-give service function a 3rd parameter (<rmw_request_id_t> request_he…

…ader) -revert workflow file main.yaml
PepperlFuchs · Oct 15, 2024 · fc2ab5a · fc2ab5a
1 parent ebf13c2
commit fc2ab5a
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Showing 4 changed files with 63 additions and 23 deletions.
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -9,13 +9,12 @@ jobs:
     strategy:
       matrix:
         env:
-#          - {ROS_DISTRO: foxy, ROS_REPO: testing}
-#          - {ROS_DISTRO: foxy, CATKIN_LINT: true}
-#          - {ROS_DISTRO: foxy, CLANG_FORMAT_CHECK: file}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+          - {ROS_DISTRO: foxy, CATKIN_LINT: true}
+          - {ROS_DISTRO: foxy, CLANG_FORMAT_CHECK: file}
           - {ROS_DISTRO: galactic}
           - {ROS_DISTRO: humble}
           - {ROS_DISTRO: iron}
-          - {ROS_DISTRO: jazzy}          
     env:
       CCACHE_DIR: /github/home/.ccache # Directory for ccache (and how we enable ccache in industrial_ci)
     runs-on: ubuntu-latest

diff --git a/src/pf_driver/include/pf_driver/ros/pf_services.h b/src/pf_driver/include/pf_driver/ros/pf_services.h
@@ -17,42 +17,57 @@
 #include "pf_interfaces/srv/pfsdp_reset_iq_parameter.hpp"
 #include "pf_interfaces/srv/pfsdp_list_iq_parameters.hpp"
 
-void pfsdp_reboot_device(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpRebootDevice::Request> request,
+void pfsdp_reboot_device(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpRebootDevice::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpRebootDevice::Response> response);
 
-void pfsdp_factory_reset(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpFactoryReset::Request> request,
+void pfsdp_factory_reset(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpFactoryReset::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpFactoryReset::Response> response);
 
 void pfsdp_get_protocol_info(PFInterface* pf,
+                             const std::shared_ptr<rmw_request_id_t> request_header,
                              const std::shared_ptr<pf_interfaces::srv::PfsdpGetProtocolInfo::Request> request,
                              std::shared_ptr<pf_interfaces::srv::PfsdpGetProtocolInfo::Response> response);
 
 void pfsdp_list_parameters(PFInterface* pf,
+                           const std::shared_ptr<rmw_request_id_t> request_header,
                            const std::shared_ptr<pf_interfaces::srv::PfsdpListParameters::Request> request,
                            std::shared_ptr<pf_interfaces::srv::PfsdpListParameters::Response> response);
 
-void pfsdp_get_parameter(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpGetParameter::Request> request,
+void pfsdp_get_parameter(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpGetParameter::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpGetParameter::Response> response);
 
-void pfsdp_set_parameter(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpSetParameter::Request> request,
+void pfsdp_set_parameter(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpSetParameter::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpSetParameter::Response> response);
 
 void pfsdp_reset_parameter(PFInterface* pf,
+                           const std::shared_ptr<rmw_request_id_t> request_header,
                            const std::shared_ptr<pf_interfaces::srv::PfsdpResetParameter::Request> request,
                            std::shared_ptr<pf_interfaces::srv::PfsdpResetParameter::Response> response);
 
 void pfsdp_list_iq_parameters(PFInterface* pf,
+                              const std::shared_ptr<rmw_request_id_t> request_header,
                               const std::shared_ptr<pf_interfaces::srv::PfsdpListIqParameters::Request> request,
                               std::shared_ptr<pf_interfaces::srv::PfsdpListIqParameters::Response> response);
 
 void pfsdp_get_iq_parameter(PFInterface* pf,
+                            const std::shared_ptr<rmw_request_id_t> request_header,
                             const std::shared_ptr<pf_interfaces::srv::PfsdpGetIqParameter::Request> request,
                             std::shared_ptr<pf_interfaces::srv::PfsdpGetIqParameter::Response> response);
 
 void pfsdp_set_iq_parameter(PFInterface* pf,
+                            const std::shared_ptr<rmw_request_id_t> request_header,
                             const std::shared_ptr<pf_interfaces::srv::PfsdpSetIqParameter::Request> request,
                             std::shared_ptr<pf_interfaces::srv::PfsdpSetIqParameter::Response> response);
 
