components/bridges/cu_zenoh_bridge/src/lib.rs:336

• Variable name shadowing: the parameter _ctx (a CuContext) shadows the local variable ctx (a ZenohContext). This creates confusion and could lead to bugs where the wrong context is referenced. Consider renaming the local variable to runtime_ctx or zenoh_ctx for clarity, similar to how it was done in the receive method (line 365) and in the ROS2 bridge.

    fn send<'a, Payload>(
        &mut self,
        _ctx: &CuContext,
        channel: &'static BridgeChannel<<Self::Tx as BridgeChannelSet>::Id, Payload>,
        msg: &CuMsg<Payload>,
    ) -> CuResult<()>
    where
        Payload: CuMsgPayload + 'a,
    {
        let ctx = self
            .ctx
            .as_mut()
            .ok_or_else(|| CuError::from("ZenohBridge: Context not initialized"))?;

examples/cu_monitoring/src/main.rs:117

• Inconsistent API: The CuMonitor trait methods start and stop still use &RobotClock instead of &CuContext, which is inconsistent with the changes made to CuTask, CuSrcTask, CuSinkTask, and CuBridge traits. This inconsistency means that monitor callbacks cannot access cl_id() or task_id() like other callbacks can. For API consistency and to meet the PR's goal of providing context to all callbacks, these methods should also be updated to use &CuContext.
  components/bridges/cu_iceoryx2_bridge/src/lib.rs:489
• Variable name shadowing: the parameter _ctx (a CuContext) shadows the local variable ctx (an IceoryxContext). This creates confusion and could lead to bugs where the wrong context is referenced. Consider renaming the local variable to runtime_ctx or iceoryx_ctx for clarity, similar to how it was done in the receive method at line 545.

    fn start(&mut self, _ctx: &CuContext) -> CuResult<()> {
        let mut builder = NodeBuilder::new();
        if let Some(name) = &self.node_name {
            builder = builder.name(name);
        }
        let node = builder
            .create::<IceoryxService>()
            .map_err(|e| CuError::new_with_cause("Iceoryx2Bridge: Failed to create node", e))?;

        let ctx = IceoryxContext::<Tx::Id, Rx::Id> {
            node,
            tx_channels: Vec::new(),
            rx_channels: Vec::new(),
        };
        self.ctx = Some(Box::new(RuntimeContext::new(ctx)));
        Ok(())

components/bridges/cu_iceoryx2_bridge/src/lib.rs:525

• Variable name shadowing: the parameter _ctx (a CuContext) shadows the local variable ctx (returned from self.ctx_mut()). This creates confusion and could lead to bugs where the wrong context is referenced. Consider renaming the local variable to runtime_ctx or iceoryx_ctx for clarity, similar to how it was done in the receive method at line 545.

    fn send<'a, Payload>(
        &mut self,
        _ctx: &CuContext,
        channel: &'static BridgeChannel<<Self::Tx as BridgeChannelSet>::Id, Payload>,
        msg: &CuMsg<Payload>,
    ) -> CuResult<()>
    where
        Payload: CuMsgPayload + 'a + 'static,
    {
        let cfg = self.find_tx_config(channel.id()).ok_or_else(|| {
            CuError::from(format!(
                "Iceoryx2Bridge: Unknown Tx channel {:?}",
                channel.id()
            ))
        })?;
        let service = cfg.service.clone();
        let max_payload_bytes = cfg.max_payload_bytes;

        let ctx = self.ctx_mut()?;

        if let Some(tx_channel) =
            Self::find_tx_channel_mut::<Payload>(&mut ctx.tx_channels, channel.id())?
        {
            return tx_channel.send(msg);
        }

        let mut new_channel =
            IceoryxTxChannel::<Payload>::new(&mut ctx.node, &service, max_payload_bytes)?;
        new_channel.send(msg)?;
        ctx.tx_channels.push(IceoryxTxChannelEntry {
            id: channel.id(),
            channel: Box::new(new_channel),
        });
        Ok(())

components/sources/cu_rp_encoder/src/lib.rs:145

• Unnecessary full context clone: The code clones the entire CuContext (which includes task_ids and other fields) just to access the clock in the interrupt handler. Since the interrupt handler only needs time access via clock.now(), consider cloning just the clock field instead: let clock = ctx.clock.clone();. This is more efficient and makes the intent clearer.

        let clock = ctx.clone();

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