Revert changes. Declare waitables new function with pub(crate) visibility

Author: esteve

rclrs/src/node.rs

@@ -184,11 +184,17 @@ impl Node {
     ///
     /// [1]: crate::Client
     // TODO: make client's lifetime depend on node's lifetime
-    pub fn create_client<T>(&mut self, topic: &str) -> Result<Arc<Client<T>>, RclrsError>
+    pub fn create_client<T>(
+        &mut self,
+        topic: &str,
+    ) -> Result<Arc<crate::node::client::Client<T>>, RclrsError>
     where
         T: rosidl_runtime_rs::Service,
     {
-        Client::<T>::new(self, topic)
+        let client = Arc::new(crate::node::client::Client::<T>::new(self, topic)?);
+        self.clients
+            .push(Arc::downgrade(&client) as Weak<dyn ClientBase>);
+        Ok(client)
     }
 
     /// Creates a [`Publisher`][1].
@@ -214,12 +220,17 @@ impl Node {
         &mut self,
         topic: &str,
         callback: F,
-    ) -> Result<Arc<Service<T>>, RclrsError>
+    ) -> Result<Arc<crate::node::service::Service<T>>, RclrsError>
     where
         T: rosidl_runtime_rs::Service,
         F: Fn(&rmw_request_id_t, T::Request) -> T::Response + 'static + Send,
     {
-        Service::<T>::new(self, topic, callback)
+        let service = Arc::new(crate::node::service::Service::<T>::new(
+            self, topic, callback,
+        )?);
+        self.services
+            .push(Arc::downgrade(&service) as Weak<dyn ServiceBase>);
+        Ok(service)
     }
 
     /// Creates a [`Subscription`][1].
@@ -236,7 +247,10 @@ impl Node {
         T: Message,
         F: FnMut(T) + 'static + Send,
     {
-        Subscription::new(self, topic, qos, callback)
+        let subscription = Arc::new(Subscription::<T>::new(self, topic, qos, callback)?);
+        self.subscriptions
+            .push(Arc::downgrade(&subscription) as Weak<dyn SubscriptionBase>);
+        Ok(subscription)
     }
 
     /// Returns the subscriptions that have not been dropped yet.

rclrs/src/node/client.rs

@@ -70,7 +70,7 @@ where
     T: rosidl_runtime_rs::Service,
 {
     /// Creates a new client.
-    pub fn new(node: &mut Node, topic: &str) -> Result<Arc<Self>, RclrsError>
+    pub(crate) fn new(node: &Node, topic: &str) -> Result<Self, RclrsError>
     where
         T: rosidl_runtime_rs::Service,
     {
@@ -107,15 +107,14 @@ where
             rcl_node_mtx: node.rcl_node_mtx.clone(),
             in_use_by_wait_set: Arc::new(AtomicBool::new(false)),
         });
-        let client = Arc::new(Self {
+
+        Ok(Self {
             handle,
             requests: Mutex::new(HashMap::new()),
             futures: Arc::new(Mutex::new(
                 HashMap::<RequestId, oneshot::Sender<T::Response>>::new(),
             )),
-        });
-        node.clients.push(Arc::downgrade(&client) as _);
-        Ok(client)
+        })
     }
 
     /// Sends a request with a callback to be called with the response.

rclrs/src/node/service.rs

@@ -69,7 +69,7 @@ where
     T: rosidl_runtime_rs::Service,
 {
     /// Creates a new service.
-    pub fn new<F>(node: &mut Node, topic: &str, callback: F) -> Result<Arc<Self>, RclrsError>
+    pub(crate) fn new<F>(node: &Node, topic: &str, callback: F) -> Result<Self, RclrsError>
     where
         T: rosidl_runtime_rs::Service,
         F: Fn(&rmw_request_id_t, T::Request) -> T::Response + 'static + Send,
@@ -107,13 +107,11 @@ where
             node_handle: node.rcl_node_mtx.clone(),
             in_use_by_wait_set: Arc::new(AtomicBool::new(false)),
         });
-        let service = Arc::new(Self {
+
+        Ok(Self {
             handle,
             callback: Mutex::new(Box::new(callback)),
-        });
-        node.services.push(Arc::downgrade(&service) as _);
-
-        Ok(service)
+        })
     }
 
     /// Fetches a new request.

rclrs/src/node/subscription.rs

@@ -76,12 +76,12 @@ where
     T: Message,
 {
     /// Creates a new subscription.
-    pub fn new<F>(
-        node: &mut Node,
+    pub(crate) fn new<F>(
+        node: &Node,
         topic: &str,
         qos: QoSProfile,
         callback: F,
-    ) -> Result<Arc<Self>, RclrsError>
+    ) -> Result<Self, RclrsError>
     where
         T: Message,
         F: FnMut(T) + 'static + Send,
@@ -120,13 +120,12 @@ where
             rcl_node_mtx: node.rcl_node_mtx.clone(),
             in_use_by_wait_set: Arc::new(AtomicBool::new(false)),
         });
-        let subscription = Arc::new(Self {
+
+        Ok(Self {
             handle,
             callback: Mutex::new(Box::new(callback)),
             message: PhantomData,
-        });
-        node.subscriptions.push(Arc::downgrade(&subscription) as _);
-        Ok(subscription)
+        })
     }
 
     /// Returns the topic name of the subscription.
@@ -220,9 +219,8 @@ mod tests {
     fn test_instantiate_subscriber() -> Result<(), RclrsError> {
         let context =
             Context::new(vec![]).expect("Context instantiation is expected to be a success");
-        let mut node = create_node(&context, "test_new_subscriber")?;
-        let _subscriber = Subscription::<std_msgs::msg::String>::new(
-            &mut node,
+        let node = create_node(&context, "test_new_subscriber")?;
+        let _subscriber = node.create_subscription::<std_msgs::msg::String, _>(
             "test",
             QOS_PROFILE_DEFAULT,
             move |_: std_msgs::msg::String| {},