 void pfsdp_reset_iq_parameter(PFInterface* pf,
+                              const std::shared_ptr<rmw_request_id_t> request_header,
                               const std::shared_ptr<pf_interfaces::srv::PfsdpResetIqParameter::Request> request,
                               std::shared_ptr<pf_interfaces::srv::PfsdpResetIqParameter::Response> response);
diff --git a/src/pf_driver/src/pf/pf_interface.cpp b/src/pf_driver/src/pf/pf_interface.cpp
@@ -286,49 +286,60 @@ void PFInterface::add_pf_services(void)
 
   svcname = basename + "get_protocol_info";
   info_service_ = node_->create_service<pf_interfaces::srv::PfsdpGetProtocolInfo>(
-      svcname.c_str(), std::bind(&pfsdp_get_protocol_info, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_get_protocol_info, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   svcname = basename + "reboot_device";
   reboot_service_ = node_->create_service<pf_interfaces::srv::PfsdpRebootDevice>(
-      svcname.c_str(), std::bind(&pfsdp_reboot_device, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_reboot_device, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   svcname = basename + "factory_reset";
   factory_service_ = node_->create_service<pf_interfaces::srv::PfsdpFactoryReset>(
-      svcname.c_str(), std::bind(&pfsdp_factory_reset, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_factory_reset, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   svcname = basename + "list_parameters";
   listparams_service_ = node_->create_service<pf_interfaces::srv::PfsdpListParameters>(
-      svcname.c_str(), std::bind(&pfsdp_list_parameters, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_list_parameters, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   svcname = basename + "get_parameter";
   getparam_service_ = node_->create_service<pf_interfaces::srv::PfsdpGetParameter>(
-      svcname.c_str(), std::bind(&pfsdp_get_parameter, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_get_parameter, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   svcname = basename + "set_parameter";
   setparam_service_ = node_->create_service<pf_interfaces::srv::PfsdpSetParameter>(
-      svcname.c_str(), std::bind(&pfsdp_set_parameter, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_set_parameter, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   svcname = basename + "reset_parameter";
   resetparam_service_ = node_->create_service<pf_interfaces::srv::PfsdpResetParameter>(
-      svcname.c_str(), std::bind(&pfsdp_reset_parameter, this, std::placeholders::_1, std::placeholders::_2));
+      svcname.c_str(), std::bind(&pfsdp_reset_parameter, this, std::placeholders::_1,
+          std::placeholders::_2, std::placeholders::_3));
 
   if (has_iq_parameters_)
   {
     svcname = basename + "list_iq_parameters";
     listiqparams_service_ = node_->create_service<pf_interfaces::srv::PfsdpListIqParameters>(
-        svcname.c_str(), std::bind(&pfsdp_list_iq_parameters, this, std::placeholders::_1, std::placeholders::_2));
+        svcname.c_str(), std::bind(&pfsdp_list_iq_parameters, this, std::placeholders::_1,
+            std::placeholders::_2, std::placeholders::_3));
 
     svcname = basename + "get_iq_parameter";
     getiqparam_service_ = node_->create_service<pf_interfaces::srv::PfsdpGetIqParameter>(
-        svcname.c_str(), std::bind(&pfsdp_get_iq_parameter, this, std::placeholders::_1, std::placeholders::_2));
+        svcname.c_str(), std::bind(&pfsdp_get_iq_parameter, this, std::placeholders::_1,
+            std::placeholders::_2, std::placeholders::_3));
 
     svcname = basename + "set_iq_parameter";
     setiqparam_service_ = node_->create_service<pf_interfaces::srv::PfsdpSetIqParameter>(
-        svcname.c_str(), std::bind(&pfsdp_set_iq_parameter, this, std::placeholders::_1, std::placeholders::_2));
+        svcname.c_str(), std::bind(&pfsdp_set_iq_parameter, this, std::placeholders::_1,
+            std::placeholders::_2, std::placeholders::_3));
 
     svcname = basename + "reset_iq_parameter";
     resetiqparam_service_ = node_->create_service<pf_interfaces::srv::PfsdpResetIqParameter>(
-        svcname.c_str(), std::bind(&pfsdp_reset_iq_parameter, this, std::placeholders::_1, std::placeholders::_2));
+        svcname.c_str(), std::bind(&pfsdp_reset_iq_parameter, this, std::placeholders::_1,
+            std::placeholders::_2, std::placeholders::_3));
   }
 }
 

diff --git a/src/pf_driver/src/ros/pf_services.cpp b/src/pf_driver/src/ros/pf_services.cpp
@@ -5,19 +5,24 @@
 #include "pf_driver/ros/pf_services.h"
 #include "pf_driver/pf/pf_interface.h"
 
