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Add topic name and QoS profile to Publisher_ struct

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PH 2025-05-09 00:16:53 +08:00
parent 455ea630ec
commit 4bcbb93e4d
1 changed files with 4 additions and 0 deletions
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4
r2r/src/publishers.rs
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@ -38,6 +38,8 @@ unsafe impl<T> Send for Publisher<T> where T: WrappedTypesupport {}
pub(crate) struct Publisher_ { pub(crate) struct Publisher_ {
handle: rcl_publisher_t, handle: rcl_publisher_t,
topic_name: String,
qos_profile: QosProfile,
// TODO use a mpsc to avoid the mutex? // TODO use a mpsc to avoid the mutex?
poll_inter_process_subscriber_channels: Mutex<Vec<oneshot::Sender<()>>>, poll_inter_process_subscriber_channels: Mutex<Vec<oneshot::Sender<()>>>,
@ -155,6 +157,8 @@ pub fn create_publisher_helper(
if result == RCL_RET_OK as i32 { if result == RCL_RET_OK as i32 {
Ok(Publisher_ { Ok(Publisher_ {
handle: publisher_handle, handle: publisher_handle,
topic_name: topic.to_string(),
qos_profile,
poll_inter_process_subscriber_channels: Mutex::new(Vec::new()), poll_inter_process_subscriber_channels: Mutex::new(Vec::new()),
}) })
} else { } else {