From 8902b71ce526f4b4bf04714ab4efac673082be74 Mon Sep 17 00:00:00 2001
From: Yuma Hiramatsu <yuma.hiramatsu@gmail.com>
Date: Sat, 28 Aug 2021 02:37:15 +0900
Subject: [PATCH] Refactoring

---
 rclrust/src/client.rs       | 18 ++++++++++++------
 rclrust/src/context.rs      | 16 +++++++++++-----
 rclrust/src/init_options.rs |  1 +
 rclrust/src/node.rs         | 16 +++++++++-------
 rclrust/src/node_options.rs |  1 +
 rclrust/src/publisher.rs    | 13 +++++++++----
 rclrust/src/service.rs      | 11 ++++++-----
 rclrust/src/subscription.rs |  9 +++++----
 rclrust/src/timer.rs        |  3 ++-
 9 files changed, 56 insertions(+), 32 deletions(-)

diff --git a/rclrust/src/client.rs b/rclrust/src/client.rs
index 56913523..ecca3563 100644
--- a/rclrust/src/client.rs
+++ b/rclrust/src/client.rs
@@ -62,10 +62,16 @@ impl RclClient {
         })
     }
 
+    #[inline]
     pub const fn raw(&self) -> &rcl_sys::rcl_client_t {
         &self.r#impl
     }
 
+    #[inline]
+    fn raw_mut(&mut self) -> &mut rcl_sys::rcl_client_t {
+        &mut self.r#impl
+    }
+
     fn send_request<Srv>(&self, request: &Srv::Request) -> Result<i64>
     where
         Srv: ServiceT,
@@ -73,7 +79,7 @@ impl RclClient {
         let mut sequence_number = 0;
         unsafe {
             rcl_sys::rcl_send_request(
-                &*self.r#impl,
+                self.raw(),
                 &request.to_raw_ref() as *const _ as *const c_void,
                 &mut sequence_number,
             )
@@ -93,7 +99,7 @@ impl RclClient {
         let mut response = <Srv::Response as MessageT>::Raw::default();
         unsafe {
             rcl_sys::rcl_take_response(
-                &*self.r#impl,
+                self.raw(),
                 request_header.as_mut_ptr(),
                 &mut response as *mut _ as *mut c_void,
             )
@@ -106,7 +112,7 @@ impl RclClient {
 
     fn service_name(&self) -> String {
         unsafe {
-            let name = rcl_sys::rcl_client_get_service_name(&*self.r#impl);
+            let name = rcl_sys::rcl_client_get_service_name(self.raw());
             String::from_c_char(name).unwrap()
         }
     }
@@ -116,7 +122,7 @@ impl RclClient {
         unsafe {
             rcl_sys::rcl_service_server_is_available(
                 self.node.lock().unwrap().raw(),
-                &*self.r#impl,
+                self.raw(),
                 &mut is_available,
             )
             .to_result()
@@ -128,14 +134,14 @@ impl RclClient {
     }
 
     fn is_valid(&self) -> bool {
-        unsafe { rcl_sys::rcl_client_is_valid(&*self.r#impl) }
+        unsafe { rcl_sys::rcl_client_is_valid(self.raw()) }
     }
 }
 
 impl Drop for RclClient {
     fn drop(&mut self) {
         if let Err(e) = unsafe {
-            rcl_sys::rcl_client_fini(&mut *self.r#impl, self.node.lock().unwrap().raw_mut())
+            rcl_sys::rcl_client_fini(self.raw_mut(), self.node.lock().unwrap().raw_mut())
                 .to_result()
         } {
             rclrust_error!(
diff --git a/rclrust/src/context.rs b/rclrust/src/context.rs
index e7a3fb66..5af7182b 100644
--- a/rclrust/src/context.rs
+++ b/rclrust/src/context.rs
@@ -60,18 +60,24 @@ impl RclContext {
         }
     }
 
