Update examples

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

Author: mxgrey

examples/minimal_client_service/src/minimal_client.rs

@@ -1,34 +1,32 @@
 use anyhow::{Error, Result};
+use rclrs::{Context, SpinOptions, Promise};
 
 fn main() -> Result<(), Error> {
-    let mut executor = rclrs::Context::default_from_env()?.create_basic_executor();
+    let mut executor = Context::default_from_env()?.create_basic_executor();
 
     let node = executor.create_node("minimal_client")?;
 
     let client = node.create_client::<example_interfaces::srv::AddTwoInts>("add_two_ints")?;
 
-    let request = example_interfaces::srv::AddTwoInts_Request { a: 41, b: 1 };
-
     println!("Starting client");
 
     while !client.service_is_ready()? {
         std::thread::sleep(std::time::Duration::from_millis(10));
     }
 
-    client.async_send_request_with_callback(
-        &request,
-        move |response: example_interfaces::srv::AddTwoInts_Response| {
-            println!(
-                "Result of {} + {} is: {}",
-                request.a, request.b, response.sum
-            );
-        },
-    )?;
+    let request = example_interfaces::srv::AddTwoInts_Request { a: 41, b: 1 };
+
+    let response: Promise<example_interfaces::srv::AddTwoInts_Response> = client.call(&request).unwrap();
 
-    std::thread::sleep(std::time::Duration::from_millis(500));
+    let promise = executor.commands().run(async move {
+        let response = response.await.unwrap();
+        println!(
+            "Result of {} + {} is: {}",
+            request.a, request.b, response.sum,
+        );
+    });
 
     println!("Waiting for response");
-    executor
-        .spin(rclrs::SpinOptions::default())
-        .map_err(|err| err.into())
+    executor.spin(SpinOptions::new().until_promise_resolved(promise))?;
+    Ok(())
 }

examples/minimal_client_service/src/minimal_client_async.rs

@@ -1,8 +1,8 @@
 use anyhow::{Error, Result};
+use rclrs::{Context, SpinOptions};
 
-#[tokio::main]
-async fn main() -> Result<(), Error> {
-    let mut executor = rclrs::Context::default_from_env()?.create_basic_executor();
+fn main() -> Result<(), Error> {
+    let mut executor = Context::default_from_env()?.create_basic_executor();
 
     let node = executor.create_node("minimal_client")?;
 
@@ -16,19 +16,17 @@ async fn main() -> Result<(), Error> {
 
     let request = example_interfaces::srv::AddTwoInts_Request { a: 41, b: 1 };
 
-    let future = client.call_async(&request);
+    let promise = client.call_then(
+        &request,
+        move |response: example_interfaces::srv::AddTwoInts_Response| {
+            println!(
+                "Result of {} + {} is: {}",
+                request.a, request.b, response.sum,
+            );
+        }
+    ).unwrap();
 
     println!("Waiting for response");
-
-    let rclrs_spin =
-        tokio::task::spawn_blocking(move || executor.spin(rclrs::SpinOptions::default()));
-
-    let response = future.await?;
-    println!(
-        "Result of {} + {} is: {}",
-        request.a, request.b, response.sum
-    );
-
-    rclrs_spin.await.ok();
+    executor.spin(SpinOptions::new().until_promise_resolved(promise))?;
     Ok(())
 }

examples/minimal_client_service/src/minimal_service.rs

@@ -1,25 +1,30 @@
 use anyhow::{Error, Result};
+use rclrs::{Context, ServiceInfo, SpinOptions};
 
 fn handle_service(
-    _request_header: &rclrs::rmw_request_id_t,
     request: example_interfaces::srv::AddTwoInts_Request,
+    info: ServiceInfo,
 ) -> example_interfaces::srv::AddTwoInts_Response {
-    println!("request: {} + {}", request.a, request.b);
+    let timestamp = info
+        .received_timestamp
+        .map(|t| format!(" at [{t:?}]"))
+        .unwrap_or(String::new());
+
+    println!("request{timestamp}: {} + {}", request.a, request.b);
     example_interfaces::srv::AddTwoInts_Response {
         sum: request.a + request.b,
     }
 }
 
 fn main() -> Result<(), Error> {
-    let mut executor = rclrs::Context::default_from_env()?.create_basic_executor();
+    let mut executor = Context::default_from_env()?.create_basic_executor();
 
     let node = executor.create_node("minimal_service")?;
 
     let _server = node
         .create_service::<example_interfaces::srv::AddTwoInts, _>("add_two_ints", handle_service)?;
 
     println!("Starting server");
-    executor
-        .spin(rclrs::SpinOptions::default())
-        .map_err(|err| err.into())
+    executor.spin(SpinOptions::default())?;
+    Ok(())
 }

examples/minimal_pub_sub/src/minimal_subscriber.rs

@@ -1,23 +1,25 @@
 use anyhow::{Error, Result};
+use std::sync::Mutex;
+use rclrs::{Context, SpinOptions};
 
 fn main() -> Result<(), Error> {
-    let context = rclrs::Context::default_from_env()?;
+    let context = Context::default_from_env()?;
     let mut executor = context.create_basic_executor();
 
     let node = executor.create_node("minimal_subscriber")?;
 
