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Refactor publisher code

This commit is contained in:
Martin Dahl 2019-08-30 10:56:06 +02:00
parent b79146c0aa
commit 7a423a8504
1 changed files with 24 additions and 35 deletions
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59
src/lib.rs
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@ -465,10 +465,8 @@ impl Node {
}
pub fn create_publisher<T>(&mut self, topic: &str) -> Result<Publisher<T>>
where
T: WrappedTypesupport,
{
pub fn create_publisher_helper(&mut self, topic: &str,
typesupport: *const rosidl_message_type_support_t) -> Result<rcl_publisher_t> {
let mut publisher_handle = unsafe { rcl_get_zero_initialized_publisher() };
let topic_c_string = CString::new(topic).map_err(|_|Error::RCL_RET_INVALID_ARGUMENT)?;
@ -478,51 +476,42 @@ impl Node {
rcl_publisher_init(
&mut publisher_handle,
self.node_handle.as_mut(),
T::get_ts(),
typesupport,
topic_c_string.as_ptr(),
&publisher_options,
)
};
if result == RCL_RET_OK as i32 {
self.pubs.push(Arc::new(publisher_handle));
let p = Publisher {
handle: Arc::downgrade(self.pubs.last().unwrap()),
type_: PhantomData,
};
Ok(p)
Ok(publisher_handle)
} else {
eprintln!("could not create publisher {}", result);
Err(Error::from_rcl_error(result))
}
}
pub fn create_publisher<T>(&mut self, topic: &str) -> Result<Publisher<T>>
where
T: WrappedTypesupport,
{
let publisher_handle = self.create_publisher_helper(topic, T::get_ts())?;
self.pubs.push(Arc::new(publisher_handle));
let p = Publisher {
handle: Arc::downgrade(self.pubs.last().unwrap()),
type_: PhantomData,
};
Ok(p)
}
pub fn create_publisher_untyped(&mut self, topic: &str, topic_type: &str) -> Result<PublisherUntyped> {
let dummy = WrappedNativeMsgUntyped::new_from(topic_type)?; // TODO, get ts without allocating msg
let mut publisher_handle = unsafe { rcl_get_zero_initialized_publisher() };
let topic_c_string = CString::new(topic).map_err(|_|Error::RCL_RET_INVALID_ARGUMENT)?;
let publisher_handle = self.create_publisher_helper(topic, dummy.ts)?;
let result = unsafe {
let mut publisher_options = rcl_publisher_get_default_options();
publisher_options.qos = rmw_qos_profile_t::default();
rcl_publisher_init(
&mut publisher_handle,
self.node_handle.as_mut(),
dummy.ts,
topic_c_string.as_ptr(),
&publisher_options,
)
self.pubs.push(Arc::new(publisher_handle));
let p = PublisherUntyped {
handle: Arc::downgrade(self.pubs.last().unwrap()),
type_: topic_type.to_owned(),
};
if result == RCL_RET_OK as i32 {
self.pubs.push(Arc::new(publisher_handle));
let p = PublisherUntyped {
handle: Arc::downgrade(self.pubs.last().unwrap()),
type_: topic_type.to_owned(),
};
Ok(p)
} else {
eprintln!("could not create publisher {}", result);
Err(Error::from_rcl_error(result))
}
Ok(p)
}
pub fn spin_once(&mut self, timeout: Duration) {