Rename variables of rcl types (#193)

Author: nnmm

rclrs/src/context.rs

@@ -16,7 +16,7 @@ impl Drop for rcl_context_t {
             // line arguments.
             // SAFETY: No preconditions for this function.
             if rcl_context_is_valid(self) {
-                // SAFETY: These functions have no preconditions besides a valid handle
+                // SAFETY: These functions have no preconditions besides a valid rcl_context
                 rcl_shutdown(self);
                 rcl_context_fini(self);
             }
@@ -41,7 +41,7 @@ unsafe impl Send for rcl_context_t {}
 /// - the allocator used (left as the default by `rclrs`)
 ///
 pub struct Context {
-    pub(crate) handle: Arc<Mutex<rcl_context_t>>,
+    pub(crate) rcl_context_mtx: Arc<Mutex<rcl_context_t>>,
 }
 
 impl Context {
@@ -77,31 +77,31 @@ impl Context {
             // SAFETY: No preconditions for this function.
             let allocator = rcutils_get_default_allocator();
             // SAFETY: Getting a zero-initialized value is always safe.
-            let mut init_options = rcl_get_zero_initialized_init_options();
+            let mut rcl_init_options = rcl_get_zero_initialized_init_options();
             // SAFETY: Passing in a zero-initialized value is expected.
             // In the case where this returns not ok, there's nothing to clean up.
-            rcl_init_options_init(&mut init_options, allocator).ok()?;
+            rcl_init_options_init(&mut rcl_init_options, allocator).ok()?;
             // SAFETY: This function does not store the ephemeral init_options and c_args
-            // pointers. Passing in a zero-initialized handle is expected.
+            // pointers. Passing in a zero-initialized rcl_context is expected.
             let ret = rcl_init(
                 c_args.len() as i32,
                 if c_args.is_empty() {
                     std::ptr::null()
                 } else {
                     c_args.as_ptr()
                 },
-                &init_options,
+                &rcl_init_options,
                 &mut rcl_context,
             )
             .ok();
             // SAFETY: It's safe to pass in an initialized object.
             // Early return will not leak memory, because this is the last fini function.
-            rcl_init_options_fini(&mut init_options).ok()?;
+            rcl_init_options_fini(&mut rcl_init_options).ok()?;
             // Move the check after the last fini()
             ret?;
         }
         Ok(Self {
-            handle: Arc::new(Mutex::new(rcl_context)),
+            rcl_context_mtx: Arc::new(Mutex::new(rcl_context)),
         })
     }
 
@@ -153,8 +153,8 @@ impl Context {
     pub fn ok(&self) -> bool {
         // This will currently always return true, but once we have a signal handler, the signal
         // handler could call `rcl_shutdown()`, hence making the context invalid.
-        let handle = &mut *self.handle.lock();
+        let rcl_context = &mut *self.rcl_context_mtx.lock();
         // SAFETY: No preconditions for this function.
-        unsafe { rcl_context_is_valid(handle) }
+        unsafe { rcl_context_is_valid(rcl_context) }
     }
 }

rclrs/src/lib.rs

@@ -34,7 +34,7 @@ use std::time::Duration;
 pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclrsError> {
     let live_subscriptions = node.live_subscriptions();
     let ctx = Context {
-        handle: node.context.clone(),
+        rcl_context_mtx: node.rcl_context_mtx.clone(),
     };
     let mut wait_set = WaitSet::new(live_subscriptions.len(), &ctx)?;
 
@@ -57,10 +57,10 @@ pub fn spin(node: &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.context.lock()) };
+    let context_is_valid = || unsafe { rcl_context_is_valid(&mut *node.rcl_context_mtx.lock()) };
     #[cfg(not(ros_distro = "foxy"))]
     // SAFETY: No preconditions for this function.
-    let context_is_valid = || unsafe { rcl_context_is_valid(&*node.context.lock()) };
+    let context_is_valid = || unsafe { rcl_context_is_valid(&*node.rcl_context_mtx.lock()) };
 
