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Merge pull request #199 from ros2/request_header

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Don't type-erase request header
This commit is contained in:
Jackie Kay 2016-02-29 16:59:08 -08:00
commit 249b7d80d8
3 changed files with 17 additions and 17 deletions
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14
rclcpp/include/rclcpp/client.hpp
View file

@ -58,9 +58,9 @@ public:
get_client_handle() const; get_client_handle() const;
virtual std::shared_ptr<void> create_response() = 0; virtual std::shared_ptr<void> create_response() = 0;
virtual std::shared_ptr<void> create_request_header() = 0; virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
virtual void handle_response( virtual void handle_response(
std::shared_ptr<void> request_header, std::shared_ptr<void> response) = 0; std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<void> response) = 0;
private: private:
RCLCPP_DISABLE_COPY(ClientBase); RCLCPP_DISABLE_COPY(ClientBase);
@ -104,19 +104,19 @@ public:
return std::shared_ptr<void>(new typename ServiceT::Response()); return std::shared_ptr<void>(new typename ServiceT::Response());
} }
std::shared_ptr<void> create_request_header() std::shared_ptr<rmw_request_id_t> create_request_header()
{ {
// TODO(wjwwood): This should probably use rmw_request_id's allocator. // TODO(wjwwood): This should probably use rmw_request_id's allocator.
// (since it is a C type) // (since it is a C type)
return std::shared_ptr<void>(new rmw_request_id_t); return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
} }
void handle_response(std::shared_ptr<void> request_header, std::shared_ptr<void> response) void handle_response(std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> response)
{ {
std::lock_guard<std::mutex> lock(pending_requests_mutex_); std::lock_guard<std::mutex> lock(pending_requests_mutex_);
auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response); auto typed_response = std::static_pointer_cast<typename ServiceT::Response>(response);
int64_t sequence_number = typed_request_header->sequence_number; int64_t sequence_number = request_header->sequence_number;
// TODO(esteve) this should throw instead since it is not expected to happen in the first place // TODO(esteve) this should throw instead since it is not expected to happen in the first place
if (this->pending_requests_.count(sequence_number) == 0) { if (this->pending_requests_.count(sequence_number) == 0) {
fprintf(stderr, "Received invalid sequence number. Ignoring...\n"); fprintf(stderr, "Received invalid sequence number. Ignoring...\n");

16
rclcpp/include/rclcpp/service.hpp
View file

@ -55,9 +55,9 @@ public:
get_service_handle(); get_service_handle();
virtual std::shared_ptr<void> create_request() = 0; virtual std::shared_ptr<void> create_request() = 0;
virtual std::shared_ptr<void> create_request_header() = 0; virtual std::shared_ptr<rmw_request_id_t> create_request_header() = 0;
virtual void handle_request( virtual void handle_request(
std::shared_ptr<void> request_header, std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> request) = 0; std::shared_ptr<void> request) = 0;
private: private:
@ -102,20 +102,20 @@ public:
return std::shared_ptr<void>(new typename ServiceT::Request()); return std::shared_ptr<void>(new typename ServiceT::Request());
} }
std::shared_ptr<void> create_request_header() std::shared_ptr<rmw_request_id_t> create_request_header()
{ {
// TODO(wjwwood): This should probably use rmw_request_id's allocator. // TODO(wjwwood): This should probably use rmw_request_id's allocator.
// (since it is a C type) // (since it is a C type)
return std::shared_ptr<void>(new rmw_request_id_t); return std::shared_ptr<rmw_request_id_t>(new rmw_request_id_t);
} }
void handle_request(std::shared_ptr<void> request_header, std::shared_ptr<void> request) void handle_request(std::shared_ptr<rmw_request_id_t> request_header,
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::Request>(request);
auto typed_request_header = std::static_pointer_cast<rmw_request_id_t>(request_header);
auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response); auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
any_callback_.dispatch(typed_request_header, typed_request, response); any_callback_.dispatch(request_header, typed_request, response);
send_response(typed_request_header, response); send_response(request_header, response);
} }
void send_response( void send_response(

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

@ -287,7 +287,7 @@ void
Executor::execute_service( Executor::execute_service(
rclcpp::service::ServiceBase::SharedPtr service) rclcpp::service::ServiceBase::SharedPtr service)
{ {
std::shared_ptr<void> request_header = service->create_request_header(); auto request_header = service->create_request_header();
std::shared_ptr<void> request = service->create_request(); std::shared_ptr<void> request = service->create_request();
bool taken = false; bool taken = false;
rmw_ret_t status = rmw_take_request( rmw_ret_t status = rmw_take_request(
@ -310,7 +310,7 @@ void
Executor::execute_client( Executor::execute_client(
rclcpp::client::ClientBase::SharedPtr client) rclcpp::client::ClientBase::SharedPtr client)
{ {
std::shared_ptr<void> request_header = client->create_request_header(); auto request_header = client->create_request_header();
std::shared_ptr<void> response = client->create_response(); std::shared_ptr<void> response = client->create_response();
bool taken = false; bool taken = false;
rmw_ret_t status = rmw_take_response( rmw_ret_t status = rmw_take_response(