From 9426838cf5cceb2706282b8834e56938ed5e8e76 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 21 Feb 2023 16:24:05 +0000
Subject: [PATCH] Switch Client constructor to use std::string.

This make it more similar to the Service constructor.
Also make both of them use const std::string & to
avoid a copy.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 rclpy/src/rclpy/client.cpp  | 6 +++---
 rclpy/src/rclpy/client.hpp  | 3 ++-
 rclpy/src/rclpy/service.cpp | 7 +++----
 rclpy/src/rclpy/service.hpp | 2 +-
 4 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/rclpy/src/rclpy/client.cpp b/rclpy/src/rclpy/client.cpp
index af22bb720..d4b986c41 100644
--- a/rclpy/src/rclpy/client.cpp
+++ b/rclpy/src/rclpy/client.cpp
@@ -40,7 +40,7 @@ Client::destroy()
 }
 
 Client::Client(
-  Node & node, py::object pysrv_type, const char * service_name, py::object pyqos_profile)
+  Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos_profile)
 : node_(node)
 {
   auto srv_type = static_cast<rosidl_service_type_support_t *>(
@@ -77,7 +77,7 @@ Client::Client(
   *rcl_client_ = rcl_get_zero_initialized_client();
 
   rcl_ret_t ret = rcl_client_init(
-    rcl_client_.get(), node_.rcl_ptr(), srv_type, service_name, &client_ops);
+    rcl_client_.get(), node_.rcl_ptr(), srv_type, service_name.c_str(), &client_ops);
   if (RCL_RET_OK != ret) {
     if (RCL_RET_SERVICE_NAME_INVALID == ret) {
       std::string error_text{"failed to create client due to invalid service name '"};
@@ -150,7 +150,7 @@ void
 define_client(py::object module)
 {
   py::class_<Client, Destroyable, std::shared_ptr<Client>>(module, "Client")
-  .def(py::init<Node &, py::object, const char *, py::object>())
+  .def(py::init<Node &, py::object, const std::string &, py::object>())
   .def_property_readonly(
     "pointer", [](const Client & client) {
       return reinterpret_cast<size_t>(client.rcl_ptr());
diff --git a/rclpy/src/rclpy/client.hpp b/rclpy/src/rclpy/client.hpp
index ff1f29d59..73c60ed1f 100644
--- a/rclpy/src/rclpy/client.hpp
+++ b/rclpy/src/rclpy/client.hpp
@@ -20,6 +20,7 @@
 #include <rcl/client.h>
 
 #include <memory>
+#include <string>
 
 #include "destroyable.hpp"
 #include "node.hpp"
@@ -45,7 +46,7 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
    * \param[in] service_name The service name
    * \param[in] pyqos rmw_qos_profile_t object for this client
    */
-  Client(Node & node, py::object pysrv_type, const char * service_name, py::object pyqos);
+  Client(Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos);
 
   ~Client() = default;
 
diff --git a/rclpy/src/rclpy/service.cpp b/rclpy/src/rclpy/service.cpp
index 02b7ba88d..b9ec0b2ae 100644
--- a/rclpy/src/rclpy/service.cpp
+++ b/rclpy/src/rclpy/service.cpp
@@ -38,7 +38,7 @@ Service::destroy()
 }
 
 Service::Service(
-  Node & node, py::object pysrv_type, std::string service_name,
+  Node & node, py::object pysrv_type, const std::string & service_name,
   py::object pyqos_profile)
 : node_(node)
 {
@@ -75,8 +75,7 @@ Service::Service(
   *rcl_service_ = rcl_get_zero_initialized_service();
 
   rcl_ret_t ret = rcl_service_init(
-    rcl_service_.get(), node_.rcl_ptr(), srv_type,
-    service_name.c_str(), &service_ops);
+    rcl_service_.get(), node_.rcl_ptr(), srv_type, service_name.c_str(), &service_ops);
   if (RCL_RET_OK != ret) {
     if (ret == RCL_RET_SERVICE_NAME_INVALID) {
       std::string error_text{"failed to create service due to invalid topic name '"};
@@ -148,7 +147,7 @@ void
 define_service(py::object module)
 {
   py::class_<Service, Destroyable, std::shared_ptr<Service>>(module, "Service")
-  .def(py::init<Node &, py::object, std::string, py::object>())
+  .def(py::init<Node &, py::object, const std::string &, py::object>())
   .def_property_readonly(
     "pointer", [](const Service & service) {
       return reinterpret_cast<size_t>(service.rcl_ptr());
diff --git a/rclpy/src/rclpy/service.hpp b/rclpy/src/rclpy/service.hpp
index 95c2dd05c..db1b96f60 100644
--- a/rclpy/src/rclpy/service.hpp
+++ b/rclpy/src/rclpy/service.hpp
@@ -51,7 +51,7 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
    * \return capsule containing the rcl_service_t
    */
   Service(
-    Node & node, py::object pysrv_type, std::string service_name,
+    Node & node, py::object pysrv_type, const std::string & service_name,
     py::object pyqos_profile);
 
   Service(