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Added support for RTI Connext services. Update rmw_take* signatures

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This commit is contained in:
Esteve Fernandez 2015-03-06 12:11:22 -08:00
parent 25c8c567b4
commit 9daec001e2
2 changed files with 20 additions and 22 deletions
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20
rclcpp/include/rclcpp/executor.hpp
View file

@ -151,8 +151,8 @@ protected:
rclcpp::subscription::SubscriptionBase::SharedPtr &subscription) rclcpp::subscription::SubscriptionBase::SharedPtr &subscription)
{ {
std::shared_ptr<void> message = subscription->create_message(); std::shared_ptr<void> message = subscription->create_message();
auto taken = rmw_take(subscription->subscription_handle_, message.get()); bool taken = false;
// TODO(wjwwood): taken is no longer a boolean, check against return types. rmw_take(subscription->subscription_handle_, message.get(), &taken);
if (taken) if (taken)
{ {
subscription->handle_message(message); subscription->handle_message(message);
@ -178,9 +178,11 @@ protected:
{ {
std::shared_ptr<void> request = service->create_request(); std::shared_ptr<void> request = service->create_request();
std::shared_ptr<void> request_header = service->create_request_header(); std::shared_ptr<void> request_header = service->create_request_header();
bool taken = rmw_take_request(service->service_handle_, bool taken = false;
request.get(), rmw_take_request(service->service_handle_,
request_header.get()); request.get(),
request_header.get(),
&taken);
if (taken) if (taken)
{ {
service->handle_request(request, request_header); service->handle_request(request, request_header);
@ -199,9 +201,11 @@ protected:
{ {
std::shared_ptr<void> response = client->create_response(); std::shared_ptr<void> response = client->create_response();
std::shared_ptr<void> request_header = client->create_request_header(); std::shared_ptr<void> request_header = client->create_request_header();
bool taken = rmw_take_response(client->client_handle_, bool taken = false;
response.get(), taken = rmw_take_response(client->client_handle_,
request_header.get()); response.get(),
request_header.get(),
&taken);
if (taken) if (taken)
{ {
client->handle_response(response, request_header); client->handle_response(response, request_header);

22
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -65,10 +65,8 @@ Node::create_publisher(std::string topic_name, size_t queue_size)
{ {
using rosidl_generator_cpp::get_type_support_handle; using rosidl_generator_cpp::get_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>(); auto type_support_handle = get_type_support_handle<MessageT>();
auto publisher_handle = rmw_create_publisher(node_handle_, rmw_publisher_t * publisher_handle = rmw_create_publisher(
type_support_handle, node_handle_, type_support_handle, topic_name.c_str(), queue_size);
topic_name.c_str(),
queue_size);
return publisher::Publisher::make_shared(publisher_handle); return publisher::Publisher::make_shared(publisher_handle);
} }
@ -98,10 +96,8 @@ Node::create_subscription(
{ {
using rosidl_generator_cpp::get_type_support_handle; using rosidl_generator_cpp::get_type_support_handle;
auto type_support_handle = get_type_support_handle<MessageT>(); auto type_support_handle = get_type_support_handle<MessageT>();
auto subscriber_handle = rmw_create_subscription(node_handle_, rmw_subscription_t * subscriber_handle = rmw_create_subscription(
type_support_handle, node_handle_, type_support_handle, topic_name.c_str(), queue_size);
topic_name.c_str(),
queue_size);
using namespace rclcpp::subscription; using namespace rclcpp::subscription;
@ -171,9 +167,8 @@ Node::create_client(
auto service_type_support_handle = auto service_type_support_handle =
get_service_type_support_handle<ServiceT>(); get_service_type_support_handle<ServiceT>();
auto client_handle = rmw_create_client(this->node_handle_, rmw_client_t * client_handle = rmw_create_client(
service_type_support_handle, this->node_handle_, service_type_support_handle, service_name.c_str());
service_name.c_str());
using namespace rclcpp::client; using namespace rclcpp::client;
@ -211,9 +206,8 @@ Node::create_service(
auto service_type_support_handle = auto service_type_support_handle =
get_service_type_support_handle<ServiceT>(); get_service_type_support_handle<ServiceT>();
auto service_handle = rmw_create_service(this->node_handle_, rmw_service_t * service_handle = rmw_create_service(
service_type_support_handle, this->node_handle_, service_type_support_handle, service_name.c_str());
service_name.c_str());
using namespace rclcpp::service; using namespace rclcpp::service;