Merge pull request #142 from entire/feat/entire-pass-in-closures

Be able to pass in closure to advertise_service

CHANGELOG.md

@@ -25,6 +25,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 - The build.rs example in example_package now correctly informs cargo of filesystem dependencies
+- The `advertise_serveice` method in `rosbridge/client.rs` now accepts closures 
 
 ### Fixed
 

roslibrust/examples/service_server.rs

@@ -7,8 +7,11 @@ roslibrust_codegen_macro::find_and_generate_ros_messages!("assets/ros1_common_in
 // a canned response.
 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(),
@@ -48,10 +51,19 @@ async fn main() -> Result<(), Box<dyn std::error::Error + Send + Sync>> {
     // Create a new client
     let client = ClientHandle::new("ws://localhost:9090").await?;
 
+    // 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)
+        .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!

roslibrust/src/rosbridge/client.rs

@@ -420,14 +420,21 @@ impl ClientHandle {
     /// Service will be active until the handle is dropped!
     ///
     /// See examples/service_server.rs for usage.
-    pub async fn advertise_service<T: RosServiceType>(
+    pub async fn advertise_service<T, F>(
         &self,
         topic: &str,
-        server: fn(
-            T::Request,
-        )
-            -> Result<T::Response, Box<dyn std::error::Error + 'static + Send + Sync>>,
-    ) -> RosLibRustResult<ServiceHandle> {
+        server: F,
+    ) -> RosLibRustResult<ServiceHandle>
+    where
+        T: RosServiceType,
+        F: Fn(
+                T::Request,
+            )
+                -> Result<T::Response, Box<dyn std::error::Error + 'static + Send + Sync>>
+            + Send
+            + Sync
+            + 'static,
+    {
         self.check_for_disconnect()?;
         {
             let client = self.inner.read().await;

roslibrust/src/rosbridge/integration_tests.rs

@@ -249,7 +249,7 @@ mod integration_tests {
         let topic = "/self_service_call";
 
         let handle = client
-            .advertise_service::<SetBool>(topic, cb)
+            .advertise_service::<SetBool, _>(topic, cb)
             .await
             .expect("Failed to advertise service");