm/src/registry.rs
index d17ff4f0..90c6c4bb 100644
--- a/diagram-editor/wasm/src/registry.rs
+++ b/diagram-editor/wasm/src/registry.rs
@@ -12,6 +12,7 @@ pub fn get_registry() -> JsValue {
         .expect("failed to serialize registry")
 }
 
+#[cfg(target_arch = "wasm32")]
 #[cfg(test)]
 mod tests {
     use wasm_bindgen_test::wasm_bindgen_test;
diff --git a/diagram-editor/wasm/src/test_utils.rs b/diagram-editor/wasm/src/test_utils.rs
index a557ceb9..8540e9bf 100644
--- a/diagram-editor/wasm/src/test_utils.rs
+++ b/diagram-editor/wasm/src/test_utils.rs
@@ -17,6 +17,7 @@ init_wasm! {
     InitOptions{app, registry, executor_options}
 }
 
+#[cfg(target_arch = "wasm32")]
 pub(crate) fn setup_test() {
     init_wasm();
 }
diff --git a/examples/diagram/calculator_ops_catalog/Cargo.toml b/examples/diagram/calculator_ops_catalog/Cargo.toml
index 3cc76eff..1543b643 100644
--- a/examples/diagram/calculator_ops_catalog/Cargo.toml
+++ b/examples/diagram/calculator_ops_catalog/Cargo.toml
@@ -5,11 +5,11 @@ edition = "2021"
 description = "catalog of reusable calculator operations"
 
 [dependencies]
-bevy_app = "0.12"
-bevy_core = "0.12"
+bevy_app = { workspace = true }
+bevy_core = { workspace = true }
 bevy_impulse = { version = "0.0.2", path = "../../..", features = ["diagram"] }
-bevy_time = "0.12"
+bevy_time = { workspace = true }
 serde = { workspace = true }
 serde_json = { workspace = true }
 schemars = { workspace = true }
-tracing-subscriber = "0.3.19"
+tracing-subscriber = { workspace = true }
diff --git a/examples/diagram/calculator_wasm/Cargo.toml b/examples/diagram/calculator_wasm/Cargo.toml
index d55d3e24..9b9c9d21 100644
--- a/examples/diagram/calculator_wasm/Cargo.toml
+++ b/examples/diagram/calculator_wasm/Cargo.toml
@@ -7,8 +7,8 @@ edition = "2021"
 crate-type = ["cdylib"]
 
 [dependencies]
-bevy_app = "0.12"
+bevy_app = { workspace = true }
 bevy_impulse = { version = "0.0.2", path = "../../.." }
 bevy_impulse_diagram_editor_wasm = { version = "0.0.1", path = "../../../diagram-editor/wasm" }
 calculator_ops_catalog = { version = "0.1.0", path = "../calculator_ops_catalog" }
-wasm-bindgen = "0.2.100"
+wasm-bindgen = { workspace = true }
diff --git a/examples/zenoh-examples/Cargo.toml b/examples/zenoh-examples/Cargo.toml
index 4762ffa9..5e5fd89d 100644
--- a/examples/zenoh-examples/Cargo.toml
+++ b/examples/zenoh-examples/Cargo.toml
@@ -12,21 +12,21 @@ name = "use-door"
 path = "src/use_door.rs"
 
