Move waker-related stuff to future module

Author: esteve

rclrs/src/future.rs

@@ -1,11 +1,15 @@
 /// Based on https://www.viget.com/articles/understanding-futures-in-rust-part-1/
-use core::marker::PhantomData;
-use parking_lot::Mutex;
 use std::future::Future;
+use std::marker::PhantomData;
 use std::pin::Pin;
 use std::sync::Arc;
 use std::task::Context;
 use std::task::Poll;
+use std::task::RawWaker;
+use std::task::RawWakerVTable;
+use std::task::Waker;
+
+use parking_lot::Mutex;
 
 #[derive(Default)]
 pub struct RclFuture<T> {
@@ -33,3 +37,36 @@ impl<T: Clone> Future for RclFuture<T> {
         }
     }
 }
+
+#[derive(Clone)]
+struct RclWaker {}
+
+fn rclwaker_wake(_s: &RclWaker) {}
+
+fn rclwaker_wake_by_ref(_s: &RclWaker) {}
+
+fn rclwaker_clone(s: &RclWaker) -> RawWaker {
+    let arc = unsafe { Arc::from_raw(s) };
+    std::mem::forget(arc.clone());
+    RawWaker::new(Arc::into_raw(arc) as *const (), &VTABLE)
+}
+
+const VTABLE: RawWakerVTable = unsafe {
+    RawWakerVTable::new(
+        |s| rclwaker_clone(&*(s as *const RclWaker)),
+        |s| rclwaker_wake(&*(s as *const RclWaker)),
+        |s| rclwaker_wake_by_ref(&*(s as *const RclWaker)),
+        |s| drop(Arc::from_raw(s as *const RclWaker)),
+    )
+};
+
+fn rclwaker_into_waker(s: *const RclWaker) -> Waker {
+    let raw_waker = RawWaker::new(s as *const (), &VTABLE);
+    unsafe { Waker::from_raw(raw_waker) }
+}
+
+fn create_rcl_waker_context() {
+    let rclwaker = Arc::new(RclWaker {});
+    let waker = rclwaker_into_waker(Arc::into_raw(rclwaker));
+    std::task::Context::from_waker(&waker)
+}

rclrs/src/lib.rs

@@ -22,8 +22,6 @@ pub use wait::*;
 use rcl_bindings::rcl_context_is_valid;
 use std::time::Duration;
 
-use std::pin::Pin;
-
 pub use rcl_bindings::rmw_request_id_t;
 
 /// Polls the node for new messages and executes the corresponding callbacks.
@@ -107,43 +105,14 @@ pub fn spin(node: &Node) -> Result<(), RclrsError> {
     Ok(())
 }
 
-#[derive(Clone)]
-struct RclWaker {}
-
-fn rclwaker_wake(_s: &RclWaker) {}
-
-fn rclwaker_wake_by_ref(_s: &RclWaker) {}
-
-fn rclwaker_clone(s: &RclWaker) -> RawWaker {
-    let arc = unsafe { Arc::from_raw(s) };
-    std::mem::forget(arc.clone());
-    RawWaker::new(Arc::into_raw(arc) as *const (), &VTABLE)
-}
-
-const VTABLE: RawWakerVTable = unsafe {
-    RawWakerVTable::new(
-        |s| rclwaker_clone(&*(s as *const RclWaker)),
-        |s| rclwaker_wake(&*(s as *const RclWaker)),
-        |s| rclwaker_wake_by_ref(&*(s as *const RclWaker)),
-        |s| drop(Arc::from_raw(s as *const RclWaker)),
-    )
-};
-
-fn rclwaker_into_waker(s: *const RclWaker) -> Waker {
-    let raw_waker = RawWaker::new(s as *const (), &VTABLE);
-    unsafe { Waker::from_raw(raw_waker) }
-}
-
 pub fn spin_until_future_complete<T: Unpin + Clone>(
     node: &node::Node,
-    mut future: Arc<Mutex<Box<RclFuture<T>>>>,
-) -> Result<<future::RclFuture<T> as Future>::Output, RclReturnCode> {
-    let rclwaker = Arc::new(RclWaker {});
-    let waker = rclwaker_into_waker(Arc::into_raw(rclwaker));
-    let mut cx = std::task::Context::from_waker(&waker);
+    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();
 
     loop {
-        let context_valid = unsafe { rcl_context_is_valid(&mut *node.context.lock() as *mut _) };
+        let context_valid = unsafe { rcl_context_is_valid(&mut *node.context.lock()) };
         if context_valid {
             if let Some(error) = spin_once(node, None).err() {
                 match error {