rclrs 0.7.0

A ROS 2 client library for developing robotics applications in Rust
Documentation 
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use super::{GoalClientLifecycle, GoalUuid};
use rosidl_runtime_rs::Action;
use std::ops::{Deref, DerefMut};
use tokio::sync::mpsc::UnboundedReceiver;

/// This struct allows you to receive feedback messages for the goal. Through the
/// [`DerefMut`] trait you can use the [`UnboundedReceiver`] API to await new
/// feedback messages.
pub struct FeedbackClient<A: Action> {
    receiver: UnboundedReceiver<A::Feedback>,
    goal_id: GoalUuid,
    /// This keeps track of whether any goal client components are still being used.
    /// This must come after the receiver in the struct to ensure cleanup is done
    /// correctly.
    #[allow(unused)]
    lifecycle: GoalClientLifecycle<A>,
}

impl<A: Action> Clone for FeedbackClient<A> {
    fn clone(&self) -> Self {
        self.lifecycle.client.receive_feedback(self.goal_id)
    }
}

impl<A: Action> Deref for FeedbackClient<A> {
    type Target = UnboundedReceiver<A::Feedback>;
    fn deref(&self) -> &Self::Target {
        &self.receiver
    }
}

impl<A: Action> DerefMut for FeedbackClient<A> {
    fn deref_mut(&mut self) -> &mut Self::Target {
        &mut self.receiver
    }
}

impl<A: Action> FeedbackClient<A> {
    pub(super) fn new(
        receiver: UnboundedReceiver<A::Feedback>,
        goal_id: GoalUuid,
        lifecycle: GoalClientLifecycle<A>,
    ) -> Self {
        Self {
            receiver,
            goal_id,
            lifecycle,
        }
    }
}