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style(ros2): cargo fmt

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kyle
2026-10-18 21:17:14 -07:00
parent 69715a1505
commit 22d003efb4
1 changed files with 17 additions and 16 deletions
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tines-ros2/src/node.rs
+17 -16
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@@ -45,9 +45,7 @@ use rclrs::{Context, CreateBasicExecutor, Node as RclNode, Publisher, RclrsError
use ros_env::std_msgs::msg::{MultiArrayLayout, UInt8MultiArray}; use ros_env::std_msgs::msg::{MultiArrayLayout, UInt8MultiArray};
use tines_bt::{BtTransport, Radio}; use tines_bt::{BtTransport, Radio};
use tines_core::{ use tines_core::{Node as TinesNodeCore, NodeId, Observation, ObservationId, Store, Tick};
Node as TinesNodeCore, NodeId, Observation, ObservationId, Store, Tick,
};
use tines_store::LogStore; use tines_store::LogStore;
use crate::topics::topic_name; use crate::topics::topic_name;
@@ -221,16 +219,11 @@ impl TinesNode {
let tines_topic_cb = tines_topic.to_vec(); let tines_topic_cb = tines_topic.to_vec();
let subscriber = self let subscriber = self
.node .node
.create_subscription( .create_subscription(&name, move |msg: UInt8MultiArray| {
&name, // `msg.data` is the raw payload bytes verbatim.
move |msg: UInt8MultiArray| { let _ = inbound_tx.send((tines_topic_cb.clone(), msg.data.clone()));
// `msg.data` is the raw payload bytes verbatim. })?;
let _ = inbound_tx.send((tines_topic_cb.clone(), msg.data.clone())); let publisher = self.node.create_publisher::<UInt8MultiArray>(&name)?;
},
)?;
let publisher = self
.node
.create_publisher::<UInt8MultiArray>(&name)?;
self.managed.insert( self.managed.insert(
name, name,
@@ -299,8 +292,13 @@ impl TinesNode {
} }
// Publish the raw payload bytes as a `UInt8MultiArray`. // Publish the raw payload bytes as a `UInt8MultiArray`.
let data = obs.payload.to_vec(); let data = obs.payload.to_vec();
let msg = let msg = UInt8MultiArray {
UInt8MultiArray { data, layout: MultiArrayLayout { dim: vec![], data_offset: 0 } }; data,
layout: MultiArrayLayout {
dim: vec![],
data_offset: 0,
},
};
if let Some(publisher) = topic.publisher.as_mut() { if let Some(publisher) = topic.publisher.as_mut() {
let _ = publisher.publish(&msg); let _ = publisher.publish(&msg);
topic.last_pub = Some(obs.id()); topic.last_pub = Some(obs.id());
@@ -333,7 +331,10 @@ impl TinesNode {
data[16..32].copy_from_slice(&ev.id); data[16..32].copy_from_slice(&ev.id);
let msg = UInt8MultiArray { let msg = UInt8MultiArray {
data: data.to_vec(), data: data.to_vec(),
layout: MultiArrayLayout { dim: vec![], data_offset: 0 }, layout: MultiArrayLayout {
dim: vec![],
data_offset: 0,
},
}; };
let _ = self.receipt_pub.publish(&msg); let _ = self.receipt_pub.publish(&msg);
} }