From 3499db227b1c0fffce3068fdda481036915c2429 Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Fri, 29 May 2015 22:36:16 +0300
Subject: [PATCH] Stack-allocating the service response structure

---
 libuavcan/include/uavcan/node/service_server.hpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/libuavcan/include/uavcan/node/service_server.hpp b/libuavcan/include/uavcan/node/service_server.hpp
index d7181fd0d0..17076b4c5a 100644
--- a/libuavcan/include/uavcan/node/service_server.hpp
+++ b/libuavcan/include/uavcan/node/service_server.hpp
@@ -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)
             {