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Refactored to split request messages

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This commit is contained in:
Esteve Fernandez 2015-01-08 09:53:24 -08:00
parent 180c0f9016
commit 4b290d66e8
4 changed files with 29 additions and 13 deletions
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6
rclcpp/include/rclcpp/executor.hpp
View file

@ -171,12 +171,14 @@ protected:
rclcpp::service::ServiceBase::SharedPtr &service)
{
std::shared_ptr<void> request = service->create_request();
std::shared_ptr<void> request_header = service->create_request_header();
bool taken = ros_middleware_interface::take_request(
service->service_handle_,
request.get());
request.get(),
request_header.get());
if (taken)
{
service->handle_request(request);
service->handle_request(request, request_header);
}
else
{

5
rclcpp/include/rclcpp/node.hpp
View file

@ -29,6 +29,8 @@
#include <rclcpp/subscription.hpp>
#include <rclcpp/timer.hpp>
#include <userland_msgs/RequestId.h>
namespace rclcpp
{
@ -101,7 +103,8 @@ public:
typename rclcpp::service::Service<ServiceT>::SharedPtr
create_service(
std::string service_name,
std::function<void(const std::shared_ptr<typename ServiceT::RequestWithHeader> &,
std::function<void(const std::shared_ptr<typename ServiceT::Request> &,
const std::shared_ptr<userland_msgs::RequestId> &,
std::shared_ptr<typename ServiceT::Response>&)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group=nullptr);

3
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -187,7 +187,8 @@ template <typename ServiceT>
typename service::Service<ServiceT>::SharedPtr
Node::create_service(
std::string service_name,
std::function<void(const std::shared_ptr<typename ServiceT::RequestWithHeader> &,
std::function<void(const std::shared_ptr<typename ServiceT::Request> &,
const std::shared_ptr<userland_msgs::RequestId> &,
std::shared_ptr<typename ServiceT::Response>&)> callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group)
{

28
rclcpp/include/rclcpp/service.hpp
View file

@ -23,6 +23,8 @@
#include <rclcpp/macros.hpp>
#include <userland_msgs/RequestId.h>
namespace rclcpp
{
@ -55,7 +57,8 @@ public:
}
virtual std::shared_ptr<void> create_request() = 0;
virtual void handle_request(std::shared_ptr<void> &request) = 0;
virtual std::shared_ptr<void> create_request_header() = 0;
virtual void handle_request(std::shared_ptr<void> &request, std::shared_ptr<void> &req_id) = 0;
private:
RCLCPP_DISABLE_COPY(ServiceBase);
@ -70,7 +73,8 @@ class Service : public ServiceBase
{
public:
typedef std::function<
void(const std::shared_ptr<typename ServiceT::RequestWithHeader> &,
void(const std::shared_ptr<typename ServiceT::Request> &,
const std::shared_ptr<userland_msgs::RequestId> &,
std::shared_ptr<typename ServiceT::Response>&)> CallbackType;
RCLCPP_MAKE_SHARED_DEFINITIONS(Service);
@ -83,22 +87,28 @@ public:
std::shared_ptr<void> create_request()
{
return std::shared_ptr<void>(new typename ServiceT::RequestWithHeader());
return std::shared_ptr<void>(new typename ServiceT::Request());
}
void handle_request(std::shared_ptr<void> &request)
std::shared_ptr<void> create_request_header()
{
auto typed_request = std::static_pointer_cast<typename ServiceT::RequestWithHeader>(request);
return std::shared_ptr<void>(new userland_msgs::RequestId());
}
void handle_request(std::shared_ptr<void> &request, std::shared_ptr<void> &req_id)
{
auto typed_request = std::static_pointer_cast<typename ServiceT::Request>(request);
auto typed_req_id = std::static_pointer_cast<userland_msgs::RequestId>(req_id);
auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
callback_(typed_request, response);
send_response(typed_request, response);
callback_(typed_request, typed_req_id, response);
send_response(typed_req_id, response);
}
void send_response(
std::shared_ptr<typename ServiceT::RequestWithHeader> &request,
std::shared_ptr<userland_msgs::RequestId> &req_id,
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(), req_id.get(), response.get());
}
private: