Address review findings (#84)

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
ros2 · Sep 18, 2023 · 64bc818 · 64bc818
1 parent 41f1820
commit 64bc818
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Showing 5 changed files with 15 additions and 14 deletions.
diff --git a/rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp b/rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp
@@ -166,18 +166,19 @@ std::map<std::string, std::string> get_service_names_and_types()
     iox::popo::MessagingPattern::REQ_RES);
 
   for (auto & server : available_servers) {
-    auto name_and_type = rmw_iceoryx_cpp::get_name_n_type_from_service_description(
+    /// @todo Use structured bindings once all platforms are on C++17
+    std::string name;
+    std::string type;
+    std::tie(name, type) = rmw_iceoryx_cpp::get_name_n_type_from_service_description(
       std::string(server.getServiceIDString().c_str()),
       std::string(server.getInstanceIDString().c_str()),
       std::string(server.getEventIDString().c_str()));
 
-    names_n_types[std::get<0>(name_and_type)] = std::get<1>(name_and_type);
+    names_n_types[name] = type;
     /// @todo There is no API to find out which 'ServiceDescription' is offered by which node,
     /// for now we use 'NodeFoo'..
-    servers_topics[std::string("NodeFoo")].push_back(
-      std::get<0>(
-        name_and_type));
-    topic_servers[std::get<0>(name_and_type)].push_back(std::string("NodeFoo"));
+    servers_topics[std::string("NodeFoo")].push_back(name);
+    topic_servers[name].push_back(std::string("NodeFoo"));
   }
 
   return names_n_types;

diff --git a/rmw_iceoryx_cpp/src/rmw_request.cpp b/rmw_iceoryx_cpp/src/rmw_request.cpp
@@ -139,10 +139,10 @@ rmw_take_request(
   iceoryx_server->take()
   .and_then(
     [&](const void * iceoryx_request_payload) {
-      const iox::mepoo::ChunkHeader * chunk_header =
+      const auto * chunk_header =
       iox::mepoo::ChunkHeader::fromUserPayload(
         iceoryx_request_payload);
-      const iox::popo::RequestHeader * iceoryx_request_header =
+      const auto * iceoryx_request_header =
       iox::popo::RequestHeader::fromPayload(
         iceoryx_request_payload);
 

diff --git a/rmw_iceoryx_cpp/src/rmw_response.cpp b/rmw_iceoryx_cpp/src/rmw_response.cpp
@@ -98,7 +98,6 @@ rmw_take_response(
             &iceoryx_client_abstraction->type_supports_,
             ros_response);
         }
-        iceoryx_client->releaseResponse(iceoryx_response_payload);
 
         *taken = true;
         ret = RMW_RET_OK;
@@ -107,6 +106,7 @@ rmw_take_response(
         *taken = false;
         ret = RMW_RET_ERROR;
       }
+      iceoryx_client->releaseResponse(iceoryx_response_payload);
     })
   .or_else(
     [&](auto &) {

diff --git a/rmw_iceoryx_cpp/src/types/iceoryx_client.hpp b/rmw_iceoryx_cpp/src/types/iceoryx_client.hpp
@@ -35,9 +35,9 @@ struct IceoryxClient
 
   rosidl_service_type_support_t type_supports_;
   iox::popo::UntypedClient * const iceoryx_client_;
-  bool is_fixed_size_;
-  size_t request_size_;
-  int64_t sequence_id_;
+  bool is_fixed_size_{false};
+  size_t request_size_{0};
+  int64_t sequence_id_{0};
 };
 
 #endif  // TYPES__ICEORYX_CLIENT_HPP_
diff --git a/rmw_iceoryx_cpp/src/types/iceoryx_server.hpp b/rmw_iceoryx_cpp/src/types/iceoryx_server.hpp
@@ -35,8 +35,8 @@ struct IceoryxServer
 
   rosidl_service_type_support_t type_supports_;
   iox::popo::UntypedServer * const iceoryx_server_;
-  bool is_fixed_size_;
-  size_t response_size_;
+  bool is_fixed_size_{false};
+  size_t response_size_{0};
   /// @todo The request payload pointer could also be added to 'rmw_request_id_t' if accepeted in
   /// ros2/rmw. For now, the limitation exists to always call 'rmw_take_request' followed by
   /// 'rmw_send_response' and not call e.g. 2x times 'rmw_take_request' and then