(roseus_bt) define result_ member as Document to avoid having the all…

…ocator go out of scope
jsk-ros-pkg · Nov 14, 2022 · b137462 · b137462
1 parent c2e9ba7
commit b137462
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Showing 2 changed files with 8 additions and 10 deletions.
diff --git a/roseus_bt/include/roseus_bt/ws_action_client.h b/roseus_bt/include/roseus_bt/ws_action_client.h
@@ -14,6 +14,7 @@ class RosbridgeActionClient
   RosbridgeActionClient(const std::string& master, int port, const std::string& server_name, const std::string& action_type):
     rbc_(fmt::format("{}:{}", master, std::to_string(port))),
     server_name_(server_name),
+    result_(rapidjson::kObjectType),
     is_active_(false)
   {
     if (server_name_.front() != '/') {
@@ -89,7 +90,7 @@ class RosbridgeActionClient
   RosbridgeWsClient rbc_;
 
   bool is_active_;
-  rapidjson::Value result_;
+  rapidjson::Document result_;
 
   std::string server_name_;
   std::string goal_topic_;
@@ -108,10 +109,7 @@ class RosbridgeActionClient
     std::cout << "resultCallback(): Message Received: " << message << std::endl;
 #endif
 
-    rapidjson::Document document(rapidjson::kObjectType);
-    document.Parse(message.c_str());
-    rapidjson::Value res(document, document.GetAllocator());
-    result_ = res;
+    result_.Parse(message.c_str());
 
     is_active_ = false;
   }

diff --git a/roseus_bt/include/roseus_bt/ws_service_client.h b/roseus_bt/include/roseus_bt/ws_service_client.h
@@ -14,6 +14,7 @@ class RosbridgeServiceClient
   RosbridgeServiceClient(const std::string& master, int port, const std::string& service_name):
     rbc_(fmt::format("{}:{}", master, std::to_string(port))),
     service_name_(service_name),
+    result_(rapidjson::kObjectType),
     is_active_(false)
   {
     if (service_name_.front() != '/') {
@@ -46,7 +47,9 @@ class RosbridgeServiceClient
   }
 
   void waitForResult() {
+#ifdef DEBUG
     std::cout << "RemoteService: waiting for result: " << service_name_ << std::endl;
+#endif
     while (is_active_) {
       std::this_thread::sleep_for(std::chrono::milliseconds(10));
     }
@@ -58,7 +61,7 @@ class RosbridgeServiceClient
   RosbridgeWsClient rbc_;
 
   bool is_active_;
-  rapidjson::Value result_;
+  rapidjson::Document result_;
 
   std::string service_name_;
 
@@ -71,10 +74,7 @@ class RosbridgeServiceClient
     std::cout << "serviceResponseCallback(): Message Received: " << message << std::endl;
 #endif
 
-    rapidjson::Document document(rapidjson::kObjectType);
-    document.Parse(message.c_str());
-    rapidjson::Value res(document, document.GetAllocator());
-    result_ = res;
+    result_.Parse(message.c_str());
 
     is_active_ = false;
     connection->send_close(1000);