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Adjust rclcpp usage of get_type_description_service #2344

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merged 1 commit into from
Oct 30, 2023
Merged

Adjust rclcpp usage of get_type_description_service #2344

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25 changes: 4 additions & 21 deletions rclcpp/src/rclcpp/node_interfaces/node_type_descriptions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_service_t>();
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",
Expand All @@ -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<ServiceT> cb;
cb.set(
[this](
Expand All @@ -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(
Expand Down
16 changes: 7 additions & 9 deletions rclcpp/test/rclcpp/node_interfaces/test_node_type_descriptions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
Expand All @@ -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());
}