virtual void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request) { UAVCAN_ASSERT(request.getTransferType() == TransferTypeServiceRequest); ServiceResponseDataStructure<ResponseType> response; if (coerceOrFallback<bool>(callback_, true)) { UAVCAN_ASSERT(response.isResponseEnabled()); // Enabled by default callback_(request, response); } else { handleFatalError("Srv serv clbk"); } if (response.isResponseEnabled()) { publisher_.setPriority(request.getPriority()); // Responding at the same priority. const int res = publisher_.publish(response, TransferTypeServiceResponse, request.getSrcNodeID(), request.getTransferID()); if (res < 0) { UAVCAN_TRACE("ServiceServer", "Response publication failure: %i", res); publisher_.getNode().getDispatcher().getTransferPerfCounter().addError(); response_failure_count_++; } } else { UAVCAN_TRACE("ServiceServer", "Response was suppressed by the application"); } }