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Do not pass RequestId to the server callback. Use RequestId from rpc.h

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This commit is contained in:
Esteve Fernandez 2015-01-09 17:14:27 -08:00
parent 3e0621a1ff
commit e91563640e
3 changed files with 5 additions and 10 deletions
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3
rclcpp/include/rclcpp/node.hpp
View file

@ -29,8 +29,6 @@
#include <rclcpp/subscription.hpp>
#include <rclcpp/timer.hpp>
#include <userland_msgs/RequestId.h>
namespace rclcpp
{
@ -104,7 +102,6 @@ public:
create_service(
std::string service_name,
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);

1
rclcpp/include/rclcpp/node_impl.hpp
View file

@ -188,7 +188,6 @@ typename service::Service<ServiceT>::SharedPtr
Node::create_service(
std::string service_name,
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)
{

11
rclcpp/include/rclcpp/service.hpp
View file

@ -20,10 +20,10 @@
#include <ros_middleware_interface/functions.h>
#include <ros_middleware_interface/handles.h>
#include <ros_middleware_interface/rpc.h>
#include <rclcpp/macros.hpp>
#include <userland_msgs/RequestId.h>
namespace rclcpp
{
@ -74,7 +74,6 @@ class Service : public ServiceBase
public:
typedef std::function<
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);
@ -92,20 +91,20 @@ public:
std::shared_ptr<void> create_request_header()
{
return std::shared_ptr<void>(new userland_msgs::RequestId());
return std::shared_ptr<void>(new ros_middleware_interface::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 typed_req_id = std::static_pointer_cast<ros_middleware_interface::RequestId>(req_id);
auto response = std::shared_ptr<typename ServiceT::Response>(new typename ServiceT::Response);
callback_(typed_request, typed_req_id, response);
callback_(typed_request, response);
send_response(typed_req_id, response);
}
void send_response(
std::shared_ptr<userland_msgs::RequestId> &req_id,
std::shared_ptr<ros_middleware_interface::RequestId> &req_id,
std::shared_ptr<typename ServiceT::Response> &response)
{
::ros_middleware_interface::send_response(get_service_handle(), req_id.get(), response.get());