Fix create_worker bug

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

Author: mxgrey

rclrs/package.xml

@@ -19,8 +19,9 @@
   <depend>builtin_interfaces</depend>
   <depend>rcl_interfaces</depend>
   <depend>rosgraph_msgs</depend>
-  
+
   <test_depend>test_msgs</test_depend>
+  <test_depend>example_interfaces</test_depend>
 
   <export>
     <build_type>ament_cargo</build_type>

rclrs/src/node.rs

@@ -34,7 +34,7 @@ use crate::{
     Publisher, PublisherOptions, PublisherState, RclrsError, Service, IntoAsyncServiceCallback,
     IntoNodeServiceCallback, ServiceOptions, ServiceState, Subscription, IntoAsyncSubscriptionCallback,
     IntoNodeSubscriptionCallback, SubscriptionOptions, SubscriptionState, TimeSource, ToLogParams,
-    ENTITY_LIFECYCLE_MUTEX, IntoWorkerOptions, Worker, WorkerState,
+    ENTITY_LIFECYCLE_MUTEX, Worker, WorkerOptions, WorkerState,
 };
 
 /// A processing unit that can communicate with other nodes. See the API of
@@ -293,12 +293,12 @@ impl NodeState {
     /// created later inside a subscription or service callback using the [`Node`].
     pub fn create_worker<'a, Payload>(
         self: &Arc<Self>,
-        options: impl IntoWorkerOptions<Payload>,
+        options: impl Into<WorkerOptions<Payload>>,
     ) -> Worker<Payload>
     where
         Payload: 'static + Send + Sync,
     {
-        let options = options.into_worker_options();
+        let options = options.into();
         let commands = self.commands.create_worker_commands(Box::new(options.payload));
         WorkerState::create(Arc::clone(self), commands)
     }

rclrs/src/service.rs

@@ -176,7 +176,6 @@ impl<T: IdlService> ServiceState<T, Node> {
     /// If the `Scope` is [`Worker<Payload>`] then use [`Self::set_worker_callback`] instead.
     pub fn set_callback<Args>(&self, callback: impl IntoNodeServiceCallback<T, Args>) {
         let callback = callback.into_node_service_callback();
-        // TODO(@mxgrey): Log any errors here when logging becomes available
         *self.callback.lock().unwrap() = callback;
     }
 

rclrs/src/wait_set.rs

@@ -1,26 +1,9 @@
-// Copyright 2020 DCS Corporation, All Rights Reserved.
-
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-
-//     http://www.apache.org/licenses/LICENSE-2.0
-
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// DISTRIBUTION A. Approved for public release; distribution unlimited.
-// OPSEC #4584.
-
 use std::{collections::HashMap, sync::Arc, time::Duration, vec::Vec};
 
 use crate::{
     error::{to_rclrs_result, RclReturnCode, RclrsError, ToResult},
     rcl_bindings::*,
-    Context, ContextHandle,
+    Context, ContextHandle, log_error,
 };
 
 mod guard_condition;
@@ -170,8 +153,10 @@ impl WaitSet {
         // the rcl entities.
         self.rcl_clear();
         if let Err(err) = self.register_rcl_primitives() {
-            // TODO(@mxgrey): Log this error when logging is available
-            eprintln!("Error while registering rcl primitives: {err}");
+            log_error!(
+                "rclrs.WaitSet.wait",
+                "Error while registering rcl primitives: {err}",
+            );
         }
 
         Ok(())

rclrs/src/worker.rs

@@ -218,17 +218,9 @@ impl<Payload> WorkerOptions<Payload> {
     }
 }
 
-/// Implicitly convert something into [`WorkerOptions`].
-pub trait IntoWorkerOptions<Payload> {
-    /// Convert an object into [`WorkerOptions`]. Users do not need to call this.
-    fn into_worker_options(self) -> WorkerOptions<Payload>;
-    // TODO(@mxgrey): Check what happens when a user passes in an actual
-    // WorkerOptions... it might create a WorkerOptions<WorkerOptions<T>>.
-}
-
-impl<Payload> IntoWorkerOptions<Payload> for Payload {
-    fn into_worker_options(self) -> WorkerOptions<Payload> {
-        WorkerOptions::new(self)
+impl<T> From<T> for WorkerOptions<T> {
+    fn from(value: T) -> Self {
+        WorkerOptions::new(value)
     }
 }