From cd03ed7a8aa1da9df9da0a8e492930f7cbaa29d1 Mon Sep 17 00:00:00 2001 From: Michael Carroll Date: Sat, 28 Oct 2023 02:35:40 +0000 Subject: [PATCH] Adjust rclcpp usage of type description service Signed-off-by: Michael Carroll --- .../node_type_descriptions.cpp | 25 +++---------------- .../test_node_type_descriptions.cpp | 16 ++++++------ 2 files changed, 11 insertions(+), 30 deletions(-) diff --git a/rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp b/rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp index f4b5e20d30..2a50230bbe 100644 --- a/rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp +++ b/rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp @@ -84,8 +84,10 @@ class NodeTypeDescriptions::NodeTypeDescriptionsImpl } if (enabled) { - auto rcl_node = node_base->get_rcl_node_handle(); - rcl_ret_t rcl_ret = rcl_node_type_description_service_init(rcl_node); + auto * rcl_node = node_base->get_rcl_node_handle(); + auto rcl_srv = std::make_shared(); + rcl_ret_t rcl_ret = rcl_node_type_description_service_init(rcl_srv.get(), rcl_node); + if (rcl_ret != RCL_RET_OK) { RCLCPP_ERROR( logger_, "Failed to initialize ~/get_type_description_service: %s", @@ -94,13 +96,6 @@ class NodeTypeDescriptions::NodeTypeDescriptionsImpl "Failed to initialize ~/get_type_description service."); } - rcl_service_t * rcl_srv = nullptr; - rcl_ret = rcl_node_get_type_description_service(rcl_node, &rcl_srv); - if (rcl_ret != RCL_RET_OK) { - throw std::runtime_error( - "Failed to get initialized ~/get_type_description service from rcl."); - } - rclcpp::AnyServiceCallback cb; cb.set( [this]( @@ -124,18 +119,6 @@ class NodeTypeDescriptions::NodeTypeDescriptionsImpl nullptr); } } - - ~NodeTypeDescriptionsImpl() - { - if ( - type_description_srv_ && - RCL_RET_OK != rcl_node_type_description_service_fini(node_base_->get_rcl_node_handle())) - { - RCLCPP_ERROR( - logger_, - "Error in shutdown of get_type_description service: %s", rcl_get_error_string().str); - } - } }; NodeTypeDescriptions::NodeTypeDescriptions( diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp index 79ef6c3bcf..1a4603528a 100644 --- a/rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp +++ b/rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp @@ -43,10 +43,9 @@ TEST_F(TestNodeTypeDescriptions, disabled_no_service) node_options.append_parameter_override("start_type_description_service", false); rclcpp::Node node{"node", "ns", node_options}; - rcl_node_t * rcl_node = node.get_node_base_interface()->get_rcl_node_handle(); - rcl_service_t * srv = nullptr; - rcl_ret_t ret = rcl_node_get_type_description_service(rcl_node, &srv); - ASSERT_EQ(RCL_RET_NOT_INIT, ret); + auto services = node.get_node_graph_interface()->get_service_names_and_types_by_node( + "node", "/ns"); + EXPECT_TRUE(services.find("/ns/node/get_type_description") == services.end()); } TEST_F(TestNodeTypeDescriptions, enabled_creates_service) @@ -55,9 +54,8 @@ TEST_F(TestNodeTypeDescriptions, enabled_creates_service) node_options.append_parameter_override("start_type_description_service", true); rclcpp::Node node{"node", "ns", node_options}; - rcl_node_t * rcl_node = node.get_node_base_interface()->get_rcl_node_handle(); - rcl_service_t * srv = nullptr; - rcl_ret_t ret = rcl_node_get_type_description_service(rcl_node, &srv); - ASSERT_EQ(RCL_RET_OK, ret); - ASSERT_NE(nullptr, srv); + auto services = node.get_node_graph_interface()->get_service_names_and_types_by_node( + "node", "/ns"); + + EXPECT_TRUE(services.find("/ns/node/get_type_description") != services.end()); }