Enable users to directly instantiate the _Options of all the primitives

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

Author: mxgrey

rclrs/src/client.rs

@@ -293,12 +293,19 @@ pub struct ClientOptions<'a> {
     pub qos: QoSProfile,
 }
 
+impl<'a> ClientOptions<'a> {
+    /// Initialize a new [`ClientOptions`] with default settings.
+    pub fn new(service_name: &'a str) -> Self {
+        Self { service_name, qos: QoSProfile::services_default() }
+    }
+}
+
 impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ClientOptions<'a> {
     fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        let mut qos = QoSProfile::services_default();
-        options.apply(&mut qos);
-        Self { service_name: options.name, qos }
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
     }
 }
 

rclrs/src/publisher.rs

@@ -244,12 +244,19 @@ pub struct PublisherOptions<'a> {
     pub qos: QoSProfile,
 }
 
+impl<'a> PublisherOptions<'a> {
+    /// Initialize a new [`PublisherOptions`] with default settings.
+    pub fn new(topic: &'a str) -> Self {
+        Self { topic, qos: QoSProfile::topics_default() }
+    }
+}
+
 impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for PublisherOptions<'a> {
     fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        let mut qos = QoSProfile::topics_default();
-        options.apply(&mut qos);
-        Self { topic: options.name, qos }
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
     }
 }
 

rclrs/src/service.rs

@@ -192,16 +192,23 @@ where
 pub struct ServiceOptions<'a> {
     /// The name for the service
     pub name: &'a str,
-    /// The quality of service for the service.
+    /// The quality of service profile for the service.
     pub qos: QoSProfile,
 }
 
+impl<'a> ServiceOptions<'a> {
+    /// Initialize a new [`ServiceOptions`] with default settings.
+    pub fn new(name: &'a str) -> Self {
+        Self { name, qos: QoSProfile::services_default() }
+    }
+}
+
 impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ServiceOptions<'a> {
     fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        let mut qos = QoSProfile::services_default();
-        options.apply(&mut qos);
-        Self { name: options.name, qos }
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
     }
 }
 

rclrs/src/subscription.rs

@@ -276,14 +276,19 @@ pub struct SubscriptionOptions<'a> {
     pub qos: QoSProfile,
 }
 
+impl<'a> SubscriptionOptions<'a> {
+    /// Initialize a new [`SubscriptionOptions`] with default settings.
+    pub fn new(topic: &'a str) -> Self {
+        Self { topic, qos: QoSProfile::topics_default() }
+    }
+}
+
 impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for SubscriptionOptions<'a> {
     fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        // Topics will use the QOS_PROFILE_DEFAULT by default, which is designed
-        // to roughly match the ROS 1 default topic behavior.
-        let mut qos = QoSProfile::topics_default();
-        options.apply(&mut qos);
-        Self { topic: options.name, qos }
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
     }
 }