WIP work through compile errors

Signed-off-by: Luca Della Vedova <[email protected]>

Author: luca-della-vedova

rclrs/src/dynamic_message/dynamic_subscription.rs

@@ -9,6 +9,7 @@ use super::{
 };
 use crate::rcl_bindings::*;
 use crate::{
+    ENTITY_LIFECYCLE_MUTEX, Waitable,
     Node, QoSProfile, RclReturnCode, RclrsError, ToResult, NodeHandle, WorkerCommands, WaitableLifecycle, SubscriptionHandle,
 };
 
@@ -36,7 +37,7 @@ impl DynamicSubscription {
     /// Creates a new dynamic subscription.
     ///
     /// This is not a public function, by the same rationale as `Subscription::new()`.
-    pub(crate) fn create_dynamic<F>(
+    pub(crate) fn new<F>(
         topic: &str,
         topic_type: &str,
         qos: QoSProfile,
@@ -70,7 +71,6 @@ impl DynamicSubscription {
             err,
             s: topic.into(),
         })?;
-        let rcl_node = &mut *node.rcl_node_mtx.lock().unwrap();
 
         // SAFETY: No preconditions for this function.
         let mut rcl_subscription_options = unsafe { rcl_subscription_get_default_options() };

rclrs/src/dynamic_message/message_structure.rs

@@ -5,6 +5,7 @@ use super::TypeErasedSequence;
 use crate::rcl_bindings::rosidl_typesupport_introspection_c__MessageMember as rosidl_message_member_t;
 use crate::rcl_bindings::rosidl_typesupport_introspection_c__MessageMembers as rosidl_message_members_t;
 use crate::rcl_bindings::*;
+use crate::rcl_bindings::rosidl_typesupport_introspection_c_field_types::*;
 
 /// Possible base types for fields in a message.
 // The field variants are self-explaining, no need to add redundant documentation.

rclrs/src/node.rs

@@ -810,11 +810,10 @@ impl NodeState {
     where
         F: FnMut(DynamicMessage) + 'static + Send,
     {
-        let subscription = Arc::new(DynamicSubscription::new(
-            self, topic, topic_type, qos, callback,
-        )?);
-        self.subscriptions
-            .push(Arc::downgrade(&subscription) as Weak<dyn SubscriptionBase>);
+        let subscription = DynamicSubscription::new(
+            topic, topic_type, qos, callback, &self.handle, self.commands.async_worker_commands(),
+        )?;
+        // TODO(luca)  similar API to above?
         Ok(subscription)
     }
 

rclrs/src/subscription.rs

@@ -329,7 +329,7 @@ pub(crate) struct SubscriptionHandle {
 }
 
 impl SubscriptionHandle {
-    fn lock(&self) -> MutexGuard<rcl_subscription_t> {
+    pub(crate) fn lock(&self) -> MutexGuard<rcl_subscription_t> {
         self.rcl_subscription.lock().unwrap()
     }