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Move rcl structs to end of Node declaration #372

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Merged
merged 1 commit into from
Mar 18, 2024
Merged

Move rcl structs to end of Node declaration #372

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7 changes: 5 additions & 2 deletions rclrs/src/node.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -65,14 +65,17 @@ unsafe impl Send for rcl_node_t {}
/// [3]: crate::NodeBuilder::new
/// [4]: crate::NodeBuilder::namespace
pub struct Node {
pub(crate) rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
pub(crate) rcl_context_mtx: Arc<Mutex<rcl_context_t>>,
pub(crate) clients_mtx: Mutex<Vec<Weak<dyn ClientBase>>>,
pub(crate) guard_conditions_mtx: Mutex<Vec<Weak<GuardCondition>>>,
pub(crate) services_mtx: Mutex<Vec<Weak<dyn ServiceBase>>>,
pub(crate) subscriptions_mtx: Mutex<Vec<Weak<dyn SubscriptionBase>>>,
time_source: TimeSource,
parameter: ParameterInterface,
// Note: it's important to have those last since `drop` will be called in order of declaration
// in the struct and both `TimeSource` and `ParameterInterface` contain subscriptions /
// services that will fail to be dropped if the context or node is destroyed first.
pub(crate) rcl_node_mtx: Arc<Mutex<rcl_node_t>>,
pub(crate) rcl_context_mtx: Arc<Mutex<rcl_context_t>>,
}

impl Eq for Node {}
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