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always get service name from rcl to account for remapping (#498)

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William Woodall 2018-06-14 21:42:00 -07:00 • committed by GitHub
parent 1b87970d8e
commit 1556b6edf4
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 13 additions and 41 deletions
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9
rclcpp/include/rclcpp/client.hpp
View file

@ -57,14 +57,13 @@ public:
RCLCPP_PUBLIC
ClientBase(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
const std::string & service_name);
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph);
RCLCPP_PUBLIC
virtual ~ClientBase();
RCLCPP_PUBLIC
const std::string &
const char *
get_service_name() const;
RCLCPP_PUBLIC
@ -113,8 +112,6 @@ protected:
std::shared_ptr<rcl_node_t> node_handle_;
std::shared_ptr<rcl_client_t> client_handle_;
std::string service_name_;
};
template<typename ServiceT>
@ -143,7 +140,7 @@ public:
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
const std::string & service_name,
rcl_client_options_t & client_options)
: ClientBase(node_base, node_graph, service_name)
: ClientBase(node_base, node_graph)
{
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle =

21
rclcpp/include/rclcpp/service.hpp
View file

@ -42,11 +42,6 @@ class ServiceBase
public:
RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(ServiceBase)
RCLCPP_PUBLIC
ServiceBase(
std::shared_ptr<rcl_node_t> node_handle,
const std::string & service_name);
RCLCPP_PUBLIC
explicit ServiceBase(
std::shared_ptr<rcl_node_t> node_handle);
@ -55,7 +50,7 @@ public:
virtual ~ServiceBase();
RCLCPP_PUBLIC
std::string
const char *
get_service_name();
RCLCPP_PUBLIC
@ -86,7 +81,6 @@ protected:
std::shared_ptr<rcl_node_t> node_handle_;
std::shared_ptr<rcl_service_t> service_handle_;
std::string service_name_;
bool owns_rcl_handle_ = true;
};
@ -111,7 +105,7 @@ public:
const std::string & service_name,
AnyServiceCallback<ServiceT> any_callback,
rcl_service_options_t & service_options)
: ServiceBase(node_handle, service_name), any_callback_(any_callback)
: ServiceBase(node_handle), any_callback_(any_callback)
{
using rosidl_typesupport_cpp::get_service_type_support_handle;
auto service_type_support_handle = get_service_type_support_handle<ServiceT>();
@ -177,12 +171,7 @@ public:
// *INDENT-ON*
}
const char * service_name = rcl_service_get_service_name(service_handle.get());
if (!service_name) {
throw std::runtime_error("failed to get service name");
}
service_handle_ = service_handle;
service_name_ = std::string(service_name);
}
Service(
@ -200,12 +189,6 @@ public:
// *INDENT-ON*
}
const char * service_name = rcl_service_get_service_name(service_handle);
if (!service_name) {
throw std::runtime_error("failed to get service name");
}
service_name_ = std::string(service_name);
// In this case, rcl owns the service handle memory
service_handle_ = std::shared_ptr<rcl_service_t>(new rcl_service_t);
service_handle_->impl = service_handle->impl;

10
rclcpp/src/rclcpp/client.cpp
View file

@ -35,11 +35,9 @@ using rclcpp::exceptions::throw_from_rcl_error;
ClientBase::ClientBase(
rclcpp::node_interfaces::NodeBaseInterface * node_base,
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
const std::string & service_name)
rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph)
: node_graph_(node_graph),
node_handle_(node_base->get_shared_rcl_node_handle()),
service_name_(service_name)
node_handle_(node_base->get_shared_rcl_node_handle())
{
std::weak_ptr<rcl_node_t> weak_node_handle(node_handle_);
client_handle_ = std::shared_ptr<rcl_client_t>(
@ -70,10 +68,10 @@ ClientBase::~ClientBase()
client_handle_.reset();
}
const std::string &
const char *
ClientBase::get_service_name() const
{
return this->service_name_;
return rcl_client_get_service_name(this->get_client_handle().get());
}
std::shared_ptr<rcl_client_t>

4
rclcpp/src/rclcpp/executor.cpp
View file

@ -345,7 +345,7 @@ Executor::execute_service(
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"take request failed for server of service '%s': %s",
service->get_service_name().c_str(), rcl_get_error_string_safe());
service->get_service_name(), rcl_get_error_string_safe());
rcl_reset_error();
}
}
@ -366,7 +366,7 @@ Executor::execute_client(
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"take response failed for client of service '%s': %s",
client->get_service_name().c_str(), rcl_get_error_string_safe());
client->get_service_name(), rcl_get_error_string_safe());
rcl_reset_error();
}
}

10
rclcpp/src/rclcpp/service.cpp
View file

@ -27,12 +27,6 @@
using rclcpp::ServiceBase;
ServiceBase::ServiceBase(
std::shared_ptr<rcl_node_t> node_handle,
const std::string & service_name)
: node_handle_(node_handle), service_name_(service_name)
{}
ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
: node_handle_(node_handle)
{}
@ -40,10 +34,10 @@ ServiceBase::ServiceBase(std::shared_ptr<rcl_node_t> node_handle)
ServiceBase::~ServiceBase()
{}
std::string
const char *
ServiceBase::get_service_name()
{
return this->service_name_;
return rcl_service_get_service_name(this->get_service_handle().get());
}
std::shared_ptr<rcl_service_t>