     while context_is_valid() {
         match spin_once(node, None) {

rclrs/src/node.rs

@@ -66,16 +66,16 @@ unsafe impl Send for rcl_node_t {}
 /// [3]: crate::NodeBuilder::new
 /// [4]: crate::NodeBuilder::namespace
 pub struct Node {
-    handle: Arc<Mutex<rcl_node_t>>,
-    pub(crate) context: Arc<Mutex<rcl_context_t>>,
+    rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
+    pub(crate) rcl_context_mtx: Arc<Mutex<rcl_context_t>>,
     pub(crate) subscriptions: Vec<Weak<dyn SubscriptionBase>>,
 }
 
 impl Eq for Node {}
 
 impl PartialEq for Node {
     fn eq(&self, other: &Self) -> bool {
-        Arc::ptr_eq(&self.handle, &other.handle)
+        Arc::ptr_eq(&self.rcl_node_mtx, &other.rcl_node_mtx)
     }
 }
 
@@ -171,8 +171,8 @@ impl Node {
         getter: unsafe extern "C" fn(*const rcl_node_t) -> *const c_char,
     ) -> String {
         let char_ptr = unsafe {
-            // SAFETY: The node handle is valid.
-            getter(&*self.handle.lock())
+            // SAFETY: The rcl_node is valid.
+            getter(&*self.rcl_node_mtx.lock())
         };
         debug_assert!(!char_ptr.is_null());
         let cstr = unsafe {
@@ -249,11 +249,11 @@ impl Node {
     // add description about this function is for getting actual domain_id
     // and about override of domain_id via node option
     pub fn domain_id(&self) -> usize {
-        let handle = &*self.handle.lock();
+        let rcl_node = &*self.rcl_node_mtx.lock();
         let mut domain_id: usize = 0;
         let ret = unsafe {
             // SAFETY: No preconditions for this function.
-            rcl_node_get_domain_id(handle, &mut domain_id)
+            rcl_node_get_domain_id(rcl_node, &mut domain_id)
         };
 
         debug_assert_eq!(ret, 0);

rclrs/src/node/builder.rs

@@ -86,7 +86,7 @@ impl NodeBuilder {
     /// [3]: NodeBuilder::build
     pub fn new(context: &Context, name: &str) -> NodeBuilder {
         NodeBuilder {
-            context: context.handle.clone(),
+            context: context.rcl_context_mtx.clone(),
             name: name.to_string(),
             namespace: "/".to_string(),
             use_global_arguments: true,
@@ -244,30 +244,30 @@ impl NodeBuilder {
                 s: self.namespace.clone(),
             })?;
         let node_options = self.create_node_options()?;
-        let context_handle = &mut *self.context.lock();
+        let rcl_context = &mut *self.context.lock();
 
         // SAFETY: Getting a zero-initialized value is always safe.
-        let mut node_handle = unsafe { rcl_get_zero_initialized_node() };
+        let mut rcl_node = unsafe { rcl_get_zero_initialized_node() };
         unsafe {
-            // SAFETY: The node handle is zero-initialized as expected by this function.
+            // SAFETY: The rcl_node is zero-initialized as expected by this function.
             // The strings and node options are copied by this function, so we don't need
             // to keep them alive.
-            // The context handle has to be kept alive because it is co-owned by the node.
+            // The rcl_context has to be kept alive because it is co-owned by the node.
             rcl_node_init(
-                &mut node_handle,
+                &mut rcl_node,
                 node_name.as_ptr(),
                 node_namespace.as_ptr(),
-                context_handle,
+                rcl_context,
                 &node_options,
             )
             .ok()?;
         };
 
-        let handle = Arc::new(Mutex::new(node_handle));
+        let rcl_node_mtx = Arc::new(Mutex::new(rcl_node));
 
