Clean

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · Feb 2, 2024 · 07d297e · 07d297e
1 parent 3b0871b
commit 07d297e
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Showing 2 changed files with 20 additions and 59 deletions.
diff --git a/src/cmd/gz.cc b/src/cmd/gz.cc
@@ -251,67 +251,25 @@ extern "C" void cmdServiceReq(const char *_service,
   Node node;
   bool result;
 
-  // Request the service.
-  bool executed = node.Request(_service, *req, _timeout, *rep, result);
-  if (executed)
+  if (_timeout == -1)
   {
-    if (result)
-      std::cout << rep->DebugString() << std::endl;
-    else
-      std::cout << "Service call failed" << std::endl;
-  }
-  else if (_timeout > 100)
-    std::cerr << "Service call timed out" << std::endl;
-}
-
-//////////////////////////////////////////////////
-extern "C" void cmdServiceReqOneway(const char *_service, const char *_reqType,
-  const char *_reqData)
-{
-  if (!_service)
-  {
-    std::cerr << "Service name is null\n";
-    return;
-  }
-
-  if (!_reqType)
-  {
-    std::cerr << "Request type is null\n";
-    return;
-  }
-
-  if (!_reqData)
-  {
-    std::cerr << "Request data is null\n";
-    return;
+    // One-way service.
+    node.Request(_service, *req, 1000, *rep, result);
   }
-
-  // Create the request, and populate the field with _reqData
-  auto req = msgs::Factory::New(_reqType, _reqData);
-  if (!req)
-  {
-    std::cerr << "Unable to create request of type[" << _reqType << "] "
-              << "with data[" << _reqData << "].\n";
-    return;
-  }
-
-  // Create the response.
-  auto rep = msgs::Factory::New("gz.msgs.Empty");
-  if (!rep)
+  else
   {
-    std::cerr << "Unable to create response of type[gz.msgs.Empty].\n";
-    return;
+    // Two-way service.
+    bool executed = node.Request(_service, *req, _timeout, *rep, result);
+    if (executed)
+    {
+      if (result)
+        std::cout << rep->DebugString() << std::endl;
+      else
+        std::cout << "Service call failed" << std::endl;
+    }
+    else
+      std::cerr << "Service call timed out" << std::endl;
   }
-
-  // Create the node.
-  Node node;
-  bool result;
-  int timeout = 1000;
-
-  // Request the service.
-  bool executed = node.Request(_service, *req, timeout, *rep, result);
-  if (!executed && timeout > 1000)
-    std::cerr << "Service call failed" << std::endl;
 }
 
 //////////////////////////////////////////////////

diff --git a/src/cmd/service_main.cc b/src/cmd/service_main.cc
@@ -71,11 +71,14 @@ void runServiceCommand(const ServiceOptions &_opt)
     case ServiceCommand::kServiceReq:
       if (_opt.repType.empty())
       {
-        cmdServiceReqOneway(_opt.service.c_str(),
-          _opt.reqType.c_str(), _opt.reqData.c_str());
+        // One-way service request.
+        cmdServiceReq(_opt.service.c_str(),
+            _opt.reqType.c_str(), "gz.msgs.Empty",
+            -1, _opt.reqData.c_str());
       }
       else
       {
+        // Two-way service request.
         cmdServiceReq(_opt.service.c_str(),
             _opt.reqType.c_str(), _opt.repType.c_str(),
             _opt.timeout, _opt.reqData.c_str());