cleaning up

RosLibRust · Oct 21, 2023 · 2c0c84d · 2c0c84d
1 parent ddf6b7b
commit 2c0c84d
Showing 1 changed file with 24 additions and 26 deletions.
diff --git a/roslibrust/examples/service_server.rs b/roslibrust/examples/service_server.rs
@@ -1,22 +1,22 @@
 use roslibrust::ClientHandle;
 
 // One way to import message definitions:
-roslibrust_codegen_macro::find_and_generate_ros_messages!(
-    "assets/ros1_common_interfaces",
-    "/opt/ros/humble/share/std_srvs"
-);
+roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_interfaces");
 
 // A basic service server exampple, that logs the request is recieves and returns
 // a canned response.
-// fn my_service(
-//     request: std_srvs::SetBoolRequest,
-// ) -> Result<std_srvs::SetBoolResponse, Box<dyn std::error::Error + Send + Sync>> {
-//     log::info!("Got request to set bool: {request:?}");
-//     Ok(std_srvs::SetBoolResponse {
-//         success: true,
-//         message: "You set my bool!".to_string(),
-//     })
-// }
+fn my_service(
+    request: std_srvs::SetBoolRequest,
+    my_string: &str,
+) -> Result<std_srvs::SetBoolResponse, Box<dyn std::error::Error + Send + Sync>> {
+    log::info!("Got request to set bool: {request:?}");
+    log::info!("Using my string: {}", my_string); // Use the string here
+
+    Ok(std_srvs::SetBoolResponse {
+        success: true,
+        message: "You set my bool!".to_string(),
+    })
+}
 
 /// This examples shows hosting a service server and calling it to confirm it is working
 ///
@@ -51,23 +51,21 @@ async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
     // Create a new client
     let client = ClientHandle::new("ws://localhost:9090").await?;
 
-    let my_string = "Some string".to_string(); // The string you want to pass in
-
-    let my_service = move |request: std_srvs::SetBoolRequest| -> Result<std_srvs::SetBoolResponse, Box<dyn std::error::Error + Send + Sync>> {
-        log::info!("Got request to set bool: {:?}", request);
-        log::info!("Using my string: {}", my_string); // Use the string here
-
-        Ok(std_srvs::SetBoolResponse {
-            success: true,
-            message: "You set my bool!".to_string(),
-        })
-    };
+    // The string you want to pass in to the closure
+    let my_string = "Some string";
 
     // Actually advertise our service
     // The handle returned here establishes the lifetime of our service and dropping it will unadvertise the service
     let _handle = client
-        .advertise_service::<std_srvs::SetBool, _>("/my_set_bool", my_service)
-        .await?;
+        .advertise_service::<std_srvs::SetBool, _>(
+            "/my_set_bool", 
+            move | request: std_srvs::SetBoolRequest | -> Result<
+                std_srvs::SetBoolResponse,  
+                Box<dyn std::error::Error + Send + Sync>,
+            > {
+                my_service(request, my_string)
+            },
+        ).await?;
 
     // Now try manually calling the service with the command line!