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Update doctests
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Signed-off-by: Michael X. Grey <grey@openrobotics.org>
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@mxgrey
mxgrey committed Oct 14, 2024
1 parent 5c59592 commit 0138e33
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Showing 3 changed files with 64 additions and 66 deletions.
2 changes: 1 addition & 1 deletion rclrs/src/context.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -104,7 +104,7 @@ impl Context {
///
/// # Example
/// ```
/// use rclrs::{Context, InitOptions};
/// # use rclrs::{Context, InitOptions};
/// let context = Context::new_with_options([], InitOptions::new().with_domain_id(Some(5))).unwrap();
/// assert_eq!(context.domain_id(), 5);
/// ````
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48 changes: 24 additions & 24 deletions rclrs/src/node.rs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
mod options;
pub use options::*;
mod node_options;
pub use node_options::*;

mod graph;
pub use graph::*;
Expand Down Expand Up @@ -128,13 +128,13 @@ impl Node {
/// ```
/// # use rclrs::{Context, RclrsError};
/// // Without remapping
/// let context = Context::new([])?;
/// let node = rclrs::create_node(&context, "my_node")?;
/// let executor = Context::default().create_basic_executor();
/// let node = executor.create_node("my_node")?;
/// assert_eq!(node.name(), "my_node");
/// // With remapping
/// let remapping = ["--ros-args", "-r", "__node:=your_node"].map(String::from);
/// let context_r = Context::new(remapping)?;
/// let node_r = rclrs::create_node(&context_r, "my_node")?;
/// let executor_r = Context::new(remapping)?.create_basic_executor();
/// let node_r = executor_r.create_node("my_node")?;
/// assert_eq!(node_r.name(), "your_node");
/// # Ok::<(), RclrsError>(())
/// ```
Expand All @@ -149,18 +149,18 @@ impl Node {
///
/// # Example
/// ```
/// # use rclrs::{Context, RclrsError};
/// # use rclrs::{Context, RclrsError, NodeOptions};
/// // Without remapping
/// let context = Context::new([])?;
/// let node =
/// rclrs::create_node_builder(&context, "my_node")
/// .namespace("/my/namespace")
/// .build()?;
/// let executor = Context::default().create_basic_executor();
/// let node = executor.create_node(
/// NodeOptions::new("my_node")
/// .namespace("/my/namespace")
/// )?;
/// assert_eq!(node.namespace(), "/my/namespace");
/// // With remapping
/// let remapping = ["--ros-args", "-r", "__ns:=/your_namespace"].map(String::from);
/// let context_r = Context::new(remapping)?;
/// let node_r = rclrs::create_node(&context_r, "my_node")?;
/// let executor_r = Context::new(remapping)?.create_basic_executor();
/// let node_r = executor_r.create_node("my_node")?;
/// assert_eq!(node_r.namespace(), "/your_namespace");
/// # Ok::<(), RclrsError>(())
/// ```
Expand All @@ -175,12 +175,12 @@ impl Node {
///
/// # Example
/// ```
/// # use rclrs::{Context, RclrsError};
/// let context = Context::new([])?;
/// let node =
/// rclrs::create_node_builder(&context, "my_node")
/// .namespace("/my/namespace")
/// .build()?;
/// # use rclrs::{Context, RclrsError, NodeOptions};
/// let executor = Context::default().create_basic_executor();
/// let node = executor.create_node(
/// NodeOptions::new("my_node")
/// .namespace("/my/namespace")
/// )?;
/// assert_eq!(node.fully_qualified_name(), "/my/namespace/my_node");
/// # Ok::<(), RclrsError>(())
/// ```
Expand Down Expand Up @@ -353,8 +353,8 @@ impl Node {
/// # use rclrs::{Context, RclrsError};
/// // Set default ROS domain ID to 10 here
/// std::env::set_var("ROS_DOMAIN_ID", "10");
/// let context = Context::new([])?;
/// let node = rclrs::create_node(&context, "domain_id_node")?;
/// let executor = Context::default().create_basic_executor();
/// let node = executor.create_node("domain_id_node")?;
/// let domain_id = node.domain_id();
/// assert_eq!(domain_id, 10);
/// # Ok::<(), RclrsError>(())
Expand Down Expand Up @@ -382,8 +382,8 @@ impl Node {
/// # Example
/// ```
/// # use rclrs::{Context, ParameterRange, RclrsError};
/// let context = Context::new([])?;
/// let node = rclrs::create_node(&context, "domain_id_node")?;
/// let executor = Context::default().create_basic_executor();
/// let node = executor.create_node("domain_id_node")?;
/// // Set it to a range of 0-100, with a step of 2
/// let range = ParameterRange {
/// lower: Some(0),
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80 changes: 39 additions & 41 deletions rclrs/src/node/options.rs → rclrs/src/node/node_options.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -28,19 +28,19 @@ use crate::{
///
/// # Example
/// ```
/// # use rclrs::{Context, NodeBuilder, Node, RclrsError};
/// let context = Context::new([])?;
/// # use rclrs::{Context, NodeOptions, Node, RclrsError};
/// let executor = Context::default().create_basic_executor();
/// // Building a node in a single expression
/// let node = NodeBuilder::new(&context, "foo_node").namespace("/bar").build()?;
/// let node = executor.create_node(NodeOptions::new("foo_node").namespace("/bar"))?;
/// assert_eq!(node.name(), "foo_node");
