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check request header for intraprocess #139

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Merged
merged 2 commits into from
Feb 1, 2024
Merged

check request header for intraprocess #139

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c6736c1
check request header for intraprocess
bpwilcox Feb 1, 2024
a90896e
set request header intraprocess to false in execute_service
bpwilcox Feb 1, 2024
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1 change: 1 addition & 0 deletions rclcpp/include/rclcpp/experimental/service_intra_process.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -160,6 +160,7 @@ class ServiceIntraProcess : public ServiceIntraProcessBase
// we are overloading the rmw_request_id semantics to provide the intra process client ID.
auto req_id = std::make_shared<rmw_request_id_t>();
req_id->sequence_number = intra_process_client_id;
req_id->from_intra_process = true;

SharedResponse response = any_callback_.dispatch(serv_handle, req_id, std::move(typed_request));

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8 changes: 6 additions & 2 deletions rclcpp/include/rclcpp/service.hpp
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Expand Up @@ -545,8 +545,12 @@ class Service
void
send_response(rmw_request_id_t & req_id, typename ServiceT::Response & response)
{
if (use_intra_process_)
{
if (!use_intra_process_ && req_id.from_intra_process) {
throw std::invalid_argument(
"intraprocess request incompatible with non-intraprocess service");
}

if (use_intra_process_ && req_id.from_intra_process) {
auto intra_response = std::make_shared<typename ServiceT::Response>(response);
// The sequence number here is used as a proxy for the intra-process client ID
service_intra_process_->send_response(req_id.sequence_number, intra_response);
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