 [dependencies]
-bevy_app = "0.12"
-bevy_core = "0.12"
-bevy_ecs = "0.12"
-bevy_time = "0.12"
 bevy_impulse = { version = "0.0.2", path = "../..", features = ["diagram"] }
-futures = "0.3"
-schemars = { version = "0.9.0" }
-serde = { version = "1.0.210", features = ["derive", "rc"] }
-serde_json = "1.0.128"
-prost = "0.13.5"
-tracing = "0.1.41"
-clap = { version = "4.5.23", features = ["derive"] }
-uuid = { version = "*", features = ["v4"] }
-zenoh = { version = "1.3.2", features = ["unstable"] }
-zenoh-ext = { version = "*", features = ["unstable"] }
+bevy_app = { workspace = true }
+bevy_core = { workspace = true }
+bevy_ecs = { workspace = true }
+bevy_time = { workspace = true }
+futures = { workspace = true }
+schemars = { workspace = true }
+serde = { workspace = true, features = ["derive", "rc"] }
+serde_json = { workspace = true }
+prost = { workspace = true }
+tracing = { workspace = true }
+clap = { workspace = true, features = ["derive"] }
+uuid = { workspace = true, features = ["v4"] }
+zenoh = { workspace = true, features = ["unstable"] }
+zenoh-ext = { workspace = true, features = ["unstable"] }
 
 [build-dependencies]
-prost-build = "0.13.5"
+prost-build = { workspace = true }
diff --git a/examples/zenoh-examples/src/lib.rs b/examples/zenoh-examples/src/lib.rs
index ec06793e..07f03110 100644
--- a/examples/zenoh-examples/src/lib.rs
+++ b/examples/zenoh-examples/src/lib.rs
@@ -109,7 +109,7 @@ pub fn zenoh_subscription_node<T: 'static + Send + Sync + Message + Default>(
     builder.create_node(callback.as_callback())
 }
 
-pub fn zenoh_publisher_node<T: 'static + Send + Sync + Message>(
+pub fn zenoh_publisher_node<T: 'static + Send + Sync + Message + std::fmt::Debug>(
     topic_name: Arc<str>,
     builder: &mut Builder,
 ) -> Node<T, Result<(), ArcError>> {
diff --git a/src/buffer/json_buffer.rs b/src/buffer/json_buffer.rs
index 088a1f8c..5e4fa475 100644
--- a/src/buffer/json_buffer.rs
+++ b/src/buffer/json_buffer.rs
@@ -217,6 +217,11 @@ impl From<JsonBufferKey> for AnyBufferKey {
 /// Similar to [`BufferView`][crate::BufferView], but this can be unlocked with
 /// a [`JsonBufferKey`], so it can work for any buffer whose message types
 /// support serialization and deserialization.
+///
+/// Obtain this from a [`World`] using the [`JsonBufferWorldAccess`] trait. Full
+/// world access is needed to get this, because the underlaying buffer may be any
+/// serializable data type, and only the [`JsonBufferKey`] will know the actual
+/// data type.
 pub struct JsonBufferView<'a> {
     storage: Box<dyn JsonBufferViewing + 'a>,
     gate: &'a GateState,
@@ -249,6 +254,14 @@ impl<'a> JsonBufferView<'a> {
         self.len() == 0
     }
 
+    /// Iterate through the current elements of the buffer.
+    pub fn iter(&self) -> IterJsonBufferView<'a, '_> {
+        IterJsonBufferView {
+            index: 0,
+            view: self,
+        }
+    }
+
     /// Check whether the gate of this buffer is open or closed.
     pub fn gate(&self) -> Gate {
         self.gate
@@ -259,9 +272,28 @@ impl<'a> JsonBufferView<'a> {
     }
 }
 
+pub struct IterJsonBufferView<'a, 'b> {
+    index: usize,
+    view: &'b JsonBufferView<'a>,
+}
+
+impl<'a, 'b> Iterator for IterJsonBufferView<'a, 'b> {
+    type Item = Result<JsonMessage, serde_json::Error>;
+    fn next(&mut self) -> Option<Self::Item> {
+        let next = self.index;
+        self.index += 1;
+        self.view.get(next).transpose()
+    }
+}
+
 /// Similar to [`BufferMut`][crate::BufferMut], but this can be unlocked with a
 /// [`JsonBufferKey`], so it can work for any buffer whose message types support
 /// serialization and deserialization.
+///
+/// Obtain this from a [`World`] using the [`JsonBufferWorldAccess`] trait. Full
+/// world access is needed to get this, because the underlaying buffer may be any
+/// serializable data type, and only the [`JsonBufferKey`] will know the actual
+/// data type.
 pub struct JsonBufferMut<'w, 's, 'a> {
     storage: Box<dyn JsonBufferManagement + 'a>,
     buffer: Entity,
diff --git a/src/diagram.rs b/src/diagram.rs
index 88cfae57..d7944117 100644
--- a/src/diagram.rs
+++ b/src/diagram.rs
@@ -64,16 +64,13 @@ use std::{
     borrow::Cow,
     collections::{HashMap, HashSet},
     fmt::Display,
-    future::Future,
     io::Read,
-    pin::Pin,
     sync::Arc,
-    task::{Context, Poll},
 };
 
