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Nasty bug in ServiceClient<>::call()

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This commit is contained in:
Pavel Kirienko
2015-05-16 15:03:53 +03:00
parent b2b7693ee6
commit da98060a58
1 changed files with 3 additions and 2 deletions
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libuavcan/include/uavcan/node/service_client.hpp
+3 -2
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@@ -422,7 +422,6 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_nod
/*
* Common procedures that don't depend on the struct data type
*/
TransferID transfer_id;
const int prep_res =
prepareToCall(SubscriberType::getNode(), DataType::getDataTypeFullName(), server_node_id, out_call_id);
if (prep_res < 0)
@@ -457,13 +456,15 @@ int ServiceClient<DataType_, Callback_, NumStaticCalls_>::call(NodeID server_nod
/*
* Publishing the request
*/
const int publisher_res = publisher_.publish(request, TransferTypeServiceRequest, server_node_id, transfer_id);
const int publisher_res = publisher_.publish(request, TransferTypeServiceRequest, server_node_id,
out_call_id.transfer_id);
if (publisher_res < 0)
{
cancel(out_call_id);
return publisher_res;
}
UAVCAN_ASSERT(server_node_id == out_call_id.server_node_id);
return publisher_res;
}