Migrate to PublisherOptions

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

Author: mxgrey

examples/message_demo/src/message_demo.rs

@@ -141,14 +141,8 @@ fn demonstrate_pubsub() -> Result<(), Error> {
     let context = rclrs::Context::new(env::args())?;
     let node = rclrs::create_node(&context, "message_demo")?;
 
-    let idiomatic_publisher = node.create_publisher::<rclrs_example_msgs::msg::VariousTypes>(
-        "topic",
-        rclrs::QOS_PROFILE_DEFAULT,
-    )?;
-    let direct_publisher = node.create_publisher::<rclrs_example_msgs::msg::rmw::VariousTypes>(
-        "topic",
-        rclrs::QOS_PROFILE_DEFAULT,
-    )?;
+    let idiomatic_publisher = node.create_publisher::<rclrs_example_msgs::msg::VariousTypes>("topic")?;
+    let direct_publisher = node.create_publisher::<rclrs_example_msgs::msg::rmw::VariousTypes>("topic")?;
 
     let _idiomatic_subscription = node
         .create_subscription::<rclrs_example_msgs::msg::VariousTypes, _>(

examples/minimal_pub_sub/src/minimal_publisher.rs

@@ -7,8 +7,7 @@ fn main() -> Result<(), Error> {
 
     let node = rclrs::create_node(&context, "minimal_publisher")?;
 
-    let publisher =
-        node.create_publisher::<std_msgs::msg::String>("topic", rclrs::QOS_PROFILE_DEFAULT)?;
+    let publisher = node.create_publisher::<std_msgs::msg::String>("topic")?;
 
     let mut message = std_msgs::msg::String::default();
 

examples/minimal_pub_sub/src/minimal_two_nodes.rs

@@ -55,8 +55,7 @@ fn main() -> Result<(), Error> {
     let subscriber_node_one = MinimalSubscriber::new("minimal_subscriber_one", "topic")?;
     let subscriber_node_two = MinimalSubscriber::new("minimal_subscriber_two", "topic")?;
 
-    let publisher = publisher_node
-        .create_publisher::<std_msgs::msg::String>("topic", rclrs::QOS_PROFILE_DEFAULT)?;
+    let publisher = publisher_node.create_publisher::<std_msgs::msg::String>("topic")?;
 
     std::thread::spawn(move || -> Result<(), rclrs::RclrsError> {
         let mut message = std_msgs::msg::String::default();

examples/minimal_pub_sub/src/zero_copy_publisher.rs

@@ -7,8 +7,7 @@ fn main() -> Result<(), Error> {
 
     let node = rclrs::create_node(&context, "minimal_publisher")?;
 
-    let publisher =
-        node.create_publisher::<std_msgs::msg::rmw::UInt32>("topic", rclrs::QOS_PROFILE_DEFAULT)?;
+    let publisher = node.create_publisher::<std_msgs::msg::rmw::UInt32>("topic")?;
 
     let mut publish_count: u32 = 1;
 

examples/rust_pubsub/src/simple_publisher.rs

@@ -1,4 +1,4 @@
-use rclrs::{create_node, Context, Node, Publisher, RclrsError, QOS_PROFILE_DEFAULT};
+use rclrs::{create_node, Context, Node, Publisher, RclrsError};
 use std::{sync::Arc, thread, time::Duration};
 use std_msgs::msg::String as StringMsg;
 struct SimplePublisherNode {
@@ -8,9 +8,7 @@ struct SimplePublisherNode {
 impl SimplePublisherNode {
     fn new(context: &Context) -> Result<Self, RclrsError> {
         let node = create_node(context, "simple_publisher").unwrap();
-        let _publisher = node
-            .create_publisher("publish_hello", QOS_PROFILE_DEFAULT)
-            .unwrap();
+        let _publisher = node.create_publisher("publish_hello").unwrap();
         Ok(Self { node, _publisher })
     }
 

rclrs/src/node.rs

@@ -15,7 +15,7 @@ use rosidl_runtime_rs::Message;
 pub use self::{builder::*, graph::*, primitive_options::*};
 use crate::{
     rcl_bindings::*, Client, ClientBase, Clock, Context, ContextHandle, GuardCondition,
-    ParameterBuilder, ParameterInterface, ParameterVariant, Parameters, Publisher, QoSProfile,
+    ParameterBuilder, ParameterInterface, ParameterVariant, Parameters, Publisher, PublisherOptions,
     RclrsError, Service, ServiceBase, Subscription, SubscriptionBase, SubscriptionCallback,
     SubscriptionOptions, TimeSource, ENTITY_LIFECYCLE_MUTEX,
 };
@@ -252,19 +252,46 @@ impl Node {
         guard_condition
     }
 
