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Move request header to a separate structure

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This commit is contained in:
Esteve Fernandez 2015-01-07 14:15:46 -08:00
parent 81040198e1
commit 180c0f9016
3 changed files with 6 additions and 6 deletions
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2
rclcpp/include/rclcpp/node.hpp
View file

@ -101,7 +101,7 @@ public:
typename rclcpp::service::Service<ServiceT>::SharedPtr typename rclcpp::service::Service<ServiceT>::SharedPtr
create_service( create_service(
std::string service_name, std::string service_name,
std::function<void(const std::shared_ptr<typename ServiceT::Request> &, std::function<void(const std::shared_ptr<typename ServiceT::RequestWithHeader> &,
std::shared_ptr<typename ServiceT::Response>&)> callback, std::shared_ptr<typename ServiceT::Response>&)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr); rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr);

2
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -187,7 +187,7 @@ template <typename ServiceT>
typename service::Service<ServiceT>::SharedPtr typename service::Service<ServiceT>::SharedPtr
Node::create_service( Node::create_service(
std::string service_name, std::string service_name,
std::function<void(const std::shared_ptr<typename ServiceT::Request> &, std::function<void(const std::shared_ptr<typename ServiceT::RequestWithHeader> &,
std::shared_ptr<typename ServiceT::Response>&)> callback, std::shared_ptr<typename ServiceT::Response>&)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group) rclcpp::callback_group::CallbackGroup::SharedPtr group)
{ {

8
rclcpp/include/rclcpp/service.hpp
View file

@ -70,7 +70,7 @@ class Service : public ServiceBase
{ {
public: public:
typedef std::function< typedef std::function<
void(const std::shared_ptr<typename ServiceT::Request> &, void(const std::shared_ptr<typename ServiceT::RequestWithHeader> &,
std::shared_ptr<typename ServiceT::Response>&)> CallbackType; std::shared_ptr<typename ServiceT::Response>&)> CallbackType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Service); RCLCPP_MAKE_SHARED_DEFINITIONS(Service);
@ -83,19 +83,19 @@ public:
std::shared_ptr<void> create_request() std::shared_ptr<void> create_request()
{ {
return std::shared_ptr<void>(new typename ServiceT::Request()); return std::shared_ptr<void>(new typename ServiceT::RequestWithHeader());
} }
void handle_request(std::shared_ptr<void> &request) void handle_request(std::shared_ptr<void> &request)
{ {
auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request); auto typed_request = std::static_pointer_cast<typename ServiceT::RequestWithHeader>(request);
auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response); auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
callback_(typed_request, response); callback_(typed_request, response);
send_response(typed_request, response); send_response(typed_request, response);
} }
void send_response( void send_response(
std::shared_ptr<typename ServiceT::Request> &request, std::shared_ptr<typename ServiceT::RequestWithHeader> &request,
std::shared_ptr<typename ServiceT::Response> &response) std::shared_ptr<typename ServiceT::Response> &response)
{ {
::ros_middleware_interface::send_response(get_service_handle(), request.get(), response.get()); ::ros_middleware_interface::send_response(get_service_handle(), request.get(), response.get());