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Extend async_request to take accept a callback as an argument

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This commit is contained in:
Esteve Fernandez 2015-01-15 18:24:45 -08:00
parent 8332480c85
commit 444b56c281
1 changed files with 20 additions and 8 deletions
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28
rclcpp/include/rclcpp/client.hpp
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@ -74,9 +74,11 @@ template<typename ServiceT>
class Client : public ClientBase class Client : public ClientBase
{ {
public: public:
typedef std::promise<typename ServiceT::Response::Ptr> Promise; typedef std::promise<typename ServiceT::Response::Ptr> Promise;
typedef std::shared_ptr<Promise> SharedPromise; typedef std::shared_ptr<Promise> SharedPromise;
typedef std::shared_future<typename ServiceT::Response::Ptr> SharedFuture; typedef std::shared_future<typename ServiceT::Response::Ptr> SharedFuture;
typedef std::function<void(SharedFuture)> CallbackType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Client); RCLCPP_MAKE_SHARED_DEFINITIONS(Client);
@ -106,29 +108,39 @@ public:
auto typed_req_id = std::static_pointer_cast<ros_middleware_interface::RequestId>(req_id); auto typed_req_id = std::static_pointer_cast<ros_middleware_interface::RequestId>(req_id);
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_req_id->sequence_number; int64_t sequence_number = typed_req_id->sequence_number;
auto pair = this->pending_requests_[sequence_number]; auto tuple = this->pending_requests_[sequence_number];
auto call_promise = pair.first; auto call_promise = std::get<0>(tuple);
auto callback = std::get<1>(tuple);
auto future = std::get<2>(tuple);
this->pending_requests_.erase(sequence_number); this->pending_requests_.erase(sequence_number);
call_promise->set_value(typed_response); call_promise->set_value(typed_response);
callback(future);
} }
SharedFuture async_send_request( SharedFuture async_send_request(
typename ServiceT::Request::Ptr &request, typename ServiceT::Request::Ptr &request,
typename ServiceT::Response::Ptr &response) typename ServiceT::Response::Ptr &response)
{
return async_send_request(request, response, [] (SharedFuture f) { });
}
SharedFuture async_send_request(
typename ServiceT::Request::Ptr &request,
typename ServiceT::Response::Ptr &response,
CallbackType cb)
{ {
int64_t sequence_number = ::ros_middleware_interface::send_request(get_client_handle(), request.get()); int64_t sequence_number = ::ros_middleware_interface::send_request(get_client_handle(), request.get());
SharedPromise call_promise = std::make_shared<Promise>(); SharedPromise call_promise = std::make_shared<Promise>();
pending_requests_[sequence_number] = std::make_pair(call_promise, response);
SharedFuture f(call_promise->get_future()); SharedFuture f(call_promise->get_future());
pending_requests_[sequence_number] = std::make_tuple(call_promise, cb, f);
return f; return f;
} }
private: private:
RCLCPP_DISABLE_COPY(Client); RCLCPP_DISABLE_COPY(Client);
std::map<int64_t, std::pair<SharedPromise, typename ServiceT::Response::Ptr> > pending_requests_; std::map<int64_t, std::tuple<SharedPromise, CallbackType, SharedFuture> > pending_requests_;
}; };
} /* namespace client */ } /* namespace client */