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Allow client to trigger another service call from its callback (#415)

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dhood 2017-12-03 17:11:50 -08:00 • committed by GitHub
parent 284dc17918
commit e9f0328ec8
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1 changed files with 4 additions and 1 deletions
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5
rclcpp/include/rclcpp/client.hpp
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@ -197,7 +197,7 @@ public:
std::shared_ptr<rmw_request_id_t> request_header, std::shared_ptr<rmw_request_id_t> request_header,
std::shared_ptr<void> response) std::shared_ptr<void> response)
{ {
std::lock_guard<std::mutex> lock(pending_requests_mutex_); std::unique_lock<std::mutex> lock(pending_requests_mutex_);
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 = 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
@ -210,6 +210,9 @@ public:
auto callback = std::get<1>(tuple); auto callback = std::get<1>(tuple);
auto future = std::get<2>(tuple); auto future = std::get<2>(tuple);
this->pending_requests_.erase(sequence_number); this->pending_requests_.erase(sequence_number);
// Unlock here to allow the service to be called recursively from one of its callbacks.
lock.unlock();
call_promise->set_value(typed_response); call_promise->set_value(typed_response);
callback(future); callback(future);
} }