Update spin* to take an Arc

Author: esteve

docs/writing-your-first-rclrs-node.md

@@ -76,7 +76,7 @@ Next, add a main function to launch it:
 fn main() -> Result<(), rclrs::RclrsError> {
     let context = rclrs::Context::new(std::env::args())?;
     let republisher = RepublisherNode::new(&context)?;
-    rclrs::spin(&republisher.node)
+    rclrs::spin(republisher.node)
 }
 ```
 
@@ -190,7 +190,7 @@ fn main() -> Result<(), rclrs::RclrsError> {
             republisher.republish()?;
         }
     });
-    rclrs::spin(&republisher.node)
+    rclrs::spin(republisher.node)
 }
 ```
 
@@ -212,7 +212,7 @@ fn main() -> Result<(), rclrs::RclrsError> {
             republisher_other_thread.republish()?;
         }
     });
-    rclrs::spin(&republisher.node)
+    rclrs::spin(republisher.node)
 }
 ```
 

examples/message_demo/src/message_demo.rs

@@ -1,5 +1,6 @@
 use std::convert::TryInto;
 use std::env;
+use std::sync::Arc;
 
 use anyhow::{Error, Result};
 use rosidl_runtime_rs::{seq, BoundedSequence, Message, Sequence};
@@ -159,10 +160,10 @@ fn demonstrate_pubsub() -> Result<(), Error> {
         )?;
     println!("Sending idiomatic message.");
     idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;
-    rclrs::spin_once(&node, None)?;
+    rclrs::spin_once(Arc::clone(&node), None)?;
     println!("Sending RMW-native message.");
     direct_publisher.publish(rclrs_example_msgs::msg::rmw::VariousTypes::default())?;
-    rclrs::spin_once(&node, None)?;
+    rclrs::spin_once(Arc::clone(&node), None)?;
 
     Ok(())
 }

examples/minimal_client_service/src/minimal_client.rs

@@ -28,5 +28,5 @@ fn main() -> Result<(), Error> {
     std::thread::sleep(std::time::Duration::from_millis(500));
 
     println!("Waiting for response");
-    rclrs::spin(&node).map_err(|err| err.into())
+    rclrs::spin(node).map_err(|err| err.into())
 }

examples/minimal_client_service/src/minimal_client_async.rs

@@ -20,7 +20,7 @@ async fn main() -> Result<(), Error> {
 
     println!("Waiting for response");
 
-    let rclrs_spin = tokio::task::spawn_blocking(move || rclrs::spin(&node));
+    let rclrs_spin = tokio::task::spawn_blocking(move || rclrs::spin(node));
 
     let response = future.await?;
     println!(

examples/minimal_client_service/src/minimal_service.rs

@@ -21,5 +21,5 @@ fn main() -> Result<(), Error> {
         .create_service::<example_interfaces::srv::AddTwoInts, _>("add_two_ints", handle_service)?;
 
     println!("Starting server");
-    rclrs::spin(&node).map_err(|err| err.into())
+    rclrs::spin(node).map_err(|err| err.into())
 }

examples/minimal_pub_sub/src/minimal_subscriber.rs

@@ -19,5 +19,5 @@ fn main() -> Result<(), Error> {
         },
     )?;
 
-    rclrs::spin(&node).map_err(|err| err.into())
+    rclrs::spin(node).map_err(|err| err.into())
 }

examples/minimal_pub_sub/src/zero_copy_subscriber.rs

@@ -19,5 +19,5 @@ fn main() -> Result<(), Error> {
         },
     )?;
 
-    rclrs::spin(&node).map_err(|err| err.into())
+    rclrs::spin(node).map_err(|err| err.into())
 }

rclrs/src/lib.rs

@@ -50,8 +50,8 @@ pub use wait::*;
 /// This can usually be ignored.
 ///
 /// [1]: crate::RclReturnCode
-pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclrsError> {
-    let wait_set = WaitSet::new_for_node(node)?;
+pub fn spin_once(node: Arc<Node>, timeout: Option<Duration>) -> Result<(), RclrsError> {
+    let wait_set = WaitSet::new_for_node(&*node)?;
     let ready_entities = wait_set.wait(timeout)?;
 
     for ready_subscription in ready_entities.subscriptions {
@@ -72,19 +72,21 @@ pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclrsErro
 /// Convenience function for calling [`spin_once`] in a loop.
 ///
 /// This function additionally checks that the context is still valid.
-pub fn spin(node: &Node) -> Result<(), RclrsError> {
+pub fn spin(node: Arc<Node>) -> Result<(), RclrsError> {
     // The context_is_valid functions exists only to abstract away ROS distro differences
     #[cfg(ros_distro = "foxy")]
     // SAFETY: No preconditions for this function.
     let context_is_valid =
         || unsafe { rcl_context_is_valid(&mut *node.rcl_context_mtx.lock().unwrap()) };
     #[cfg(not(ros_distro = "foxy"))]
     // SAFETY: No preconditions for this function.
-    let context_is_valid =
-        || unsafe { rcl_context_is_valid(&*node.rcl_context_mtx.lock().unwrap()) };
+    let context_is_valid = {
+        let node = Arc::clone(&node);
+        move || unsafe { rcl_context_is_valid(&*node.rcl_context_mtx.lock().unwrap()) }
+    };
 
     while context_is_valid() {
-        match spin_once(node, None) {
+        match spin_once(Arc::clone(&node), None) {
             Ok(_)
             | Err(RclrsError::RclError {
                 code: RclReturnCode::Timeout,