+    #[inline]
+    const fn raw(&self) -> &rcl_sys::rcl_context_t {
+        &self.0
+    }
+
+    #[inline]
     pub fn raw_mut(&mut self) -> &mut rcl_sys::rcl_context_t {
-        self.0.as_mut()
+        &mut self.0
     }
 
     pub(crate) fn is_valid(&mut self) -> bool {
-        unsafe { rcl_sys::rcl_context_is_valid(self.0.as_mut()) }
+        unsafe { rcl_sys::rcl_context_is_valid(self.raw_mut()) }
     }
 
     fn shutdown(&mut self) -> Result<()> {
         if self.is_valid() {
             unsafe {
-                rcl_sys::rcl_shutdown(self.0.as_mut())
+                rcl_sys::rcl_shutdown(self.raw_mut())
                     .to_result()
                     .with_context(|| "rcl_sys::rcl_shutdown in RclContext::shutdown")?
             }
@@ -80,7 +86,7 @@ impl RclContext {
     }
 
     pub(crate) const fn global_arguments(&self) -> &rcl_sys::rcl_arguments_t {
-        &self.0.global_arguments
+        &self.raw().global_arguments
     }
 }
 
@@ -93,7 +99,7 @@ impl Drop for RclContext {
                 e
             )
         }
-        if let Err(e) = unsafe { rcl_sys::rcl_context_fini(self.0.as_mut()).to_result() } {
+        if let Err(e) = unsafe { rcl_sys::rcl_context_fini(self.raw_mut()).to_result() } {
             rclrust_error!(
                 Logger::new("rclrust"),
                 "Failed to clean up rcl context handle: {}",
diff --git a/rclrust/src/init_options.rs b/rclrust/src/init_options.rs
index ffc682ac..df9281db 100644
--- a/rclrust/src/init_options.rs
+++ b/rclrust/src/init_options.rs
@@ -20,6 +20,7 @@ impl RclInitOptions {
         Ok(Self(options))
     }
 
+    #[inline]
     pub const fn raw(&self) -> &rcl_sys::rcl_init_options_t {
         &self.0
     }
diff --git a/rclrust/src/node.rs b/rclrust/src/node.rs
index e62b6111..2a825bf0 100644
--- a/rclrust/src/node.rs
+++ b/rclrust/src/node.rs
@@ -67,48 +67,50 @@ impl RclNode {
         })
     }
 
+    #[inline]
     pub(crate) const fn raw(&self) -> &rcl_sys::rcl_node_t {
         &self.r#impl
     }
 
-    pub(crate) unsafe fn raw_mut(&mut self) -> &mut rcl_sys::rcl_node_t {
+    #[inline]
+    pub(crate) fn raw_mut(&mut self) -> &mut rcl_sys::rcl_node_t {
         &mut self.r#impl
     }
 
     fn is_valid(&self) -> bool {
-        unsafe { rcl_sys::rcl_node_is_valid(&*self.r#impl) }
+        unsafe { rcl_sys::rcl_node_is_valid(self.raw()) }
     }
 
     fn name(&self) -> String {
         unsafe {
-            let name = rcl_sys::rcl_node_get_name(&*self.r#impl);
+            let name = rcl_sys::rcl_node_get_name(self.raw());
             String::from_c_char(name).unwrap()
         }
     }
 
     fn namespace(&self) -> String {
         unsafe {
-            let namespace = rcl_sys::rcl_node_get_namespace(&*self.r#impl);
+            let namespace = rcl_sys::rcl_node_get_namespace(self.raw());
             String::from_c_char(namespace).unwrap()
         }
     }
 
     pub(crate) fn fully_qualified_name(&self) -> String {
         unsafe {
-            let name = rcl_sys::rcl_node_get_fully_qualified_name(&*self.r#impl);
+            let name = rcl_sys::rcl_node_get_fully_qualified_name(self.raw());
             String::from_c_char(name).unwrap()
         }
     }
 
