Mauro/ipc cli serv qos getters #9
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Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
alsora
reviewed
Dec 16, 2021
| @@ -581,7 +640,7 @@ class Client : public ClientBase | |||
| PromiseWithRequest promise; | |||
| auto shared_future = promise.get_future().share(); | |||
| auto req_id = async_send_request_impl( | |||
| *request, | |||
| request, | |||
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request is also used in line 646, if I move it, would be invalid
alsora
reviewed
Dec 16, 2021
| } | ||
| bool intra_process_server_available = ipm->service_is_available(intra_process_client_id_); | ||
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| if (intra_process_server_available) { |
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why if the server is not available we fall back to DDS comm?
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Because the server might be available in another process, or created with IPC OFF.
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Good point.
We should add a comment about it.
alsora
reviewed
Dec 16, 2021
rclcpp/include/rclcpp/client.hpp
Outdated
| int64_t sequence_number; | ||
| rcl_ret_t ret = rcl_send_request(get_client_handle().get(), &request, &sequence_number); | ||
| rcl_ret_t ret = rcl_send_request(get_client_handle().get(), &(*request), &sequence_number); |
alsora
reviewed
Dec 16, 2021
rclcpp/include/rclcpp/client.hpp
Outdated
| private: | ||
| using ClientIntraProcessT = rclcpp::experimental::ClientIntraProcess<ServiceT>; | ||
| std::shared_ptr<ClientIntraProcessT> client_intra_process_; | ||
| std::atomic_uint sequence_number_{1}; |
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should this be named "ipc_sequence_number_" ?
alsora
reviewed
Dec 16, 2021
| @@ -35,7 +35,8 @@ create_client( | |||
| std::shared_ptr<node_interfaces::NodeServicesInterface> node_services, | |||
| const std::string & service_name, | |||
| const rmw_qos_profile_t & qos_profile, | |||
| rclcpp::CallbackGroup::SharedPtr group) | |||
| rclcpp::CallbackGroup::SharedPtr group, | |||
| rclcpp::IntraProcessSetting ip_setting) | |||
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let's use ipc_setting for the variable name... ip_setting seems the network IP
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Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
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Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
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