fix: cleanups

Signed-off-by: Esteve Fernandez <[email protected]>

Author: esteve

rclrs/src/client.rs

@@ -159,17 +159,17 @@ where
     /// signatures and which returns a `()` (a.k.a. nothing).
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs::srv::{Empty, Empty_Request, Empty_Response};
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
     ///
-    /// async fn print_hello(_response: Empty_Response) {
+    /// async fn print_hello(_response: test_msgs::srv::Empty_Response) {
     ///     print!("Hello!");
     /// }
     ///
-    /// let client = node.create_client::<Empty>("my_service")?;
-    /// let request = Empty_Request::default();
+    /// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
+    /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(&request, print_hello)?;
     /// # Ok::<(), RclrsError>(())
     /// ```
@@ -187,21 +187,21 @@ where
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs::srv::{Empty, Empty_Request, Empty_Response};
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # use std::future::Future;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
     ///
-    /// fn print_greeting(_response: Empty_Response) -> impl Future<Output=()> {
+    /// fn print_greeting(_response: test_msgs::srv::Empty_Response) -> impl Future<Output=()> {
     ///     let greeting = "Hello!";
     ///     async move {
     ///         print!("Hello!");
     ///     }
     /// }
     ///
-    /// let client = node.create_client::<Empty>("my_service")?;
-    /// let request = Empty_Request::default();
+    /// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
+    /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(
     ///     &request,
     ///     print_greeting)?;
@@ -216,17 +216,17 @@ where
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs::srv::{Empty, Empty_Request, Empty_Response};
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let node = Context::default()
     /// #   .create_basic_executor()
     /// #   .create_node("test_node")?;
     ///
     /// let greeting = "Hello!";
-    /// let client = node.create_client::<Empty>("my_service")?;
-    /// let request = Empty_Request::default();
+    /// let client = node.create_client::<test_msgs::srv::Empty>("my_service")?;
+    /// let request = test_msgs::srv::Empty_Request::default();
     /// let promise = client.call_then_async(
     ///     &request,
-    ///     move |response: Empty_Response| {
+    ///     move |response: test_msgs::srv::Empty_Response| {
     ///         async move {
     ///             print!("{greeting}");
     ///         }
@@ -568,12 +568,12 @@ unsafe impl Send for rcl_client_t {}
 mod tests {
     use super::*;
     use crate::test_helpers::*;
-    use crate::vendor::test_msgs::srv;
+    use crate::vendor::test_msgs;
 
     #[test]
     fn traits() {
-        assert_send::<Client<srv::Arrays>>();
-        assert_sync::<Client<srv::Arrays>>();
+        assert_send::<Client<test_msgs::srv::Arrays>>();
+        assert_sync::<Client<test_msgs::srv::Arrays>>();
     }
 
     #[test]
@@ -582,7 +582,7 @@ mod tests {
         let graph = construct_test_graph(namespace)?;
         let _node_2_empty_client = graph
             .node2
-            .create_client::<srv::Empty>("graph_test_topic_4")?;
+            .create_client::<test_msgs::srv::Empty>("graph_test_topic_4")?;
 
         std::thread::sleep(std::time::Duration::from_millis(200));
 

rclrs/src/lib.rs

@@ -32,7 +32,7 @@
 //!
 //! ```no_run
 //! use rclrs::*;
-//! use crate::rclrs::vendor::example_interfaces;
+//! # use crate::rclrs::vendor::example_interfaces;
 //!
 //! let context = Context::default_from_env()?;
 //! let mut executor = context.create_basic_executor();
@@ -59,8 +59,8 @@
 //! # let context = Context::default_from_env()?;
 //! # let mut executor = context.create_basic_executor();
 //! # let node = executor.create_node("example_node")?;
-//! # use rclrs::vendor::example_interfaces;
-//!
+//! # use crate::rclrs::vendor::example_interfaces;
+//! #
 //! // This worker will manage the data for us.
 //! // The worker's data is called its payload.
 //! let worker = node.create_worker::<Option<String>>(None);
@@ -99,8 +99,7 @@
 //! The following is a simple example of using a mandatory parameter:
 //! ```no_run
 //! use rclrs::*;
-//! use rclrs::vendor::example_interfaces;
-//!
+//! # use crate::rclrs::vendor::example_interfaces;
 //! use std::sync::Arc;
 //!
 //! let mut executor = Context::default_from_env()?.create_basic_executor();
@@ -130,7 +129,7 @@
 //!
 //! ```no_run
 //! use rclrs::*;
-//! use rclrs::vendor::example_interfaces;
+//! # use crate::rclrs::vendor::example_interfaces;
 //! use std::time::Duration;
 //!
 //! let mut executor = Context::default_from_env()?.create_basic_executor();