     fn logger_name(&self) -> String {
         unsafe {
-            let logger_name = rcl_sys::rcl_node_get_logger_name(&*self.r#impl);
+            let logger_name = rcl_sys::rcl_node_get_logger_name(self.raw());
             String::from_c_char(logger_name).unwrap()
         }
     }
 
     pub fn get_options(&self) -> Option<&rcl_sys::rcl_node_options_t> {
-        unsafe { rcl_sys::rcl_node_get_options(&*self.r#impl).as_ref() }
+        unsafe { rcl_sys::rcl_node_get_options(self.raw()).as_ref() }
     }
 
     pub fn use_global_arguments(&self) -> Option<bool> {
diff --git a/rclrust/src/node_options.rs b/rclrust/src/node_options.rs
index 039bbc9f..a096a270 100644
--- a/rclrust/src/node_options.rs
+++ b/rclrust/src/node_options.rs
@@ -6,6 +6,7 @@ pub(crate) struct RclNodeOptions(rcl_sys::rcl_node_options_t);
 unsafe impl Send for RclNodeOptions {}
 
 impl RclNodeOptions {
+    #[inline]
     pub const fn raw(&self) -> &rcl_sys::rcl_node_options_t {
         &self.0
     }
diff --git a/rclrust/src/publisher.rs b/rclrust/src/publisher.rs
index 0898d292..b4dc8e84 100644
--- a/rclrust/src/publisher.rs
+++ b/rclrust/src/publisher.rs
@@ -54,13 +54,18 @@ impl RclPublisher {
         })
     }
 
+    #[inline]
+    const fn raw(&self) -> &rcl_sys::rcl_publisher_t {
+        &self.r#impl
+    }
+
     fn publish<T>(&self, message: &T) -> Result<()>
     where
         T: MessageT,
     {
         unsafe {
             rcl_sys::rcl_publish(
-                &*self.r#impl,
+                self.raw(),
                 &message.to_raw_ref() as *const _ as *const c_void,
                 std::ptr::null_mut(),
             )
@@ -73,19 +78,19 @@ impl RclPublisher {
 
     fn topic_name(&self) -> String {
         unsafe {
-            let name = rcl_sys::rcl_publisher_get_topic_name(&*self.r#impl);
+            let name = rcl_sys::rcl_publisher_get_topic_name(self.raw());
             String::from_c_char(name).unwrap()
         }
     }
 
     fn is_valid(&self) -> bool {
-        unsafe { rcl_sys::rcl_publisher_is_valid(&*self.r#impl) }
+        unsafe { rcl_sys::rcl_publisher_is_valid(self.raw()) }
     }
 
     fn subscription_count(&self) -> Result<usize> {
         let mut size = 0;
         unsafe {
-            rcl_sys::rcl_publisher_get_subscription_count(&*self.r#impl, &mut size)
+            rcl_sys::rcl_publisher_get_subscription_count(self.raw(), &mut size)
                 .to_result()
                 .with_context(|| {
                     "rcl_sys::rcl_publisher_get_subscription_count in RclPublisher::subscription_count"
diff --git a/rclrust/src/service.rs b/rclrust/src/service.rs
index 33764d31..a3b38dc7 100644
--- a/rclrust/src/service.rs
+++ b/rclrust/src/service.rs
@@ -22,7 +22,7 @@ use crate::{
 };
 
 #[derive(Debug)]
-pub struct RclService {
+pub(crate) struct RclService {
     r#impl: Box<rcl_sys::rcl_service_t>,
     node: Arc<Mutex<RclNode>>,
 }
@@ -57,6 +57,7 @@ impl RclService {
         })
     }
 
