Update doctests

Signed-off-by: Michael X. Grey <[email protected]>

Author: mxgrey

rclrs/src/context.rs

@@ -104,7 +104,7 @@ impl Context {
     ///
     /// # Example
     /// ```
-    /// use rclrs::{Context, InitOptions};
+    /// # use rclrs::{Context, InitOptions};
     /// let context = Context::new_with_options([], InitOptions::new().with_domain_id(Some(5))).unwrap();
     /// assert_eq!(context.domain_id(), 5);
     /// ````

rclrs/src/node.rs

@@ -1,5 +1,5 @@
-mod options;
-pub use options::*;
+mod node_options;
+pub use node_options::*;
 
 mod graph;
 pub use graph::*;
@@ -128,13 +128,13 @@ impl Node {
     /// ```
     /// # use rclrs::{Context, RclrsError};
     /// // Without remapping
-    /// let context = Context::new([])?;
-    /// let node = rclrs::create_node(&context, "my_node")?;
+    /// let executor = Context::default().create_basic_executor();
+    /// let node = executor.create_node("my_node")?;
     /// assert_eq!(node.name(), "my_node");
     /// // With remapping
     /// let remapping = ["--ros-args", "-r", "__node:=your_node"].map(String::from);
-    /// let context_r = Context::new(remapping)?;
-    /// let node_r = rclrs::create_node(&context_r, "my_node")?;
+    /// let executor_r = Context::new(remapping)?.create_basic_executor();
+    /// let node_r = executor_r.create_node("my_node")?;
     /// assert_eq!(node_r.name(), "your_node");
     /// # Ok::<(), RclrsError>(())
     /// ```
@@ -149,18 +149,18 @@ impl Node {
     ///
     /// # Example
     /// ```
-    /// # use rclrs::{Context, RclrsError};
+    /// # use rclrs::{Context, RclrsError, NodeOptions};
     /// // Without remapping
-    /// let context = Context::new([])?;
-    /// let node =
-    ///   rclrs::create_node_builder(&context, "my_node")
-    ///   .namespace("/my/namespace")
-    ///   .build()?;
+    /// let executor = Context::default().create_basic_executor();
+    /// let node = executor.create_node(
+    ///     NodeOptions::new("my_node")
+    ///     .namespace("/my/namespace")
+    /// )?;
     /// assert_eq!(node.namespace(), "/my/namespace");
     /// // With remapping
     /// let remapping = ["--ros-args", "-r", "__ns:=/your_namespace"].map(String::from);
-    /// let context_r = Context::new(remapping)?;
-    /// let node_r = rclrs::create_node(&context_r, "my_node")?;
+    /// let executor_r = Context::new(remapping)?.create_basic_executor();
+    /// let node_r = executor_r.create_node("my_node")?;
     /// assert_eq!(node_r.namespace(), "/your_namespace");
     /// # Ok::<(), RclrsError>(())
     /// ```
@@ -175,12 +175,12 @@ impl Node {
     ///
     /// # Example
     /// ```
-    /// # use rclrs::{Context, RclrsError};
-    /// let context = Context::new([])?;
-    /// let node =
-    ///   rclrs::create_node_builder(&context, "my_node")
-    ///   .namespace("/my/namespace")
-    ///   .build()?;
+    /// # use rclrs::{Context, RclrsError, NodeOptions};
+    /// let executor = Context::default().create_basic_executor();
+    /// let node = executor.create_node(
+    ///     NodeOptions::new("my_node")
+    ///     .namespace("/my/namespace")
+    /// )?;
     /// assert_eq!(node.fully_qualified_name(), "/my/namespace/my_node");
     /// # Ok::<(), RclrsError>(())
     /// ```
@@ -353,8 +353,8 @@ impl Node {
     /// # use rclrs::{Context, RclrsError};
     /// // Set default ROS domain ID to 10 here
     /// std::env::set_var("ROS_DOMAIN_ID", "10");
-    /// let context = Context::new([])?;
-    /// let node = rclrs::create_node(&context, "domain_id_node")?;
+    /// let executor = Context::default().create_basic_executor();
+    /// let node = executor.create_node("domain_id_node")?;
     /// let domain_id = node.domain_id();
     /// assert_eq!(domain_id, 10);
     /// # Ok::<(), RclrsError>(())
@@ -382,8 +382,8 @@ impl Node {
     /// # Example
     /// ```
     /// # use rclrs::{Context, ParameterRange, RclrsError};
-    /// let context = Context::new([])?;
-    /// let node = rclrs::create_node(&context, "domain_id_node")?;
+    /// let executor = Context::default().create_basic_executor();
+    /// let node = executor.create_node("domain_id_node")?;
     /// // Set it to a range of 0-100, with a step of 2
     /// let range = ParameterRange {
     ///     lower: Some(0),