/// assert_eq!(node.namespace(), "/bar");
/// // Building a node via Node::builder()
/// let node = Node::builder(&context, "bar_node").build()?;
/// // Building a node via NodeOptions
/// let node = executor.create_node(NodeOptions::new("bar_node"))?;
/// assert_eq!(node.name(), "bar_node");
/// // Building a node step-by-step
/// let mut builder = Node::builder(&context, "goose");
/// builder = builder.namespace("/duck/duck");
/// let node = builder.build()?;
/// let mut options = NodeOptions::new("goose");
/// options = options.namespace("/duck/duck");
/// let node = executor.create_node(options)?;
/// assert_eq!(node.fully_qualified_name(), "/duck/duck/goose");
/// # Ok::<(), RclrsError>(())
/// ```
Expand Down Expand Up @@ -75,17 +75,15 @@ impl NodeOptions {
///
/// # Example
/// ```
/// # use rclrs::{Context, NodeOptions};
/// let context = Context::new();
/// # use rclrs::{Context, NodeOptions, RclrsError, RclReturnCode};
/// let executor = Context::default().create_basic_executor();
/// // This is a valid node name
/// assert!(NodeOptions::new("my_node").is_valid());
/// assert!(executor.create_node(NodeOptions::new("my_node")).is_ok());
/// // This is another valid node name (although not a good one)
/// assert!(NodeBuilder::new(&context, "_______").build().is_ok());
/// assert!(executor.create_node(NodeOptions::new("_______")).is_ok());
/// // This is an invalid node name
/// assert!(matches!(
/// NodeBuilder::new(&context, "röböt")
/// .build()
/// .unwrap_err(),
/// executor.create_node(NodeOptions::new("röböt")).unwrap_err(),
/// RclrsError::RclError { code: RclReturnCode::NodeInvalidName, .. }
/// ));
/// # Ok::<(), RclrsError>(())
Expand Down Expand Up @@ -128,25 +126,25 @@ impl NodeOptions {
///
/// # Example
/// ```
/// # use rclrs::{Context, Node, RclrsError, RclReturnCode};
/// let context = Context::new([])?;
/// # use rclrs::{Context, Node, NodeOptions, RclrsError, RclReturnCode};
/// let executor = Context::default().create_basic_executor();
/// // This is a valid namespace
/// let builder_ok_ns = Node::builder(&context, "my_node").namespace("/some/nested/namespace");
/// assert!(builder_ok_ns.build().is_ok());
/// let options_ok_ns = NodeOptions::new("my_node").namespace("/some/nested/namespace");
/// assert!(executor.create_node(options_ok_ns).is_ok());
/// // This is an invalid namespace
/// assert!(matches!(
/// Node::builder(&context, "my_node")
/// executor.create_node(
/// NodeOptions::new("my_node")
/// .namespace("/10_percent_luck/20_percent_skill")
/// .build()
/// .unwrap_err(),
/// ).unwrap_err(),
/// RclrsError::RclError { code: RclReturnCode::NodeInvalidNamespace, .. }
/// ));
/// // A missing forward slash at the beginning is automatically added
/// assert_eq!(
/// Node::builder(&context, "my_node")
/// executor.create_node(
/// NodeOptions::new("my_node")
/// .namespace("foo")
/// .build()?
/// .namespace(),
/// )?.namespace(),
/// "/foo"
/// );
/// # Ok::<(), RclrsError>(())
Expand All @@ -167,21 +165,21 @@ impl NodeOptions {
///
/// # Example
/// ```
/// # use rclrs::{Context, Node, NodeBuilder, RclrsError};
/// # use rclrs::{Context, Node, NodeOptions, RclrsError};
/// let context_args = ["--ros-args", "--remap", "__node:=your_node"]
/// .map(String::from);
/// let context = Context::new(context_args)?;
/// let executor = Context::new(context_args)?.create_basic_executor();
/// // Ignore the global arguments:
/// let node_without_global_args =
/// rclrs::create_node_builder(&context, "my_node")
/// .use_global_arguments(false)
/// .build()?;
/// let node_without_global_args = executor.create_node(
/// NodeOptions::new("my_node")
/// .use_global_arguments(false)
/// )?;
/// assert_eq!(node_without_global_args.name(), "my_node");
/// // Do not ignore the global arguments:
/// let node_with_global_args =
/// rclrs::create_node_builder(&context, "my_other_node")
/// .use_global_arguments(true)
/// .build()?;
/// let node_with_global_args = executor.create_node(
/// NodeOptions::new("my_other_node")
/// .use_global_arguments(true)
/// )?;
/// assert_eq!(node_with_global_args.name(), "your_node");
/// # Ok::<(), RclrsError>(())
/// ```
Expand All @@ -202,18 +200,18 @@ impl NodeOptions {
///
/// # Example
/// ```
/// # use rclrs::{Context, Node, NodeBuilder, RclrsError};
/// # use rclrs::{Context, Node, NodeOptions, RclrsError};
/// // Usually, this would change the name of "my_node" to "context_args_node":
/// let context_args = ["--ros-args", "--remap", "my_node:__node:=context_args_node"]
/// .map(String::from);
/// let context = Context::new(context_args)?;
/// let executor = Context::new(context_args)?.create_basic_executor();
/// // But the node arguments will change it to "node_args_node":
/// let node_args = ["--ros-args", "--remap", "my_node:__node:=node_args_node"]
/// .map(String::from);
/// let node =
/// rclrs::create_node_builder(&context, "my_node")
/// .arguments(node_args)
/// .build()?;
/// let node = executor.create_node(
/// NodeOptions::new("my_node")
/// .arguments(node_args)
/// )?;
/// assert_eq!(node.name(), "node_args_node");
/// # Ok::<(), RclrsError>(())
/// ```
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