From ab8b12157b2e4e85de2fc47f41bcc9b485315094 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Samuel=20Thor=C3=A9n?= <samuel.thoren@astazero.com>
Date: Fri, 3 Nov 2023 10:40:00 +0100
Subject: [PATCH] Merged two functions into one

---
 common/module.hpp                             | 29 ++-----------------
 .../src/scenarioexecution.cpp                 |  2 +-
 2 files changed, 4 insertions(+), 27 deletions(-)

diff --git a/common/module.hpp b/common/module.hpp
index 35de8a0eb..b3c933d71 100644
--- a/common/module.hpp
+++ b/common/module.hpp
@@ -82,29 +82,6 @@ class Module : public rclcpp::Node {
 								 const std::string& topic,
 								 const rclcpp::Logger& logger);
 	
-	/*! \brief This helper function is performs a service call given a client and yields a response.
-	*  \tparam Srv The name of the service to request.
-	*  \param timeout The timeout for the service call.
-	*  \param client The client to use to request the service.
-	*  \param response The response of the service.
-	* 	\return The response of the service.
-	*/
-	template <typename Srv>
-	bool callService( const std::chrono::duration< double > &timeout,
-						std::shared_ptr<rclcpp::Client<Srv>> &client,
-						std::shared_ptr<typename Srv::Response> &response)
-{
-		auto request = std::make_shared<typename Srv::Request>();
-		auto promise = client->async_send_request(request);
-		if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==
-			rclcpp::FutureReturnCode::SUCCESS) {
-			response = promise.get();
-			return true;
-		} else {
-			RCLCPP_ERROR(get_logger(), "Failed to call service %s", client->get_service_name());
-			return false;
-		}
-	}
 
 	/**
 	 * @brief This helper function is performs a service call given a client and yields a response. This
@@ -113,15 +90,15 @@ class Module : public rclcpp::Node {
 	 * @tparam Srv Srv The name of the service to request.
 	 * @param timeout The timeout for the service call.
 	 * @param client The client to use to request the service.
-	 * @param request The request of the service, with the data to be sent.
 	 * @param response The response of the service.
+	 * @param request The request of the service, with the data to be sent. Defaults to an empty request.
 	 * @return The response of the service.
 	 */
 	template <typename Srv>
 	bool callService( const std::chrono::duration< double > &timeout,
 						std::shared_ptr<rclcpp::Client<Srv>> &client,
-						std::shared_ptr<typename Srv::Request> &request,
-						std::shared_ptr<typename Srv::Response> &response)
+						std::shared_ptr<typename Srv::Response> &response,
+						std::shared_ptr<typename Srv::Request> request = std::make_shared<typename Srv::Request>())
 {
 		auto promise = client->async_send_request(request);
 		if (rclcpp::spin_until_future_complete(get_node_base_interface(), promise, timeout) ==
diff --git a/modules/IntegrationTesting/src/scenarioexecution.cpp b/modules/IntegrationTesting/src/scenarioexecution.cpp
index 86a7495e6..13e0e6b2c 100644
--- a/modules/IntegrationTesting/src/scenarioexecution.cpp
+++ b/modules/IntegrationTesting/src/scenarioexecution.cpp
@@ -68,7 +68,7 @@ std::vector<std::pair<double, double>> ScenarioExecution::getTrajectoryPoints()
 	auto request = std::make_shared<atos_interfaces::srv::GetObjectTrajectory::Request>();
 	request->id = 1;
 	std::shared_ptr<atos_interfaces::srv::GetObjectTrajectory::Response> response;
-	this->callService(1000ms, getObjectTrajectoryClient, request, response);
+	this->callService(1000ms, getObjectTrajectoryClient, response, request);
 
 	std::vector<std::pair<double, double>> trajectory;
 	for (const auto& t : response->trajectory.points) {