         Ok(Node {
-            handle,
-            context: self.context.clone(),
+            rcl_node_mtx,
+            rcl_context_mtx: self.context.clone(),
             subscriptions: std::vec![],
         })
     }

rclrs/src/node/publisher.rs

@@ -17,23 +17,23 @@ use rosidl_runtime_rs::{Message, RmwMessage};
 unsafe impl Send for rcl_publisher_t {}
 
 pub(crate) struct PublisherHandle {
-    handle: Mutex<rcl_publisher_t>,
-    node_handle: Arc<Mutex<rcl_node_t>>,
+    rcl_publisher_mtx: Mutex<rcl_publisher_t>,
+    rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
 }
 
 impl PublisherHandle {
     fn lock(&self) -> MutexGuard<rcl_publisher_t> {
-        self.handle.lock()
+        self.rcl_publisher_mtx.lock()
     }
 }
 
 impl Drop for PublisherHandle {
     fn drop(&mut self) {
-        let handle = self.handle.get_mut();
-        let node_handle = &mut *self.node_handle.lock();
+        let rcl_publisher = self.rcl_publisher_mtx.get_mut();
+        let rcl_node = &mut *self.rcl_node_mtx.lock();
         // SAFETY: No preconditions for this function (besides the arguments being valid).
         unsafe {
-            rcl_publisher_fini(handle as *mut _, node_handle as *mut _);
+            rcl_publisher_fini(rcl_publisher as *mut _, rcl_node as *mut _);
         }
     }
 }
@@ -68,27 +68,27 @@ where
         T: Message,
     {
         // SAFETY: Getting a zero-initialized value is always safe.
-        let mut publisher_handle = unsafe { rcl_get_zero_initialized_publisher() };
+        let mut rcl_publisher = unsafe { rcl_get_zero_initialized_publisher() };
         let type_support =
             <T as Message>::RmwMsg::get_type_support() as *const rosidl_message_type_support_t;
         let topic_c_string = CString::new(topic).map_err(|err| RclrsError::StringContainsNul {
             err,
             s: topic.into(),
         })?;
-        let node_handle = &mut *node.handle.lock();
+        let rcl_node = &mut *node.rcl_node_mtx.lock();
 
         // SAFETY: No preconditions for this function.
         let mut publisher_options = unsafe { rcl_publisher_get_default_options() };
         publisher_options.qos = qos.into();
         unsafe {
-            // SAFETY: The publisher handle is zero-initialized as expected by this function.
-            // The node handle is kept alive because it is co-owned by the subscription.
+            // SAFETY: The rcl_publisher is zero-initialized as expected by this function.
+            // The rcl_node is kept alive because it is co-owned by the subscription.
             // The topic name and the options are copied by this function, so they can be dropped
             // afterwards.
             // TODO: type support?
             rcl_publisher_init(
-                &mut publisher_handle,
-                node_handle,
+                &mut rcl_publisher,
+                rcl_node,
                 type_support,
                 topic_c_string.as_ptr(),
                 &publisher_options,
@@ -97,8 +97,8 @@ where
         }
 
         let handle = Arc::new(PublisherHandle {
-            handle: Mutex::new(publisher_handle),
-            node_handle: node.handle.clone(),
+            rcl_publisher_mtx: Mutex::new(rcl_publisher),
+            rcl_node_mtx: node.rcl_node_mtx.clone(),
         });
 
         Ok(Self {
@@ -125,13 +125,13 @@ where
     /// [1]: https://github.com/ros2/ros2/issues/255
     pub fn publish<'a, M: MessageCow<'a, T>>(&self, message: M) -> Result<(), RclrsError> {
         let rmw_message = T::into_rmw_message(message.into_cow());
-        let handle = &mut *self.handle.lock();
+        let rcl_publisher = &mut *self.handle.lock();
         let ret = unsafe {
             // SAFETY: The message type is guaranteed to match the publisher type by the type system.
             // The message does not need to be valid beyond the duration of this function call.
             // The third argument is explictly allowed to be NULL.
             rcl_publish(
-                handle,
+                rcl_publisher,
                 rmw_message.as_ref() as *const <T as Message>::RmwMsg as *mut _,
                 std::ptr::null_mut(),
             )

rclrs/src/node/subscription.rs

@@ -3,7 +3,6 @@ use crate::qos::QoSProfile;
 use crate::Node;
 use crate::{rcl_bindings::*, RclrsError};
 
-use std::borrow::Borrow;
 use std::boxed::Box;
 use std::ffi::CString;
 use std::marker::PhantomData;
@@ -19,23 +18,23 @@ unsafe impl Send for rcl_subscription_t {}
 
