Cleanups

Author: esteve

rclrs/src/lib.rs

@@ -107,9 +107,9 @@ pub fn spin(node: &Node) -> Result<(), RclrsError> {
 
 pub fn spin_until_future_complete<T: Unpin + Clone>(
     node: &node::Node,
-    mut future: Arc<Mutex<Box<crate::future::RclFuture<T>>>>,
-) -> Result<<crate::future::RclFuture<T> as Future>::Output, RclReturnCode> {
-    let mut cx = crate::future::create_rcl_waker_context();
+    mut future: Arc<Mutex<Box<future::RclFuture<T>>>>,
+) -> Result<<future::RclFuture<T> as Future>::Output, RclReturnCode> {
+    let mut cx = future::create_rcl_waker_context();
 
     loop {
         let context_valid = unsafe { rcl_context_is_valid(&mut *node.context.lock()) };

rclrs/src/node/client.rs

@@ -1,21 +1,22 @@
+use std::borrow::Borrow;
+use std::boxed::Box;
 use std::collections::HashMap;
+use std::ffi::CString;
 use std::sync::atomic::{AtomicI64, Ordering};
+use std::sync::Arc;
 
 use crate::error::{ClientErrorCode, ToResult};
 use crate::future::RclFuture;
 use crate::MessageCow;
+use crate::Node;
 use crate::{rcl_bindings::*, RclReturnCode};
-use crate::{Node, NodeHandle};
-use alloc::boxed::Box;
-use alloc::sync::Arc;
-use core::borrow::Borrow;
-use cstr_core::CString;
+
 use parking_lot::{Mutex, MutexGuard};
 use rosidl_runtime_rs::Message;
 
 pub struct ClientHandle {
     handle: Mutex<rcl_client_t>,
-    node_handle: Arc<NodeHandle>,
+    node_handle: Arc<rcl_node_t>,
 }
 
 impl ClientHandle {

rclrs/src/node/service.rs

@@ -1,10 +1,12 @@
+use std::borrow::Borrow;
+use std::boxed::Box;
+use std::ffi::CString;
+use std::sync::Arc;
+
 use crate::error::{ServiceErrorCode, ToResult};
+use crate::Node;
 use crate::{rcl_bindings::*, RclReturnCode};
-use crate::{Node, NodeHandle};
-use alloc::boxed::Box;
-use alloc::sync::Arc;
-use core::borrow::Borrow;
-use cstr_core::CString;
+
 use rosidl_runtime_rs::Message;
 
 use crate::node::publisher::MessageCow;
@@ -13,7 +15,7 @@ use parking_lot::{Mutex, MutexGuard};
 
 pub struct ServiceHandle {
     handle: Mutex<rcl_service_t>,
-    node_handle: Arc<NodeHandle>,
+    node_handle: Arc<rcl_node_t>,
 }
 
 impl ServiceHandle {