-void pfsdp_reboot_device(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpRebootDevice::Request> request,
+void pfsdp_reboot_device(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpRebootDevice::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpRebootDevice::Response> response)
 {
   pf->pfsdp_reboot(response->error_code, response->error_text);
 }
 
-void pfsdp_factory_reset(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpFactoryReset::Request> request,
+void pfsdp_factory_reset(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpFactoryReset::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpFactoryReset::Response> response)
 {
   pf->pfsdp_factory(response->error_code, response->error_text);
 }
 
 void pfsdp_get_protocol_info(PFInterface* pf,
+                             const std::shared_ptr<rmw_request_id_t> request_header,
                              const std::shared_ptr<pf_interfaces::srv::PfsdpGetProtocolInfo::Request> request,
                              std::shared_ptr<pf_interfaces::srv::PfsdpGetProtocolInfo::Response> response)
 {
@@ -26,32 +31,39 @@ void pfsdp_get_protocol_info(PFInterface* pf,
 }
 
 void pfsdp_list_parameters(PFInterface* pf,
+                           const std::shared_ptr<rmw_request_id_t> request_header,
                            const std::shared_ptr<pf_interfaces::srv::PfsdpListParameters::Request> request,
                            std::shared_ptr<pf_interfaces::srv::PfsdpListParameters::Response> response)
 {
   pf->pfsdp_list("list_parameters", "parameters", response->parameters, response->error_code, response->error_text);
 }
 
-void pfsdp_get_parameter(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpGetParameter::Request> request,
+void pfsdp_get_parameter(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpGetParameter::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpGetParameter::Response> response)
 {
   pf->pfsdp_get("get_parameter", request->name, response->value, response->error_code, response->error_text);
 }
 
-void pfsdp_set_parameter(PFInterface* pf, const std::shared_ptr<pf_interfaces::srv::PfsdpSetParameter::Request> request,
+void pfsdp_set_parameter(PFInterface* pf,
+                         const std::shared_ptr<rmw_request_id_t> request_header,
+                         const std::shared_ptr<pf_interfaces::srv::PfsdpSetParameter::Request> request,
                          std::shared_ptr<pf_interfaces::srv::PfsdpSetParameter::Response> response)
 {
   pf->pfsdp_set("set_parameter", request->name, request->value, response->error_code, response->error_text);
 }
 
 void pfsdp_reset_parameter(PFInterface* pf,
+                           const std::shared_ptr<rmw_request_id_t> request_header,
                            const std::shared_ptr<pf_interfaces::srv::PfsdpResetParameter::Request> request,
                            std::shared_ptr<pf_interfaces::srv::PfsdpResetParameter::Response> response)
 {
   pf->pfsdp_reset("reset_parameter", request->name, response->error_code, response->error_text);
 }
 
 void pfsdp_list_iq_parameters(PFInterface* pf,
+                              const std::shared_ptr<rmw_request_id_t> request_header,
                               const std::shared_ptr<pf_interfaces::srv::PfsdpListIqParameters::Request> request,
                               std::shared_ptr<pf_interfaces::srv::PfsdpListIqParameters::Response> response)
 {
@@ -60,20 +72,23 @@ void pfsdp_list_iq_parameters(PFInterface* pf,
 }
 
 void pfsdp_get_iq_parameter(PFInterface* pf,
+                            const std::shared_ptr<rmw_request_id_t> request_header,
                             const std::shared_ptr<pf_interfaces::srv::PfsdpGetIqParameter::Request> request,
                             std::shared_ptr<pf_interfaces::srv::PfsdpGetIqParameter::Response> response)
 {
   pf->pfsdp_get("get_iq_parameter", request->name, response->value, response->error_code, response->error_text);
 }
 
 void pfsdp_set_iq_parameter(PFInterface* pf,
+                            const std::shared_ptr<rmw_request_id_t> request_header,
                             const std::shared_ptr<pf_interfaces::srv::PfsdpSetIqParameter::Request> request,
                             std::shared_ptr<pf_interfaces::srv::PfsdpSetIqParameter::Response> response)
 {
   pf->pfsdp_set("set_iq_parameter", request->name, request->value, response->error_code, response->error_text);
 }
 
 void pfsdp_reset_iq_parameter(PFInterface* pf,
+                              const std::shared_ptr<rmw_request_id_t> request_header,
                               const std::shared_ptr<pf_interfaces::srv::PfsdpResetIqParameter::Request> request,
                               std::shared_ptr<pf_interfaces::srv::PfsdpResetIqParameter::Response> response)
 {