 pub use crate::type_info::TypeInfo;
 use crate::{
-    Builder, IncompatibleLayout, IncrementalScopeError, JsonMessage, Scope, Service,
+    is_default, Builder, IncompatibleLayout, IncrementalScopeError, JsonMessage, Scope, Service,
     SpawnWorkflowExt, SplitConnectionError, StreamPack,
 };
 
@@ -85,8 +82,6 @@ use serde::{
     Deserialize, Deserializer, Serialize, Serializer,
 };
 
-use futures::never::Never;
-
 use thiserror::Error as ThisError;
 
 const CURRENT_DIAGRAM_VERSION: &str = "0.1.0";
@@ -1321,45 +1316,3 @@ mod tests {
         assert_eq!(result, 5.0);
     }
 }
-
-/// Used with `#[serde(default, skip_serializing_if = "is_default")]` for fields
-/// that don't need to be serialized if they are a default value.
-pub(crate) fn is_default<T: std::default::Default + PartialEq>(value: &T) -> bool {
-    let default = T::default();
-    *value == default
-}
-
-/// Used with `#[serde(default = "default_as_true", skip_serializing_if = "is_true")]`
-/// for bools that should be true by default.
-pub(crate) fn default_as_true() -> bool {
-    true
-}
-
-/// Used with `#[serde(default = "default_as_true", skip_serializing_if = "is_true")]`
-/// for bools that should be true by default.
-pub(crate) fn is_true(value: &bool) -> bool {
-    *value
-}
-
-/// This is used to block a future from ever returning. This should only be used
-/// in a race to force one of the contesting futures to lose. Make sure that at
-/// least one contesting future will finish or else this will lead to a deadlock.
-#[allow(unused)]
-struct NeverFinish;
-
-impl Future for NeverFinish {
-    type Output = Never;
-    fn poll(self: Pin<&mut Self>, _: &mut Context<'_>) -> Poll<Self::Output> {
-        Poll::Pending
-    }
-}
-
-/// Used by some tests in the grpc and zenoh modules
-#[allow(unused)]
-pub(crate) fn clamp(val: f32, limit: f32) -> f32 {
-    if f32::abs(val) > limit {
-        return f32::signum(val) * limit;
-    }
-
-    val
-}
diff --git a/src/diagram/grpc.rs b/src/diagram/grpc.rs
index 4a5be063..422047d2 100644
--- a/src/diagram/grpc.rs
+++ b/src/diagram/grpc.rs
@@ -16,7 +16,7 @@
 */
 
 use super::*;
-use crate::AsyncMap;
+use crate::{AsyncMap, NeverFinish};
 
 use std::{future::Future, sync::Arc, time::Duration};
 
