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diff -Naur ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h
--- ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h 2023-02-11 05:19:58.000000000 +0800
+++ ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h 2023-10-21 17:04:27.000000000 +0800
@@ -172,7 +172,12 @@
* \return Pointer to an initialized service
*/
template<typename ServiceType>
- typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&));
+ typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
+{
+ MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str());
+ return createService<ServiceType>(node_, name, callback, this);
+}
+
/**
* \brief Configures a MIP command dependent service. This service will only be configured if the device supports the command
@@ -184,7 +189,19 @@
* \return Pointer to an initialized service, or nullptr if the device does not support the MipType
*/
template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET>
- typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&));
+ typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
+{
+ if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR))
+ {
+ MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
+ return createService<ServiceType>(node_, name, callback, this);
+ }
+ else
+ {
+ MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
+ return nullptr;
+ }
+}
// Handles to the ROS node and the config
RosNodeType* node_;
@@ -253,27 +270,8 @@
RosServiceType<SetFilterSpeedLeverArmServiceMsg>::SharedPtr set_filter_speed_lever_arm_service_;
};
-template<typename ServiceType>
-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
-{
- MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str());
- return createService<ServiceType>(node_, name, callback, this);
-}
-template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET>
-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
-{
- if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR))
- {
- MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
- return createService<ServiceType>(node_, name, callback, this);
- }
- else
- {
- MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
- return nullptr;
- }
-}
+
} // namespace microstrain
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