rclrs/src/node.rs

@@ -244,7 +244,7 @@ impl NodeState {
     /// In some cases the payload type can be inferred by Rust:
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// let executor = Context::default().create_basic_executor();
     /// let node = executor.create_node("my_node").unwrap();
     ///
@@ -270,7 +270,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let worker = node.create_worker::<String>(String::new());
@@ -279,7 +279,7 @@ impl NodeState {
     /// The data given to the worker can be any custom data type:
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     ///
@@ -315,7 +315,7 @@ impl NodeState {
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// let client = node.create_client::<test_msgs::srv::Empty>(
     ///     "my_service"
     /// )
@@ -329,7 +329,7 @@ impl NodeState {
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// let client = node.create_client::<test_msgs::srv::Empty>(
     ///     "my_service"
     ///     .keep_all()
@@ -362,7 +362,7 @@ impl NodeState {
     /// # use rclrs::*;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
     ///     "my_topic"
     /// )
@@ -374,7 +374,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
@@ -421,10 +421,9 @@ impl NodeState {
     /// Pass in only the service name for the `options` argument to use all default service options:
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
-    ///
     /// let service = node.create_service::<test_msgs::srv::Empty, _>(
     ///     "my_service",
     ///     |_request: test_msgs::srv::Empty_Request| {
@@ -439,10 +438,9 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
-    ///
     /// let service = node.create_service::<test_msgs::srv::Empty, _>(
     ///     "my_service"
     ///     .keep_all()
@@ -479,19 +477,19 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces::srv::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::Mutex;
     ///
     /// let counter = Mutex::new(0usize);
-    /// let service = node.create_service::<Trigger, _>(
+    /// let service = node.create_service::<example_interfaces::srv::Trigger, _>(
     ///     "trigger_counter",
-    ///     move |_request: Trigger_Request| {
+    ///     move |_request: example_interfaces::srv::Trigger_Request| {
     ///         let mut counter = counter.lock().unwrap();
     ///         *counter += 1;
     ///         println!("Triggered {} times", *counter);
-    ///         Trigger_Response {
+    ///         example_interfaces::srv::Trigger_Response {
     ///             success: true,
     ///             message: "no problems here".to_string(),
     ///         }
@@ -505,21 +503,21 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces::srv::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::{Arc, Mutex};
     ///
     /// let counter = Arc::new(Mutex::new(0usize));
     ///
     /// let counter_in_service = Arc::clone(&counter);
-    /// let service = node.create_service::<Trigger, _>(
+    /// let service = node.create_service::<example_interfaces::srv::Trigger, _>(
     ///     "trigger_counter",
-    ///     move |_request: Trigger_Request| {
+    ///     move |_request: example_interfaces::srv::Trigger_Request| {
     ///         let mut counter = counter_in_service.lock().unwrap();
     ///         *counter += 1;
     ///         println!("Triggered {} times", *counter);
-    ///         Trigger_Response {
+    ///         example_interfaces::srv::Trigger_Response {
     ///             success: true,
     ///             message: "no problems here".to_string(),
     ///         }
@@ -599,17 +597,17 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces::srv::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node")?;
     /// use std::sync::Arc;
     ///
     /// let worker_a = node.create_worker(0_i64);
     /// let worker_b = node.create_worker(0_i64);
     ///
-    /// let service = node.create_async_service::<AddTwoInts, _>(
+    /// let service = node.create_async_service::<example_interfaces::srv::AddTwoInts, _>(
     ///     "add",
-    ///     move |request: AddTwoInts_Request| {
+    ///     move |request: example_interfaces::srv::AddTwoInts_Request| {
     ///         // Clone the workers so they can be captured into the async block
     ///         let worker_a = Arc::clone(&worker_a);
     ///         let worker_b = Arc::clone(&worker_b);
@@ -628,7 +626,7 @@ impl NodeState {
     ///             // Awaiting above ensures that each number from the
     ///             // request is saved in its respective worker before
     ///             // we give back a response.
-    ///             AddTwoInts_Response { sum: a + b }
+    ///             example_interfaces::srv::AddTwoInts_Response { sum: a + b }
     ///        }
     ///     }
     /// )?;
@@ -671,7 +669,7 @@ impl NodeState {
     /// Pass in only the topic name for the `options` argument to use all default subscription options:
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let subscription = node.create_subscription(
@@ -687,7 +685,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::test_msgs;
+    /// # use crate::rclrs::vendor::test_msgs;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// let subscription = node.create_subscription(
@@ -730,7 +728,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::Mutex;
@@ -753,7 +751,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// use std::sync::{Arc, Mutex};
@@ -854,7 +852,7 @@ impl NodeState {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     ///

rclrs/src/worker.rs

@@ -228,7 +228,7 @@ impl<Payload: 'static + Send + Sync> WorkerState<Payload> {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     /// // The worker's payload is data that we want to share with other callbacks.
@@ -321,7 +321,7 @@ impl<Payload: 'static + Send + Sync> WorkerState<Payload> {
     ///
     /// ```
     /// # use rclrs::*;
-    /// # use rclrs::vendor::example_interfaces::srv::*;
+    /// # use crate::rclrs::vendor::example_interfaces;
     /// # let executor = Context::default().create_basic_executor();
     /// # let node = executor.create_node("my_node").unwrap();
     ///
@@ -339,17 +339,17 @@ impl<Payload: 'static + Send + Sync> WorkerState<Payload> {
     /// // callback.
     /// let mut count = 0_usize;
     ///
-    /// let service = worker.create_service::<AddTwoInts, _>(
+    /// let service = worker.create_service::<example_interfaces::srv::AddTwoInts, _>(
     ///     "add",
-    ///     move |payload: &mut Operands, request: AddTwoInts_Request| {
+    ///     move |payload: &mut Operands, request: example_interfaces::srv::AddTwoInts_Request| {
     ///         count += 1;
-    ///         let AddTwoInts_Request { a, b } = request;
+    ///         let example_interfaces::srv::AddTwoInts_Request { a, b } = request;
     ///         let sum = a + b;
     ///         println!("#{count} | {a} + {b} = {sum}");
     ///
     ///         *payload = Operands { a, b };
     ///
-    ///         AddTwoInts_Response { sum }
+    ///         example_interfaces::srv::AddTwoInts_Response { sum }
     ///     }
     /// )?;
     /// # Ok::<(), RclrsError>(())