rclrs/src/node/options.rs renamed to rclrs/src/node/node_options.rs

@@ -28,19 +28,19 @@ use crate::{
 ///
 /// # Example
 /// ```
-/// # use rclrs::{Context, NodeBuilder, Node, RclrsError};
-/// let context = Context::new([])?;
+/// # use rclrs::{Context, NodeOptions, Node, RclrsError};
+/// let executor = Context::default().create_basic_executor();
 /// // Building a node in a single expression
-/// let node = NodeBuilder::new(&context, "foo_node").namespace("/bar").build()?;
+/// let node = executor.create_node(NodeOptions::new("foo_node").namespace("/bar"))?;
 /// assert_eq!(node.name(), "foo_node");
 /// assert_eq!(node.namespace(), "/bar");
-/// // Building a node via Node::builder()
-/// let node = Node::builder(&context, "bar_node").build()?;
+/// // Building a node via NodeOptions
+/// let node = executor.create_node(NodeOptions::new("bar_node"))?;
 /// assert_eq!(node.name(), "bar_node");
 /// // Building a node step-by-step
-/// let mut builder = Node::builder(&context, "goose");
-/// builder = builder.namespace("/duck/duck");
-/// let node = builder.build()?;
+/// let mut options = NodeOptions::new("goose");
+/// options = options.namespace("/duck/duck");
+/// let node = executor.create_node(options)?;
 /// assert_eq!(node.fully_qualified_name(), "/duck/duck/goose");
 /// # Ok::<(), RclrsError>(())
 /// ```
@@ -75,17 +75,15 @@ impl NodeOptions {
     ///
     /// # Example
     /// ```
-    /// # use rclrs::{Context, NodeOptions};
-    /// let context = Context::new();
+    /// # use rclrs::{Context, NodeOptions, RclrsError, RclReturnCode};
+    /// let executor = Context::default().create_basic_executor();
     /// // This is a valid node name
-    /// assert!(NodeOptions::new("my_node").is_valid());
+    /// assert!(executor.create_node(NodeOptions::new("my_node")).is_ok());
     /// // This is another valid node name (although not a good one)
-    /// assert!(NodeBuilder::new(&context, "_______").build().is_ok());
+    /// assert!(executor.create_node(NodeOptions::new("_______")).is_ok());
     /// // This is an invalid node name
     /// assert!(matches!(
-    ///     NodeBuilder::new(&context, "röböt")
-    ///         .build()
-    ///         .unwrap_err(),
+    ///     executor.create_node(NodeOptions::new("röböt")).unwrap_err(),
     ///     RclrsError::RclError { code: RclReturnCode::NodeInvalidName, .. }
     /// ));
     /// # Ok::<(), RclrsError>(())
@@ -128,25 +126,25 @@ impl NodeOptions {
     ///
     /// # Example
     /// ```
-    /// # use rclrs::{Context, Node, RclrsError, RclReturnCode};
-    /// let context = Context::new([])?;
+    /// # use rclrs::{Context, Node, NodeOptions, RclrsError, RclReturnCode};
+    /// let executor = Context::default().create_basic_executor();
     /// // This is a valid namespace
-    /// let builder_ok_ns = Node::builder(&context, "my_node").namespace("/some/nested/namespace");
-    /// assert!(builder_ok_ns.build().is_ok());
+    /// let options_ok_ns = NodeOptions::new("my_node").namespace("/some/nested/namespace");
+    /// assert!(executor.create_node(options_ok_ns).is_ok());
     /// // This is an invalid namespace
     /// assert!(matches!(
-    ///     Node::builder(&context, "my_node")