 /// Internal struct used by subscriptions.
 pub struct SubscriptionHandle {
-    handle: Mutex<rcl_subscription_t>,
-    node_handle: Arc<Mutex<rcl_node_t>>,
+    rcl_subscription_mtx: Mutex<rcl_subscription_t>,
+    rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
 }
 
 impl SubscriptionHandle {
     pub(crate) fn lock(&self) -> MutexGuard<rcl_subscription_t> {
-        self.handle.lock()
+        self.rcl_subscription_mtx.lock()
     }
 }
 
 impl Drop for SubscriptionHandle {
     fn drop(&mut self) {
-        let handle = self.handle.get_mut();
-        let node_handle = &mut *self.node_handle.lock();
+        let rcl_subscription = self.rcl_subscription_mtx.get_mut();
+        let rcl_node = &mut *self.rcl_node_mtx.lock();
         // SAFETY: No preconditions for this function (besides the arguments being valid).
         unsafe {
-            rcl_subscription_fini(handle, node_handle);
+            rcl_subscription_fini(rcl_subscription, rcl_node);
         }
     }
 }
@@ -85,27 +84,27 @@ where
         F: FnMut(T) + 'static + Send,
     {
         // SAFETY: Getting a zero-initialized value is always safe.
-        let mut subscription_handle = unsafe { rcl_get_zero_initialized_subscription() };
+        let mut rcl_subscription = unsafe { rcl_get_zero_initialized_subscription() };
         let type_support =
             <T as Message>::RmwMsg::get_type_support() as *const rosidl_message_type_support_t;
         let topic_c_string = CString::new(topic).map_err(|err| RclrsError::StringContainsNul {
             err,
             s: topic.into(),
         })?;
-        let node_handle = &mut *node.handle.lock();
+        let rcl_node = &mut *node.rcl_node_mtx.lock();
 
         // SAFETY: No preconditions for this function.
         let mut subscription_options = unsafe { rcl_subscription_get_default_options() };
         subscription_options.qos = qos.into();
         unsafe {
-            // SAFETY: The subscription handle is zero-initialized as expected by this function.
-            // The node handle is kept alive because it is co-owned by the subscription.
+            // SAFETY: The rcl_subscription is zero-initialized as expected by this function.
+            // The rcl_node is kept alive because it is co-owned by the subscription.
             // The topic name and the options are copied by this function, so they can be dropped
             // afterwards.
             // TODO: type support?
             rcl_subscription_init(
-                &mut subscription_handle,
-                node_handle,
+                &mut rcl_subscription,
+                rcl_node,
                 type_support,
                 topic_c_string.as_ptr(),
                 &subscription_options,
@@ -114,8 +113,8 @@ where
         }
 
         let handle = Arc::new(SubscriptionHandle {
-            handle: Mutex::new(subscription_handle),
-            node_handle: node.handle.clone(),
+            rcl_subscription_mtx: Mutex::new(rcl_subscription),
+            rcl_node_mtx: node.rcl_node_mtx.clone(),
         });
 
         Ok(Self {
@@ -149,13 +148,13 @@ where
     // ```
     pub fn take(&self) -> Result<T, RclrsError> {
         let mut rmw_message = <T as Message>::RmwMsg::default();
-        let handle = &mut *self.handle.lock();
+        let rcl_subscription = &mut *self.handle.lock();
         let ret = unsafe {
             // SAFETY: The first two pointers are valid/initialized, and do not need to be valid
             // beyond the function call.
             // The latter two pointers are explicitly allowed to be NULL.
             rcl_take(
-                handle,
+                rcl_subscription,
                 &mut rmw_message as *mut <T as Message>::RmwMsg as *mut _,
                 std::ptr::null_mut(),
                 std::ptr::null_mut(),
@@ -171,7 +170,7 @@ where
     T: Message,
 {
     fn handle(&self) -> &SubscriptionHandle {
-        self.handle.borrow()
+        &self.handle
     }
 
     fn execute(&self) -> Result<(), RclrsError> {