Enable direct creation of the _Options for all primitive types

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
ros2-rust · Nov 20, 2024 · da05361 · da05361
1 parent 6c61c9c
commit da05361
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Showing 4 changed files with 57 additions and 31 deletions.
diff --git a/rclrs/src/client.rs b/rclrs/src/client.rs
@@ -294,18 +294,25 @@ pub struct ClientOptions<'a> {
     pub qos: QoSProfile,
 }
 
-impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ClientOptions<'a> {
-    fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        let mut qos = QoSProfile::services_default();
-        options.apply(&mut qos);
+impl<'a> ClientOptions<'a> {
+    /// Initialize a new [`ClientOptions`] with default settings.
+    pub fn new(service_name: &'a str) -> Self {
         Self {
-            service_name: options.name,
-            qos,
+            service_name,
+            qos: QoSProfile::services_default(),
         }
     }
 }
 
+impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ClientOptions<'a> {
+    fn from(value: T) -> Self {
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
+    }
+}
+
 impl<T> ClientBase for Client<T>
 where
     T: rosidl_runtime_rs::Service,

diff --git a/rclrs/src/publisher.rs b/rclrs/src/publisher.rs
@@ -244,18 +244,25 @@ pub struct PublisherOptions<'a> {
     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);
+impl<'a> PublisherOptions<'a> {
+    /// Initialize a new [`PublisherOptions`] with default settings.
+    pub fn new(topic: &'a str) -> Self {
         Self {
-            topic: options.name,
-            qos,
+            topic,
+            qos: QoSProfile::topics_default(),
         }
     }
 }
 
+impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for PublisherOptions<'a> {
+    fn from(value: T) -> Self {
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
+    }
+}
+
 /// Convenience trait for [`Publisher::publish`].
 pub trait MessageCow<'a, T: Message> {
     /// Wrap the owned or borrowed message in a `Cow`.

diff --git a/rclrs/src/service.rs b/rclrs/src/service.rs
@@ -190,22 +190,29 @@ where
 pub struct ServiceOptions<'a> {
     /// The name for the service
     pub name: &'a str,
-    /// The quality of service for the service.
+    /// The quality of service profile for the service.
     pub qos: QoSProfile,
 }
 
-impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ServiceOptions<'a> {
-    fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        let mut qos = QoSProfile::services_default();
-        options.apply(&mut qos);
+impl<'a> ServiceOptions<'a> {
+    /// Initialize a new [`ServiceOptions`] with default settings.
+    pub fn new(name: &'a str) -> Self {
         Self {
-            name: options.name,
-            qos,
+            name,
+            qos: QoSProfile::services_default(),
         }
     }
 }
 
+impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for ServiceOptions<'a> {
+    fn from(value: T) -> Self {
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
+    }
+}
+
 impl<T> ServiceBase for Service<T>
 where
     T: rosidl_runtime_rs::Service,

diff --git a/rclrs/src/subscription.rs b/rclrs/src/subscription.rs
@@ -274,20 +274,25 @@ pub struct SubscriptionOptions<'a> {
     pub qos: QoSProfile,
 }
 
-impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for SubscriptionOptions<'a> {
-    fn from(value: T) -> Self {
-        let options = value.into_primitive_options();
-        // Topics will use the QOS_PROFILE_DEFAULT by default, which is designed
-        // to roughly match the ROS 1 default topic behavior.
-        let mut qos = QoSProfile::topics_default();
-        options.apply(&mut qos);
+impl<'a> SubscriptionOptions<'a> {
+    /// Initialize a new [`SubscriptionOptions`] with default settings.
+    pub fn new(topic: &'a str) -> Self {
         Self {
-            topic: options.name,
-            qos,
+            topic,
+            qos: QoSProfile::topics_default(),
         }
     }
 }
 
+impl<'a, T: IntoPrimitiveOptions<'a>> From<T> for SubscriptionOptions<'a> {
+    fn from(value: T) -> Self {
+        let primitive = value.into_primitive_options();
+        let mut options = Self::new(primitive.name);
+        primitive.apply(&mut options.qos);
+        options
+    }
+}
+
 impl<T> SubscriptionBase for Subscription<T>
 where
     T: Message,