@@ -401,7 +401,7 @@ impl Decoder for DynamicMessageCodec {
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::{diagram::testing::*, prelude::*, testing::*};
+    use crate::{diagram::testing::*, prelude::*, testing::*, utils::*};
     use futures::channel::oneshot::{self, Sender as OneShotSender};
     use prost_reflect::Kind;
     use protos::{
diff --git a/src/diagram/zenoh.rs b/src/diagram/zenoh.rs
index 818960df..7d48a9da 100644
--- a/src/diagram/zenoh.rs
+++ b/src/diagram/zenoh.rs
@@ -16,7 +16,7 @@
 */
 
 use super::*;
-use crate::prelude::*;
+use crate::{prelude::*, utils::*};
 
 use ::zenoh::{
     bytes::{Encoding, ZBytes},
diff --git a/src/lib.rs b/src/lib.rs
index a36ccbf2..bbd55221 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -144,6 +144,9 @@ pub use workflow::*;
 
 pub mod testing;
 
+pub(crate) mod utils;
+pub(crate) use utils::*;
+
 #[cfg(feature = "trace")]
 pub mod trace;
 #[cfg(feature = "trace")]
@@ -412,11 +415,14 @@ pub mod prelude {
         ImpulseAppPlugin, ImpulsePlugin,
     };
 
-    pub use bevy_ecs::prelude::In;
+    pub use bevy_ecs::prelude::{In, World};
 
     #[cfg(feature = "diagram")]
     pub use crate::{
-        buffer::{JsonBuffer, JsonBufferKey, JsonBufferMut, JsonBufferWorldAccess, JsonMessage},
+        buffer::{
+            JsonBuffer, JsonBufferKey, JsonBufferMut, JsonBufferView, JsonBufferWorldAccess,
+            JsonMessage,
+        },
         diagram::{Diagram, DiagramElementRegistry, DiagramError, NodeBuilderOptions, Section},
     };
 
diff --git a/src/service.rs b/src/service.rs
index 731d2979..c170a702 100644
--- a/src/service.rs
+++ b/src/service.rs
@@ -224,7 +224,7 @@ define_label!(
     DELIVERY_LABEL_INTERNER
 );
 
-pub mod utils {
+pub mod service_utils {
     /// Used by the procedural macro for DeliveryLabel
     pub use bevy_utils::label::DynEq;
 }
diff --git a/src/utils.rs b/src/utils.rs
new file mode 100644
index 00000000..90b1c15b
--- /dev/null
+++ b/src/utils.rs
@@ -0,0 +1,71 @@
+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+//! Miscellaneous utilities used internally
+use std::{
+    future::Future,
+    pin::Pin,
+    task::{Context, Poll},
+};
+
+/// Used with `#[serde(default, skip_serializing_if = "is_default")]` for fields
+/// that don't need to be serialized if they are a default value.
+#[allow(unused)]
+pub(crate) fn is_default<T: std::default::Default + PartialEq>(value: &T) -> bool {
+    let default = T::default();
+    *value == default
+}
+
+/// Used with `#[serde(default = "default_as_true", skip_serializing_if = "is_true")]`
+/// for bools that should be true by default.
+#[allow(unused)]
+pub(crate) fn default_as_true() -> bool {
+    true
+}
+
+/// Used with `#[serde(default = "default_as_true", skip_serializing_if = "is_true")]`
+/// for bools that should be true by default.
+#[allow(unused)]
+pub(crate) fn is_true(value: &bool) -> bool {
+    *value
+}
+
+/// This is used to block a future from ever returning. This should only be used
+/// in a race to force one of the contesting futures to lose. Make sure that at
+/// least one contesting future will finish or else this will lead to a deadlock.
+#[allow(unused)]
+pub(crate) struct NeverFinish;
+
+impl Future for NeverFinish {
+    type Output = Never;
+    fn poll(self: Pin<&mut Self>, _: &mut Context<'_>) -> Poll<Self::Output> {
+        Poll::Pending
+    }
+}
+
+/// A data structure that can never be instantiated
+pub(crate) enum Never {}
+
+/// Used by some tests in the grpc and zenoh modules
+#[allow(unused)]
+pub(crate) fn clamp(val: f32, limit: f32) -> f32 {
+    if f32::abs(val) > limit {
+        return f32::signum(val) * limit;
+    }
+
+    val
+}