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Prevent promises from going out of scope prematurely
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@esteve
esteve committed Jun 25, 2015
1 parent e39af18 commit 94ece10
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Showing 2 changed files with 36 additions and 29 deletions.
4 changes: 2 additions & 2 deletions rclcpp/include/rclcpp/node_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -383,8 +383,8 @@ Node::list_parameters(
size_t last_separator = kv.first.find_last_of('.');
if (std::string::npos != last_separator) {
std::string prefix = kv.first.substr(0, last_separator);
if (std::find(result.prefixes.cbegin(), result.prefixes.cend(),
prefix) == result.prefixes.cend())
if (std::find(result.prefixes.cbegin(), result.prefixes.cend(), prefix) ==
result.prefixes.cend())
{
result.prefixes.push_back(prefix);
}
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61 changes: 34 additions & 27 deletions rclcpp/include/rclcpp/parameter_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,28 +73,30 @@ class AsyncParametersClient
std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterVariant>>)> callback = nullptr)
{
std::promise<std::vector<rclcpp::parameter::ParameterVariant>> promise_result;
auto future_result = promise_result.get_future().share();
auto promise_result =
std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterVariant>>>();
auto future_result = promise_result->get_future().share();

auto request = std::make_shared<rcl_interfaces::srv::GetParameters::Request>();
request->names = names;

get_parameters_client_->async_send_request(
request,
[&names, &promise_result, &future_result, &callback](
[request, promise_result, future_result, &callback](
rclcpp::client::Client<rcl_interfaces::srv::GetParameters>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterVariant> parameter_variants;
auto & pvalues = cb_f.get()->values;

std::transform(pvalues.begin(), pvalues.end(), std::back_inserter(parameter_variants),
[&names, &pvalues](rcl_interfaces::msg::ParameterValue pvalue) {
for (auto & pvalue : pvalues) {
auto i = &pvalue - &pvalues[0];
rcl_interfaces::msg::Parameter parameter;
parameter.name = names[i];
parameter.name = request->names[i];
parameter.value = pvalue;
return rclcpp::parameter::ParameterVariant::from_parameter(parameter);
});
promise_result.set_value(parameter_variants);
parameter_variants.push_back(rclcpp::parameter::ParameterVariant::from_parameter(
parameter));
}

promise_result->set_value(parameter_variants);
if (callback != nullptr) {
callback(future_result);
}
Expand All @@ -110,21 +112,23 @@ class AsyncParametersClient
std::function<void(
std::shared_future<std::vector<rclcpp::parameter::ParameterType>>)> callback = nullptr)
{
std::promise<std::vector<rclcpp::parameter::ParameterType>> promise_result;
auto future_result = promise_result.get_future().share();
auto promise_result =
std::make_shared<std::promise<std::vector<rclcpp::parameter::ParameterType>>>();
auto future_result = promise_result->get_future().share();

auto request = std::make_shared<rcl_interfaces::srv::GetParameterTypes::Request>();
request->names = names;

get_parameter_types_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
[promise_result, future_result, &callback](
rclcpp::client::Client<rcl_interfaces::srv::GetParameterTypes>::SharedFuture cb_f) {
std::vector<rclcpp::parameter::ParameterType> types;
auto & pts = cb_f.get()->types;
std::transform(pts.begin(), pts.end(), std::back_inserter(types),
[](uint8_t pt) {return static_cast<rclcpp::parameter::ParameterType>(pt); });
promise_result.set_value(types);
for (auto & pt : pts) {
pts.push_back(static_cast<rclcpp::parameter::ParameterType>(pt));
}
promise_result->set_value(types);
if (callback != nullptr) {
callback(future_result);
}
Expand All @@ -140,8 +144,9 @@ class AsyncParametersClient
std::function<void(std::shared_future<std::vector<rcl_interfaces::msg::SetParametersResult>>)> callback =
nullptr)
{
std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>> promise_result;
auto future_result = promise_result.get_future().share();
auto promise_result =
std::make_shared<std::promise<std::vector<rcl_interfaces::msg::SetParametersResult>>>();
auto future_result = promise_result->get_future().share();

auto request = std::make_shared<rcl_interfaces::srv::SetParameters::Request>();

Expand All @@ -151,9 +156,9 @@ class AsyncParametersClient

set_parameters_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
[promise_result, future_result, &callback](
rclcpp::client::Client<rcl_interfaces::srv::SetParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->results);
promise_result->set_value(cb_f.get()->results);
if (callback != nullptr) {
callback(future_result);
}
Expand All @@ -169,8 +174,9 @@ class AsyncParametersClient
std::function<void(std::shared_future<rcl_interfaces::msg::SetParametersResult>)> callback =
nullptr)
{
std::promise<rcl_interfaces::msg::SetParametersResult> promise_result;
auto future_result = promise_result.get_future().share();
auto promise_result =
std::make_shared<std::promise<rcl_interfaces::msg::SetParametersResult>>();
auto future_result = promise_result->get_future().share();

auto request = std::make_shared<rcl_interfaces::srv::SetParametersAtomically::Request>();

Expand All @@ -180,9 +186,9 @@ class AsyncParametersClient

set_parameters_atomically_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
[promise_result, future_result, &callback](
rclcpp::client::Client<rcl_interfaces::srv::SetParametersAtomically>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result);
promise_result->set_value(cb_f.get()->result);
if (callback != nullptr) {
callback(future_result);
}
Expand All @@ -199,18 +205,19 @@ class AsyncParametersClient
std::function<void(std::shared_future<rcl_interfaces::msg::ListParametersResult>)> callback =
nullptr)
{
std::promise<rcl_interfaces::msg::ListParametersResult> promise_result;
auto future_result = promise_result.get_future().share();
auto promise_result =
std::make_shared<std::promise<rcl_interfaces::msg::ListParametersResult>>();
auto future_result = promise_result->get_future().share();

auto request = std::make_shared<rcl_interfaces::srv::ListParameters::Request>();
request->prefixes = prefixes;
request->depth = depth;

list_parameters_client_->async_send_request(
request,
[&promise_result, &future_result, &callback](
[promise_result, future_result, &callback](
rclcpp::client::Client<rcl_interfaces::srv::ListParameters>::SharedFuture cb_f) {
promise_result.set_value(cb_f.get()->result);
promise_result->set_value(cb_f.get()->result);
if (callback != nullptr) {
callback(future_result);
}
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