+    ///     executor.create_node(
+    ///         NodeOptions::new("my_node")
     ///         .namespace("/10_percent_luck/20_percent_skill")
-    ///         .build()
-    ///         .unwrap_err(),
+    ///     ).unwrap_err(),
     ///     RclrsError::RclError { code: RclReturnCode::NodeInvalidNamespace, .. }
     /// ));
     /// // A missing forward slash at the beginning is automatically added
     /// assert_eq!(
-    ///     Node::builder(&context, "my_node")
+    ///     executor.create_node(
+    ///         NodeOptions::new("my_node")
     ///         .namespace("foo")
-    ///         .build()?
-    ///         .namespace(),
+    ///     )?.namespace(),
     ///     "/foo"
     /// );
     /// # Ok::<(), RclrsError>(())
@@ -167,21 +165,21 @@ impl NodeOptions {
     ///
     /// # Example
     /// ```
-    /// # use rclrs::{Context, Node, NodeBuilder, RclrsError};
+    /// # use rclrs::{Context, Node, NodeOptions, RclrsError};
     /// let context_args = ["--ros-args", "--remap", "__node:=your_node"]
     ///   .map(String::from);
-    /// let context = Context::new(context_args)?;
+    /// let executor = Context::new(context_args)?.create_basic_executor();
     /// // Ignore the global arguments:
-    /// let node_without_global_args =
-    ///   rclrs::create_node_builder(&context, "my_node")
-    ///   .use_global_arguments(false)
-    ///   .build()?;
+    /// let node_without_global_args = executor.create_node(
+    ///     NodeOptions::new("my_node")
+    ///     .use_global_arguments(false)
+    /// )?;
     /// assert_eq!(node_without_global_args.name(), "my_node");
     /// // Do not ignore the global arguments:
-    /// let node_with_global_args =
-    ///   rclrs::create_node_builder(&context, "my_other_node")
-    ///   .use_global_arguments(true)
-    ///   .build()?;
+    /// let node_with_global_args = executor.create_node(
+    ///     NodeOptions::new("my_other_node")
+    ///     .use_global_arguments(true)
+    /// )?;
     /// assert_eq!(node_with_global_args.name(), "your_node");
     /// # Ok::<(), RclrsError>(())
     /// ```
@@ -202,18 +200,18 @@ impl NodeOptions {
     ///
     /// # Example
     /// ```
-    /// # use rclrs::{Context, Node, NodeBuilder, RclrsError};
+    /// # use rclrs::{Context, Node, NodeOptions, RclrsError};
     /// // Usually, this would change the name of "my_node" to "context_args_node":
     /// let context_args = ["--ros-args", "--remap", "my_node:__node:=context_args_node"]
     ///   .map(String::from);
-    /// let context = Context::new(context_args)?;
+    /// let executor = Context::new(context_args)?.create_basic_executor();
     /// // But the node arguments will change it to "node_args_node":
     /// let node_args = ["--ros-args", "--remap", "my_node:__node:=node_args_node"]
     ///   .map(String::from);
-    /// let node =
-    ///   rclrs::create_node_builder(&context, "my_node")
-    ///   .arguments(node_args)
-    ///   .build()?;
+    /// let node = executor.create_node(
+    ///     NodeOptions::new("my_node")
+    ///     .arguments(node_args)
+    /// )?;
     /// assert_eq!(node.name(), "node_args_node");
     /// # Ok::<(), RclrsError>(())
     /// ```