Switch take_response and take_request to rmw_service_info_t (#53)

* Switch take_response and take_request to rmw_service_info_t

Signed-off-by: Luetkebohle Ingo (CR/AEX3) <ingo.luetkebohle@de.bosch.com>

* line break

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Co-authored-by: Karsten Knese <karsten@openrobotics.org>

rosidl_typesupport_connext_c/resource/srv__type_support_c.cpp.em

@@ -191,7 +191,7 @@ static const char * destroy_replier__@(service.namespaced_type.name)(
 
 static bool take_request__@(service.namespaced_type.name)(
   void * untyped_replier,
-  rmw_request_id_t * request_header,
+  rmw_service_info_t * request_header,
   void * untyped_ros_request)
 {
   using ReplierType = connext::Replier<
@@ -227,15 +227,17 @@ static bool take_request__@(service.namespaced_type.name)(
   }
 
   size_t SAMPLE_IDENTITY_SIZE = 16;
-  memcpy(&(request_header->writer_guid[0]), request.identity().writer_guid.value, SAMPLE_IDENTITY_SIZE);
+  memcpy(&(request_header->request_id.writer_guid[0]), request.identity().writer_guid.value, SAMPLE_IDENTITY_SIZE);
 
-  request_header->sequence_number = ((int64_t)request.identity().sequence_number.high) << 32 | request.identity().sequence_number.low;
+  request_header->request_id.sequence_number = ((int64_t)request.identity().sequence_number.high) << 32 | request.identity().sequence_number.low;
+  request_header->source_timestamp = 0;
+  request_header->received_timestamp = 0;
   return true;
 }
 
 static bool take_response__@(service.namespaced_type.name)(
   void * untyped_requester,
-  rmw_request_id_t * request_header,
+  rmw_service_info_t * request_header,
   void * untyped_ros_response)
 {
   using RequesterType = connext::Requester<
@@ -260,7 +262,9 @@ static bool take_response__@(service.namespaced_type.name)(
   int64_t sequence_number =
     (((int64_t)response.related_identity().sequence_number.high) << 32) |
     response.related_identity().sequence_number.low;
-  request_header->sequence_number = sequence_number;
+  request_header->request_id.sequence_number = sequence_number;
+  request_header->source_timestamp = 0;
+  request_header->received_timestamp = 0;
 
   const rosidl_message_type_support_t * ts =
     ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(

rosidl_typesupport_connext_cpp/include/rosidl_typesupport_connext_cpp/service_type_support.h

@@ -46,13 +46,14 @@ typedef struct service_type_support_callbacks_t
   // Function to send ROS requests
   int64_t (* send_request)(void * requester, const void * ros_request);
   // Function to read a ROS request from the wire
-  bool (* take_request)(void * replier, rmw_request_id_t * request_header, void * ros_request);
+  bool (* take_request)(void * replier, rmw_service_info_t * request_header, void * ros_request);
   // Function to send ROS responses
   bool (* send_response)(
     void * replier, const rmw_request_id_t * request_header,
     const void * ros_response);
   // Function to read a ROS response from the wire
-  bool (* take_response)(void * requester, rmw_request_id_t * request_header, void * ros_response);
+  bool (* take_response)(
+    void * requester, rmw_service_info_t * request_header, void * ros_response);
   // Function to get the type erased dds request datawriter for the requester
   void *
   (*get_request_datawriter)(void * untyped_requester);

rosidl_typesupport_connext_cpp/resource/srv__rosidl_typesupport_connext_cpp.hpp.em

@@ -88,14 +88,14 @@ ROSIDL_TYPESUPPORT_CONNEXT_CPP_PUBLIC_@(package_name)
 bool
 take_request__@(service.namespaced_type.name)(
   void * untyped_replier,
-  rmw_request_id_t * request_header,
+  rmw_service_info_t * request_header,
   void * untyped_ros_request);
 
 ROSIDL_TYPESUPPORT_CONNEXT_CPP_PUBLIC_@(package_name)
 bool
 take_response__@(service.namespaced_type.name)(
   void * untyped_requester,
-  rmw_request_id_t * request_header,
+  rmw_service_info_t * request_header,
   void * untyped_ros_response);
 
 ROSIDL_TYPESUPPORT_CONNEXT_CPP_PUBLIC_@(package_name)

rosidl_typesupport_connext_cpp/resource/srv__type_support.cpp.em

@@ -285,7 +285,7 @@ const char * destroy_replier__@(service.namespaced_type.name)(
 
 bool take_request__@(service.namespaced_type.name)(
   void * untyped_replier,
-  rmw_request_id_t * request_header,
+  rmw_service_info_t * request_header,
   void * untyped_ros_request)
 {
   using ReplierType = connext::Replier<
@@ -317,15 +317,17 @@ bool take_request__@(service.namespaced_type.name)(
   }
 
   size_t SAMPLE_IDENTITY_SIZE = 16;
-  memcpy(&(request_header->writer_guid[0]), request.identity().writer_guid.value, SAMPLE_IDENTITY_SIZE);
+  memcpy(&(request_header->request_id.writer_guid[0]), request.identity().writer_guid.value, SAMPLE_IDENTITY_SIZE);
 
-  request_header->sequence_number = ((int64_t)request.identity().sequence_number.high) << 32 | request.identity().sequence_number.low;
+  request_header->request_id.sequence_number = ((int64_t)request.identity().sequence_number.high) << 32 | request.identity().sequence_number.low;
+  request_header->source_timestamp = 0;
+  request_header->received_timestamp = 0;
   return true;
 }
 
 bool take_response__@(service.namespaced_type.name)(
   void * untyped_requester,
-  rmw_request_id_t * request_header,
+  rmw_service_info_t * request_header,
   void * untyped_ros_response)
 {
   using RequesterType = connext::Requester<
@@ -353,7 +355,9 @@ bool take_response__@(service.namespaced_type.name)(
   int64_t sequence_number =
     (((int64_t)response.related_identity().sequence_number.high) << 32) |
     response.related_identity().sequence_number.low;
-  request_header->sequence_number = sequence_number;
+  request_header->request_id.sequence_number = sequence_number;
+  request_header->source_timestamp = 0;
+  request_header->received_timestamp = 0;
 
   bool converted =
     @(__ros_srv_pkg_prefix)::typesupport_connext_cpp::convert_dds_message_to_ros(response.data(), ros_response);