-    /// Creates a [`Publisher`][1].
+    /// Pass in only the topic name for the `options` argument to use all default publisher options:
+    /// ```
+    /// # use rclrs::*;
+    /// # let context = Context::new([]).unwrap();
+    /// # let node = create_node(&context, "my_node").unwrap();
+    /// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
+    ///     "my_topic"
+    /// )
+    /// .unwrap();
+    /// ```
+    ///
+    /// Take advantage of the [`IntoPrimitiveOptions`] API to easily build up the
+    /// publisher options:
     ///
-    /// [1]: crate::Publisher
-    // TODO: make publisher's lifetime depend on node's lifetime
-    pub fn create_publisher<T>(
+    /// ```
+    /// # use rclrs::*;
+    /// # let context = Context::new([]).unwrap();
+    /// # let node = create_node(&context, "my_node").unwrap();
+    /// let publisher = node.create_publisher::<test_msgs::msg::Empty>(
+    ///     "my_topic"
+    ///     .keep_last(100)
+    ///     .transient_local()
+    /// )
+    /// .unwrap();
+    ///
+    /// let reliable_publisher = node.create_publisher::<test_msgs::msg::Empty>(
+    ///     "my_topic"
+    ///     .reliable()
+    /// )
+    /// .unwrap();
+    /// ```
+    ///
+    pub fn create_publisher<'a, T>(
         &self,
-        topic: &str,
-        qos: QoSProfile,
+        options: impl Into<PublisherOptions<'a>>,
     ) -> Result<Arc<Publisher<T>>, RclrsError>
     where
         T: Message,
     {
-        let publisher = Arc::new(Publisher::<T>::new(Arc::clone(&self.handle), topic, qos)?);
+        let publisher = Arc::new(Publisher::<T>::new(Arc::clone(&self.handle), options)?);
         Ok(publisher)
     }
 

rclrs/src/publisher.rs

@@ -11,7 +11,7 @@ use crate::{
     error::{RclrsError, ToResult},
     qos::QoSProfile,
     rcl_bindings::*,
-    NodeHandle, ENTITY_LIFECYCLE_MUTEX,
+    NodeHandle, ENTITY_LIFECYCLE_MUTEX, IntoPrimitiveOptions,
 };
 
 mod loaned_message;
@@ -78,14 +78,14 @@ where
     /// Creates a new `Publisher`.
     ///
     /// Node and namespace changes are always applied _before_ topic remapping.
-    pub(crate) fn new(
+    pub(crate) fn new<'a>(
         node_handle: Arc<NodeHandle>,
-        topic: &str,
-        qos: QoSProfile,
+        options: impl Into<PublisherOptions<'a>>,
     ) -> Result<Self, RclrsError>
     where
         T: Message,
     {
+        let PublisherOptions { topic, qos } = options.into();
         // SAFETY: Getting a zero-initialized value is always safe.
         let mut rcl_publisher = unsafe { rcl_get_zero_initialized_publisher() };
         let type_support_ptr =
@@ -231,6 +231,28 @@ where
     }
 }
 
+/// `PublisherOptions` are used by [`Node::create_publisher`][1] to initialize
+/// a [`Publisher`].
+///
+/// [1]: crate::NodeState::create_publisher
+#[derive(Debug, Clone)]
+#[non_exhaustive]
+pub struct PublisherOptions<'a> {
+    /// The topic name for the publisher.
+    pub topic: &'a str,
+    /// The quality of service settings for the publisher.
+    pub qos: QoSProfile,
+}
+
+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 }
+    }
+}
+
 /// Convenience trait for [`Publisher::publish`].
 pub trait MessageCow<'a, T: Message> {
     /// Wrap the owned or borrowed message in a `Cow`.
@@ -262,24 +284,23 @@ mod tests {
 
     #[test]
     fn test_publishers() -> Result<(), RclrsError> {
-        use crate::{TopicEndpointInfo, QOS_PROFILE_SYSTEM_DEFAULT};
+        use crate::TopicEndpointInfo;
         use test_msgs::msg;
 
         let namespace = "/test_publishers_graph";
         let graph = construct_test_graph(namespace)?;
 
         let node_1_empty_publisher = graph
             .node1
-            .create_publisher::<msg::Empty>("graph_test_topic_1", QOS_PROFILE_SYSTEM_DEFAULT)?;
+            .create_publisher::<msg::Empty>("graph_test_topic_1")?;
         let topic1 = node_1_empty_publisher.topic_name();
         let node_1_basic_types_publisher = graph.node1.create_publisher::<msg::BasicTypes>(
-            "graph_test_topic_2",
-            QOS_PROFILE_SYSTEM_DEFAULT,
+            "graph_test_topic_2"
         )?;
         let topic2 = node_1_basic_types_publisher.topic_name();
         let node_2_default_publisher = graph
             .node2
-            .create_publisher::<msg::Defaults>("graph_test_topic_3", QOS_PROFILE_SYSTEM_DEFAULT)?;
+            .create_publisher::<msg::Defaults>("graph_test_topic_3")?;
         let topic3 = node_2_default_publisher.topic_name();
 
         std::thread::sleep(std::time::Duration::from_millis(100));