ModuleController & ModuleController::get_client_handle(const pegasus_identity & id,
client_handle **handle)
{
return get_client_handle(PEGASUS_QUEUENAME_CONTROLSERVICE,
id,
handle);
}
SharedFuture async_send_request(SharedRequest request, CallbackT && cb)
{
int64_t sequence_number;
if (RMW_RET_OK != rmw_send_request(get_client_handle(), request.get(), &sequence_number)) {
// *INDENT-OFF* (prevent uncrustify from making unecessary indents here)
throw std::runtime_error(
std::string("failed to send request: ") + rmw_get_error_string_safe());
// *INDENT-ON*
}
SharedPromise call_promise = std::make_shared<Promise>();
SharedFuture f(call_promise->get_future());
pending_requests_[sequence_number] =
std::make_tuple(call_promise, std::forward<CallbackType>(cb), f);
return f;
}
bool collect_entities(const WeakNodeVector & weak_nodes)
{
bool has_invalid_weak_nodes = false;
for (auto & weak_node : weak_nodes) {
auto node = weak_node.lock();
if (!node) {
has_invalid_weak_nodes = true;
continue;
}
for (auto & weak_group : node->get_callback_groups()) {
auto group = weak_group.lock();
if (!group || !group->can_be_taken_from().load()) {
continue;
}
for (auto & weak_subscription : group->get_subscription_ptrs()) {
auto subscription = weak_subscription.lock();
if (subscription) {
subscription_handles_.push_back(subscription->get_subscription_handle());
if (subscription->get_intra_process_subscription_handle()) {
subscription_handles_.push_back(
subscription->get_intra_process_subscription_handle());
}
}
}
for (auto & weak_service : group->get_service_ptrs()) {
auto service = weak_service.lock();
if (service) {
service_handles_.push_back(service->get_service_handle());
}
}
for (auto & weak_client : group->get_client_ptrs()) {
auto client = weak_client.lock();
if (client) {
client_handles_.push_back(client->get_client_handle());
}
}
for (auto & weak_timer : group->get_timer_ptrs()) {
auto timer = weak_timer.lock();
if (timer) {
timer_handles_.push_back(timer->get_timer_handle());
}
}
}
}
return has_invalid_weak_nodes;
}
