Cleanup

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>

Author: luca-della-vedova

examples/dynamic_pub_sub/Cargo.toml

@@ -6,5 +6,6 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-rclrs = { version = "0.3", features = ["dyn_msg"] }
+# TODO(luca) change this to a version once dynamic message support is released on crates.io
+rclrs = { path = "../../rclrs", features = ["dyn_msg"] }
 anyhow = {version = "1", features = ["backtrace"]}

examples/dynamic_pub_sub/src/main.rs

@@ -1,22 +1,23 @@
 use anyhow::{Error, Result};
-use std::env;
+use rclrs::*;
 
 fn main() -> Result<(), Error> {
-    let context = rclrs::Context::new(env::args())?;
+    let context = Context::default_from_env()?;
+    let mut executor = context.create_basic_executor();
 
-    let mut node = rclrs::create_node(&context, "dynamic_subscriber")?;
+    let node = executor.create_node("dynamic_subscriber")?;
 
-    let mut num_messages: usize = 0;
-
-    let _subscription = node.create_dynamic_subscription(
+    let worker = node.create_worker::<usize>(0);
+    let _subscription = worker.create_dynamic_subscription(
+        "rclrs_example_msgs/msg/VariousTypes".try_into()?,
         "topic",
-        "rclrs_example_msgs/msg/VariousTypes",
-        rclrs::QOS_PROFILE_DEFAULT,
-        move |msg| {
-            num_messages += 1;
-            println!("I heard: '{:#?}'", msg.structure());
+        move |num_messages: &mut usize, msg, _msg_info| {
+            *num_messages += 1;
+            println!("#{} | I heard: '{:#?}'", *num_messages, msg.structure());
         },
     )?;
 
-    rclrs::spin(&node).map_err(|err| err.into())
+    println!("Waiting for messages...");
+    executor.spin(SpinOptions::default()).first_error()?;
+    Ok(())
 }

examples/rclrs_example_msgs/msg/VariousTypes.msg

@@ -3,7 +3,6 @@ bool bool_member true
 int8 int8_member 1
 uint8 uint8_member 2
 byte byte_member 3
-char char_member 3
 float32 float32_member 1e-2
 
 # Array/sequence of primitive type

rclrs/src/dynamic_message/dynamic_publisher.rs

@@ -17,16 +17,9 @@ use crate::{NodeHandle, PublisherHandle, PublisherOptions, ENTITY_LIFECYCLE_MUTE
 /// [1]: crate::NodeState::create_dynamic_publisher
 pub type DynamicPublisher = Arc<DynamicPublisherState>;
 
-/// Struct for sending messages of type `T`.
+/// The inner state of a dynamic publisher.
 ///
-/// Multiple publishers can be created for the same topic, in different nodes or the same node.
-///
-/// The underlying RMW will decide on the concrete delivery mechanism (network stack, shared
-/// memory, or intraprocess).
-///
-/// Sending messages does not require calling [`spin`][1] on the publisher's node.
-///
-/// [1]: crate::spin
+/// Refer to [`crate::PublisherState`] for details of the behavior.
 pub struct DynamicPublisherState {
     handle: PublisherHandle,
     metadata: DynamicMessageMetadata,

rclrs/src/node.rs

@@ -408,10 +408,12 @@ impl NodeState {
 
     /// Creates a [`DynamicPublisher`], a publisher whose type is only known at runtime.
     ///
-    /// Refer to [`Node::create_publisher`] for the API, the only key difference is that the
+    /// Refer to [`Node::create_publisher`][1] for the API, the only key difference is that the
     /// publisher's message type is passed as a [`crate::MessageTypeName`] parameter.
     ///
     /// Pass in only the topic name for the `options` argument to use all default publisher options:
+    ///
+    /// [1]: crate::NodeState::create_publisher
     /// ```
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
@@ -824,7 +826,7 @@ impl NodeState {
 
     /// Creates a [`DynamicSubscription`] with an ordinary callback.
     ///
-    /// For the behavior and API refer to [`Node::create_subscription`], except two key
+    /// For the behavior and API refer to [`Node::create_subscription`][1], except two key
     /// differences:
     ///
     ///   - The message type is determined at runtime through the `topic_type` function parameter.
@@ -834,6 +836,8 @@ impl NodeState {
     /// # Message type passing
     ///
     /// The message type can be passed as a [`crate::MessageTypeName`] struct. The struct also implements `TryFrom<&str>`
+    ///
+    /// [1]: crate::NodeState::create_publisher
     /// ```
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
@@ -879,7 +883,7 @@ impl NodeState {
 
     /// Creates a [`DynamicSubscription`] with an async callback.
     ///
-    /// For the behavior and API refer to [`Node::create_async_subscription`], except two key
+    /// For the behavior and API refer to [`Node::create_async_subscription`][1], except two key
     /// differences:
     ///
     ///   - The message type is determined at runtime through the `topic_type` function parameter.
@@ -889,6 +893,8 @@ impl NodeState {
     /// # Message type passing
     ///
     /// The message type can be passed as a [`crate::MessageTypeName`] struct. The struct also implements `TryFrom<&str>`
+    ///
+    /// [1]: crate::NodeState::create_async_subscription
     /// ```
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();

rclrs/src/subscription.rs

@@ -244,32 +244,6 @@ impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for SubscriptionOptions<'a> {
     }
 }
 
-/// `SubscriptionOptions` are used by [`Node::create_subscription`][1] to initialize
-/// a [`Subscription`].
-///
-/// [1]: crate::NodeState::create_subscription
-#[derive(Debug, Clone)]
-#[non_exhaustive]
-pub struct DynamicSubscriptionOptions<'a> {
-    /// The topic name for the subscription.
-    pub topic: &'a str,
-    /// The topic type for the subscription.
-    pub topic_type: &'a str,
-    /// The quality of service settings for the subscription.
-    pub qos: QoSProfile,
-}
-
-impl<'a> DynamicSubscriptionOptions<'a> {
-    /// Initialize a new [`SubscriptionOptions`] with default settings.
-    pub fn new(topic: &'a str, topic_type: &'a str) -> Self {
-        Self {
-            topic,
-            topic_type,
-            qos: QoSProfile::topics_default(),
-        }
-    }
-}
-
 struct SubscriptionExecutable<T: Message, Payload> {
     handle: Arc<SubscriptionHandle>,
     callback: Arc<Mutex<AnySubscriptionCallback<T, Payload>>>,