fix client and service creation in Node constructor

wjwwood · wjwwood · commit f0afcabf0521 · 2016-12-09T15:04:56.000-08:00
diff --git a/rclcpp/include/rclcpp/client.hpp b/rclcpp/include/rclcpp/client.hpp
@@ -29,6 +29,7 @@
 
 #include "rclcpp/function_traits.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/type_support_decl.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
@@ -39,10 +40,10 @@
 namespace rclcpp
 {
 
-namespace node
+namespace node_interfaces
 {
-class Node;
-}  // namespace node
+class NodeBaseInterface;
+}  // namespace node_interfaces
 
 namespace client
 {
@@ -54,7 +55,8 @@ class ClientBase
 
   RCLCPP_PUBLIC
   ClientBase(
-    std::shared_ptr<rclcpp::node::Node> parent_node,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     const std::string & service_name);
 
   RCLCPP_PUBLIC
@@ -98,7 +100,7 @@ class ClientBase
   rcl_node_t *
   get_rcl_node_handle() const;
 
-  std::weak_ptr<rclcpp::node::Node> node_;
+  rclcpp::node_interfaces::NodeGraphInterface::WeakPtr node_graph_;
   std::shared_ptr<rcl_node_t> node_handle_;
 
   rcl_client_t client_handle_ = rcl_get_zero_initialized_client();
@@ -127,10 +129,11 @@ class Client : public ClientBase
   RCLCPP_SMART_PTR_DEFINITIONS(Client)
 
   Client(
-    std::shared_ptr<rclcpp::node::Node> parent_node,
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
     const std::string & service_name,
     rcl_client_options_t & client_options)
-  : ClientBase(parent_node, service_name)
+  : ClientBase(node_base, node_graph, service_name)
   {
     using rosidl_typesupport_cpp::get_service_type_support_handle;
     auto service_type_support_handle =
diff --git a/rclcpp/include/rclcpp/node_impl.hpp b/rclcpp/include/rclcpp/node_impl.hpp
@@ -168,7 +168,8 @@ Node::create_client(
   using rclcpp::client::ClientBase;
 
   auto cli = Client<ServiceT>::make_shared(
-    shared_from_this(),
+    node_base_.get(),
+    node_graph_,
     service_name,
     options);
 
diff --git a/rclcpp/src/rclcpp/client.cpp b/rclcpp/src/rclcpp/client.cpp
@@ -23,18 +23,20 @@
 #include "rcl/node.h"
 #include "rcl/wait.h"
 #include "rclcpp/exceptions.hpp"
-#include "rclcpp/node.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_graph_interface.hpp"
 #include "rclcpp/utilities.hpp"
 
 using rclcpp::client::ClientBase;
 using rclcpp::exceptions::InvalidNodeError;
 using rclcpp::exceptions::throw_from_rcl_error;
 
 ClientBase::ClientBase(
-  std::shared_ptr<rclcpp::node::Node> parent_node,
+  rclcpp::node_interfaces::NodeBaseInterface * node_base,
+  rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph,
   const std::string & service_name)
-: node_(parent_node),
-  node_handle_(parent_node->get_node_base_interface()->get_shared_rcl_node_handle()),
+: node_graph_(node_graph),
+  node_handle_(node_base->get_shared_rcl_node_handle()),
   service_name_(service_name)
 {}
 
@@ -77,7 +79,7 @@ ClientBase::wait_for_service_nanoseconds(std::chrono::nanoseconds timeout)
     return false;
   }
   // make an event to reuse, rather than create a new one each time
-  auto node_ptr = node_.lock();
+  auto node_ptr = node_graph_.lock();
   if (!node_ptr) {
     throw InvalidNodeError();
   }
