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Stack-allocating the service response structure

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Pavel Kirienko
2015-05-29 22:36:16 +03:00
parent d8c096430f
commit 3499db227b
1 changed files with 7 additions and 7 deletions
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libuavcan/include/uavcan/node/service_server.hpp
+7 -7
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@@ -120,26 +120,26 @@ private:
PublisherType publisher_;
Callback callback_;
uint32_t response_failure_count_;
ServiceResponseDataStructure<ResponseType> response_;
virtual void handleReceivedDataStruct(ReceivedDataStructure<RequestType>& request)
{
UAVCAN_ASSERT(request.getTransferType() == TransferTypeServiceRequest);
ServiceResponseDataStructure<ResponseType> response;
if (try_implicit_cast<bool>(callback_, true))
{
// The application needs newly initialized structure
response_ = ServiceResponseDataStructure<ResponseType>();
UAVCAN_ASSERT(response_.isResponseEnabled()); // Enabled by default
callback_(request, response_);
UAVCAN_ASSERT(response.isResponseEnabled()); // Enabled by default
callback_(request, response);
}
else
{
handleFatalError("Srv serv clbk");
}
if (response_.isResponseEnabled())
if (response.isResponseEnabled())
{
const int res = publisher_.publish(response_, TransferTypeServiceResponse, request.getSrcNodeID(),
const int res = publisher_.publish(response, TransferTypeServiceResponse, request.getSrcNodeID(),
request.getTransferID());
if (res < 0)
{