rclpy_take_response checks sequence number #171
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rclpy/rclpy/client.py
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| @@ -44,12 +44,11 @@ def run(self): | |||
| if sigint_gc_handle in guard_condition_ready_list: | |||
| rclpy.utilities.shutdown() | |||
| return | |||
| response = _rclpy.rclpy_take_response( | |||
| seq_and_response = _rclpy.rclpy_take_response( | |||
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Could we use something lilke [seq, response] = _rclpy.rclpy_take_response(... for readability?
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Sure. It just means making rclpy_take_response return (None, None) on when there is nothing to take instead of None.
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Changed in 76a3d07
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Fixes a bug where rclpy_take_response was ignoring the sequence number returned by rcl_take_response in the struct rmw_request_id_t.
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mikaelarguedas
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Jan 24, 2018
| PyTuple_SET_ITEM(pytuple, 1, pytaken_response); | ||
| return pytuple; | ||
| } | ||
| Py_INCREF(Py_None); |
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I was surprised that Py_None needed to be incref'ed but apparently that's necessary 👍
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This fixes a bug where rclpy_take_response ignores the sequence number in a struct populated by rcl_take_response. This becomes important once the client supports multiple outstanding requests (#170).
connects to ros2/rcl#205
CI (with e260ce6)