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using SharedPtrCallback = std::function< |
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void ( |
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std::shared_ptr<typename ServiceT::Request>, |
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std::shared_ptr<typename ServiceT::Response> |
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)>; |
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using SharedPtrWithRequestHeaderCallback = std::function< |
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void ( |
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std::shared_ptr<rmw_request_id_t>, |
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std::shared_ptr<typename ServiceT::Request>, |
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std::shared_ptr<typename ServiceT::Response> |
|
)>; |
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using SharedPtrDeferResponseCallback = std::function< |
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void ( |
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std::shared_ptr<rmw_request_id_t>, |
|
std::shared_ptr<typename ServiceT::Request> |
|
)>; |
|
using SharedPtrDeferResponseCallbackWithServiceHandle = std::function< |
|
void ( |
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std::shared_ptr<rclcpp::Service<ServiceT>>, |
|
std::shared_ptr<rmw_request_id_t>, |
|
std::shared_ptr<typename ServiceT::Request> |
|
)>; |
|
|
|
std::variant< |
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std::monostate, |
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SharedPtrCallback, |
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SharedPtrWithRequestHeaderCallback, |
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SharedPtrDeferResponseCallback, |
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SharedPtrDeferResponseCallbackWithServiceHandle> callback_; |
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}; |
Would it be a good idea to support a service callback with a const reference and reference for services? At least for the overload without the request id.
Many services are able to return immediately and does not need the request/response object lifetime to exceed the call site. In general, it's also much cheaper to copy a small struct instead of doing atomic increments/decrements of shared pointers.
