changing owned to ref on publish for rosbridge

roslibrust/examples/basic_publisher.rs

@@ -21,7 +21,7 @@ async fn main() -> Result<(), anyhow::Error> {
     loop {
         let msg = std_msgs::Header::default();
         info!("About to publish");
-        let result = publisher.publish(msg).await;
+        let result = publisher.publish(&msg).await;
         match result {
             Ok(()) => {
                 info!("Published msg!");

roslibrust/examples/ros1_ros2_bridge_example.rs

@@ -93,7 +93,7 @@ async fn main() -> Result<(), anyhow::Error> {
                 };
 
                 // and re-publish it!
-                publisher.publish(converted_msg).await?;
+                publisher.publish(&converted_msg).await?;
                 info!("Message successfully sent to ros2!");
             }
         }

roslibrust/src/rosbridge/client.rs

@@ -265,7 +265,7 @@ impl ClientHandle {
     // Publishes a message
     // Fails immediately(ish) if disconnected
     // Returns success when message is put on websocket (no confirmation of receipt)
-    pub(crate) async fn publish<T>(&self, topic: &str, msg: T) -> RosLibRustResult<()>
+    pub(crate) async fn publish<T>(&self, topic: &str, msg: &T) -> RosLibRustResult<()>
     where
         T: RosMessageType,
     {

roslibrust/src/rosbridge/comm.rs

@@ -90,7 +90,7 @@ impl FromStr for Ops {
 pub(crate) trait RosBridgeComm {
     async fn subscribe(&mut self, topic: &str, msg_type: &str) -> RosLibRustResult<()>;
     async fn unsubscribe(&mut self, topic: &str) -> RosLibRustResult<()>;
-    async fn publish<T: RosMessageType>(&mut self, topic: &str, msg: T) -> RosLibRustResult<()>;
+    async fn publish<T: RosMessageType>(&mut self, topic: &str, msg: &T) -> RosLibRustResult<()>;
     async fn advertise<T: RosMessageType>(&mut self, topic: &str) -> RosLibRustResult<()>;
     async fn advertise_str(&mut self, topic: &str, msg_type: &str) -> RosLibRustResult<()>;
     async fn call_service<Req: RosMessageType>(
@@ -139,7 +139,7 @@ impl RosBridgeComm for Writer {
         Ok(())
     }
 
-    async fn publish<T: RosMessageType>(&mut self, topic: &str, msg: T) -> RosLibRustResult<()> {
+    async fn publish<T: RosMessageType>(&mut self, topic: &str, msg: &T) -> RosLibRustResult<()> {
         let msg = json!(
             {
                 "op": Ops::Publish.to_string(),

roslibrust/src/rosbridge/integration_tests.rs

@@ -82,7 +82,7 @@ mod integration_tests {
             frame_id: "self_publish".to_string(),
         };
 
-        timeout(TIMEOUT, client.publish(TOPIC, msg_out.clone()))
+        timeout(TIMEOUT, client.publish(TOPIC, &msg_out))
             .await
             .expect("Failed to publish in time")
             .unwrap();
@@ -109,7 +109,7 @@ mod integration_tests {
 
         #[cfg(feature = "ros1_test")]
         publisher
-            .publish(Time {
+            .publish(&Time {
                 data: roslibrust_codegen::Time { secs: 0, nsecs: 0 },
             })
             .await?;
@@ -200,7 +200,7 @@ mod integration_tests {
         debug!("Got subscriber");
 
         let msg = Header::default();
-        publisher.publish(msg).await?;
+        publisher.publish(&msg).await?;
         timeout(TIMEOUT, sub.next()).await?;
 
         debug!("Dropping publisher");
@@ -215,7 +215,7 @@ mod integration_tests {
         let sub = client.subscribe::<Header>(TOPIC).await?;
         // manually publishing using private api
         let msg = Header::default();
-        client.publish(TOPIC, msg).await?;
+        client.publish(TOPIC, &msg).await?;
 
         match timeout(TIMEOUT, sub.next()).await {
             Ok(_msg) => {
@@ -338,7 +338,7 @@ mod integration_tests {
         let x = std_msgs::Char {
             data: 'x'.try_into().unwrap(),
         };
-        publisher.publish(x.clone()).await?;
+        publisher.publish(&x).await?;
 
         let y = timeout(TIMEOUT, subscriber.next())
             .await
@@ -440,7 +440,7 @@ mod integration_tests {
 
         // Confirm we can send and receive messages
         publisher
-            .publish(Header::default())
+            .publish(&Header::default())
             .await
             .expect("Failed to publish");
 
@@ -453,7 +453,7 @@ mod integration_tests {
         tokio::time::sleep(WAIT_FOR_ROSBRIDGE).await;
 
         // Try to publish and confirm we get an error
-        let res = publisher.publish(Header::default()).await;
+        let res = publisher.publish(&Header::default()).await;
         match res {
             Ok(_) => {
                 panic!("Should have failed to publish after rosbridge died");
@@ -485,7 +485,7 @@ mod integration_tests {
 
         // Try to publish and confirm we reconnect automatically
         publisher
-            .publish(Header::default())
+            .publish(&Header::default())
             .await
             .expect("Failed to publish after rosbridge died");
 

roslibrust/src/rosbridge/publisher.rs

@@ -48,7 +48,7 @@ impl<T: RosMessageType> Publisher<T> {
     /// Successful sending of the message does not guarantee successful receipt or re-transmission by
     /// rosbridge_server, rosbridge_server will fail to re-transmit if the type of the message does not
     /// match the topic's definition on roscore.
-    pub async fn publish(&self, msg: T) -> RosLibRustResult<()> {
+    pub async fn publish(&self, msg: &T) -> RosLibRustResult<()> {
         self.client.publish(&self.topic, msg).await
     }
 }

roslibrust/src/topic_provider.rs

@@ -14,8 +14,7 @@ pub trait Publish<T: RosMessageType> {
 
 impl<T: RosMessageType> Publish<T> for crate::Publisher<T> {
     async fn publish(&self, data: &T) -> RosLibRustResult<()> {
-        // TODO clone here is bad and we should standardized on ownership of publish
-        self.publish(data.clone()).await
+        self.publish(data).await
     }
 }