From b6245f29c3302849a85a6485a1c9a46d3fbb8111 Mon Sep 17 00:00:00 2001
From: Mauro Passerino <mpasserino@irobot.com>
Date: Wed, 23 Mar 2022 15:31:29 +0000
Subject: [PATCH] IPC Client/Service to match Subscription approach

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
---
 rclcpp/include/rclcpp/client.hpp  | 10 +++++-----
 rclcpp/include/rclcpp/service.hpp |  7 ++++---
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
index ff69dc1661..92dfddaee6 100644
--- a/rclcpp/include/rclcpp/client.hpp
+++ b/rclcpp/include/rclcpp/client.hpp
@@ -379,6 +379,9 @@ class ClientBase
     uint64_t intra_process_client_id,
     IntraProcessManagerWeakPtr weak_ipm);
 
+  std::shared_ptr<rclcpp::experimental::ClientIntraProcessBase> client_intra_process_;
+  std::atomic_uint ipc_sequence_number_{1};
+
   rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rclcpp::Context> context_;
@@ -898,6 +901,8 @@ class Client : public ClientBase
     }
 
     // Create a ClientIntraProcess which will be given to the intra-process manager.
+    using ClientIntraProcessT = rclcpp::experimental::ClientIntraProcess<ServiceT>;
+
     client_intra_process_ = std::make_shared<ClientIntraProcessT>(
       context_,
       this->get_service_name(),
@@ -919,11 +924,6 @@ class Client : public ClientBase
       CallbackInfoVariant>>
   pending_requests_;
   std::mutex pending_requests_mutex_;
-
-private:
-  using ClientIntraProcessT = rclcpp::experimental::ClientIntraProcess<ServiceT>;
-  std::shared_ptr<ClientIntraProcessT> client_intra_process_;
-  std::atomic_uint ipc_sequence_number_{1};
 };
 
 }  // namespace rclcpp
diff --git a/rclcpp/include/rclcpp/service.hpp b/rclcpp/include/rclcpp/service.hpp
index 515a3c363a..a4cbf0715a 100644
--- a/rclcpp/include/rclcpp/service.hpp
+++ b/rclcpp/include/rclcpp/service.hpp
@@ -289,6 +289,8 @@ class ServiceBase
     uint64_t intra_process_service_id,
     IntraProcessManagerWeakPtr weak_ipm);
 
+  std::shared_ptr<rclcpp::experimental::ServiceIntraProcessBase> service_intra_process_;
+
   std::shared_ptr<rcl_node_t> node_handle_;
   std::shared_ptr<rclcpp::Context> context_;
 
@@ -552,6 +554,8 @@ class Service
     }
 
     // Create a ServiceIntraProcess which will be given to the intra-process manager.
+    using ServiceIntraProcessT = rclcpp::experimental::ServiceIntraProcess<ServiceT>;
+
     service_intra_process_ = std::make_shared<ServiceIntraProcessT>(
       any_callback_,
       context_,
@@ -568,9 +572,6 @@ class Service
   RCLCPP_DISABLE_COPY(Service)
 
   AnyServiceCallback<ServiceT> any_callback_;
-
-  using ServiceIntraProcessT = rclcpp::experimental::ServiceIntraProcess<ServiceT>;
-  std::shared_ptr<ServiceIntraProcessT> service_intra_process_;
 };
 
 }  // namespace rclcpp