-    let mut num_messages: usize = 0;
-
+    let num_messages = Mutex::new(0usize);
     let _subscription = node.create_subscription::<std_msgs::msg::String, _>(
         "topic",
         move |msg: std_msgs::msg::String| {
-            num_messages += 1;
+            let mut num = num_messages.lock().unwrap();
+            *num += 1;
             println!("I heard: '{}'", msg.data);
-            println!("(Got {} messages so far)", num_messages);
+            println!("(Got {} messages so far)", num);
         },
     )?;
 
-    executor
-        .spin(rclrs::SpinOptions::default())
-        .map_err(|err| err.into())
+    println!("Waiting for messages...");
+    executor.spin(SpinOptions::default())?;
+    Ok(())
 }

examples/minimal_pub_sub/src/zero_copy_subscriber.rs

@@ -1,22 +1,24 @@
 use anyhow::{Error, Result};
+use std::sync::Mutex;
+use rclrs::ReadOnlyLoanedMessage;
 
 fn main() -> Result<(), Error> {
     let mut executor = rclrs::Context::default_from_env()?.create_basic_executor();
 
     let node = executor.create_node("minimal_subscriber")?;
 
-    let mut num_messages: usize = 0;
+    let num_messages = Mutex::new(0usize);
 
     let _subscription = node.create_subscription::<std_msgs::msg::UInt32, _>(
         "topic",
-        move |msg: rclrs::ReadOnlyLoanedMessage<'_, std_msgs::msg::UInt32>| {
-            num_messages += 1;
+        move |msg: ReadOnlyLoanedMessage<std_msgs::msg::UInt32>| {
+            let mut num = num_messages.lock().unwrap();
+            *num += 1;
             println!("I heard: '{}'", msg.data);
-            println!("(Got {} messages so far)", num_messages);
+            println!("(Got {} messages so far)", *num);
         },
     )?;
 
-    executor
-        .spin(rclrs::SpinOptions::default())
-        .map_err(|err| err.into())
+    executor.spin(rclrs::SpinOptions::default())?;
+    Ok(())
 }

examples/rust_pubsub/src/simple_publisher.rs

@@ -1,5 +1,5 @@
-use rclrs::{Context, Executor, Publisher, RclrsError, SpinOptions, QOS_PROFILE_DEFAULT};
-use std::{sync::Arc, thread, time::Duration};
+use rclrs::{Context, Executor, Publisher, RclrsError, SpinOptions};
+use std::{thread, time::Duration};
 use std_msgs::msg::String as StringMsg;
 
 struct SimplePublisherNode {
@@ -26,7 +26,7 @@ impl SimplePublisherNode {
 
 fn main() -> Result<(), RclrsError> {
     let mut executor = Context::default_from_env().unwrap().create_basic_executor();
-    let node = Arc::new(SimplePublisher::new(&executor).unwrap());
+    let node = SimplePublisherNode::new(&executor).unwrap();
     let mut count: i32 = 0;
     thread::spawn(move || loop {
         thread::sleep(Duration::from_millis(1000));

examples/rust_pubsub/src/simple_subscriber.rs

@@ -1,4 +1,4 @@
-use rclrs::{Context, Executor, RclrsError, SpinOptions, Subscription, QOS_PROFILE_DEFAULT};
+use rclrs::{Context, Executor, RclrsError, SpinOptions, Subscription};
 use std::{
     sync::{Arc, Mutex},
     thread,
@@ -7,7 +7,8 @@ use std::{
 use std_msgs::msg::String as StringMsg;
 
 pub struct SimpleSubscriptionNode {
-    _subscriber: Arc<Subscription<StringMsg>>,
+    #[allow(unused)]
+    subscriber: Subscription<StringMsg>,
     data: Arc<Mutex<Option<StringMsg>>>,
 }
 
@@ -16,15 +17,15 @@ impl SimpleSubscriptionNode {
         let node = executor.create_node("simple_subscription").unwrap();
         let data: Arc<Mutex<Option<StringMsg>>> = Arc::new(Mutex::new(None));
         let data_mut: Arc<Mutex<Option<StringMsg>>> = Arc::clone(&data);
-        let _subscriber = node
+        let subscriber = node
             .create_subscription::<StringMsg, _>(
                 "publish_hello",
                 move |msg: StringMsg| {
                     *data_mut.lock().unwrap() = Some(msg);
                 },
             )
             .unwrap();
-        Ok(Self { _subscriber, data })
+        Ok(Self { subscriber, data })
     }
     fn data_callback(&self) -> Result<(), RclrsError> {
         if let Some(data) = self.data.lock().unwrap().as_ref() {
@@ -37,7 +38,7 @@ impl SimpleSubscriptionNode {
 }
 fn main() -> Result<(), RclrsError> {
     let mut executor = Context::default_from_env().unwrap().create_basic_executor();
-    let node = Arc::new(SimpleSubscriptionNode::new(&executor).unwrap());
+    let node = SimpleSubscriptionNode::new(&executor).unwrap();
     thread::spawn(move || loop {
         thread::sleep(Duration::from_millis(1000));
         node.data_callback().unwrap()