+    #[inline]
     pub const fn raw(&self) -> &rcl_sys::rcl_service_t {
         &self.r#impl
     }
@@ -71,7 +72,7 @@ impl RclService {
         let mut request = <Srv::Request as MessageT>::Raw::default();
         unsafe {
             rcl_sys::rcl_take_request(
-                &*self.r#impl,
+                self.raw(),
                 request_header.as_mut_ptr(),
                 &mut request as *mut _ as *mut c_void,
             )
@@ -92,7 +93,7 @@ impl RclService {
     {
         unsafe {
             rcl_sys::rcl_send_response(
-                &*self.r#impl,
+                self.raw(),
                 response_header,
                 &response.to_raw_ref() as *const _ as *mut c_void,
             )
@@ -103,13 +104,13 @@ impl RclService {
 
     fn service_name(&self) -> String {
         unsafe {
-            let name = rcl_sys::rcl_service_get_service_name(&*self.r#impl);
+            let name = rcl_sys::rcl_service_get_service_name(self.raw());
             String::from_c_char(name).unwrap()
         }
     }
 
     fn is_valid(&self) -> bool {
-        unsafe { rcl_sys::rcl_service_is_valid(&*self.r#impl) }
+        unsafe { rcl_sys::rcl_service_is_valid(self.raw()) }
     }
 }
 
diff --git a/rclrust/src/subscription.rs b/rclrust/src/subscription.rs
index 2094506e..7d139b7e 100644
--- a/rclrust/src/subscription.rs
+++ b/rclrust/src/subscription.rs
@@ -59,6 +59,7 @@ impl RclSubscription {
         })
     }
 
+    #[inline]
     pub const fn raw(&self) -> &rcl_sys::rcl_subscription_t {
         &self.r#impl
     }
@@ -70,7 +71,7 @@ impl RclSubscription {
         let mut message = T::Raw::default();
         unsafe {
             rcl_sys::rcl_take(
-                &*self.r#impl,
+                self.raw(),
                 &mut message as *mut _ as *mut c_void,
                 std::ptr::null_mut(),
                 std::ptr::null_mut(),
@@ -84,19 +85,19 @@ impl RclSubscription {
 
     fn topic_name(&self) -> String {
         unsafe {
-            let topic_name = rcl_sys::rcl_subscription_get_topic_name(&*self.r#impl);
+            let topic_name = rcl_sys::rcl_subscription_get_topic_name(self.raw());
             String::from_c_char(topic_name).unwrap()
         }
     }
 
     fn is_valid(&self) -> bool {
-        unsafe { rcl_sys::rcl_subscription_is_valid(&*self.r#impl) }
+        unsafe { rcl_sys::rcl_subscription_is_valid(self.raw()) }
     }
 
     fn publisher_count(&self) -> Result<usize> {
         let mut size = 0;
         unsafe {
-            rcl_sys::rcl_subscription_get_publisher_count(&*self.r#impl, &mut size)
+            rcl_sys::rcl_subscription_get_publisher_count(self.raw(), &mut size)
                 .to_result()
                 .with_context(|| {
                     "rcl_sys::rcl_subscription_get_publisher_count in RclSubscription::publisher_count"
diff --git a/rclrust/src/timer.rs b/rclrust/src/timer.rs
index 0ee9c978..46820799 100644
--- a/rclrust/src/timer.rs
+++ b/rclrust/src/timer.rs
@@ -43,6 +43,7 @@ impl RclTimer {
         Ok(Self(timer))
     }
 
+    #[inline]
     pub const fn raw(&self) -> &rcl_sys::rcl_timer_t {
         &self.0
     }
@@ -51,7 +52,7 @@ impl RclTimer {
     fn is_ready(&self) -> Result<bool> {
         let mut ready = false;
         unsafe {
-            rcl_sys::rcl_timer_is_ready(&*self.0, &mut ready)
+            rcl_sys::rcl_timer_is_ready(self.raw(), &mut ready)
                 .to_result()
                 .with_context(|| "rcl_sys::rcl_timer_is_ready in RclTimer::is_ready")?;
         }