fix the build correctly

orocos · May 8, 2019 · fd14e71 · fd14e71
1 parent e53cde1
commit fd14e71
Showing 1 changed file with 22 additions and 32 deletions.
diff --git a/rtt_roscomm/include/rtt_roscomm/rtt_rosservice_proxy.h b/rtt_roscomm/include/rtt_roscomm/rtt_rosservice_proxy.h
@@ -75,52 +75,42 @@ class ROSServiceServerOperationCaller : public ROSServiceServerOperationCallerBa
   typedef typename Wrapper::ProxyOperationCallerType ProxyOperationCallerType;
   typedef boost::shared_ptr<ProxyOperationCallerType> ProxyOperationCallerTypePtr;
 
-  static Ptr connect(RTT::OperationInterfacePart* operation) {
-    ProxyOperationCallerTypePtr proxy_operation_caller
-        = boost::make_shared<ProxyOperationCallerType>(operation->getLocalOperation(), RTT::internal::GlobalEngine::Instance());
-    if (proxy_operation_caller->ready()) {
-      return Ptr(new ROSServiceServerOperationCaller<ROS_SERVICE_T, variant>(proxy_operation_caller));
-    }
-    return tryNextVariant(operation);
-  }
-
-  virtual bool call(typename ROS_SERVICE_T::Request& request, typename ROS_SERVICE_T::Response& response) const {
-    // Check if the operation caller is ready, and then call it.
-    if (!proxy_operation_caller_->ready()) return false;
-    return Wrapper::call(*proxy_operation_caller_, request, response);
-  }
-
 private:
-  template<typename Dummy>
-  struct Void {
-    typedef void type;
-  };
+  template<typename Dummy> struct Void { typedef void type; };
 
-  template<typename R = void, typename Enabled = void>
-  struct EnableIfHasNextVariant {};
+  template<typename R = void, typename Enabled = void> struct EnableIfHasNextVariant { };
 
-  template<typename R>
-  struct EnableIfHasNextVariant<R,
+  template<typename R> struct EnableIfHasNextVariant<R,
       typename Void<typename ROSServiceServerOperationCallerWrapper<ROS_SERVICE_T, variant + 1>::ProxyOperationCallerType>::type> {
     typedef R type;
   };
 
   template<typename R = void, typename Enabled = void>
-  struct DisableIfHasNextVariant {
-    typedef R type;
+  struct NextVariant {
+    static Ptr connect(RTT::OperationInterfacePart*) { return Ptr(); }
   };
 
   template<typename R>
-  struct DisableIfHasNextVariant<R, typename EnableIfHasNextVariant<R>::type> {};
+  struct NextVariant<R, typename EnableIfHasNextVariant<R>::type> {
+    static Ptr connect(RTT::OperationInterfacePart* operation) {
+      return ROSServiceServerOperationCaller<ROS_SERVICE_T, variant + 1>::connect(operation);
+    }
+  };
 
-  template<typename Dummy>
-  static typename EnableIfHasNextVariant<Ptr>::type tryNextVariant(RTT::OperationInterfacePart* operation, Dummy* = 0) {
-    return ROSServiceServerOperationCaller<ROS_SERVICE_T, variant + 1>::connect(operation);
+public:
+  static Ptr connect(RTT::OperationInterfacePart* operation) {
+    ProxyOperationCallerTypePtr proxy_operation_caller
+        = boost::make_shared<ProxyOperationCallerType>(operation->getLocalOperation(), RTT::internal::GlobalEngine::Instance());
+    if (proxy_operation_caller->ready()) {
+      return Ptr(new ROSServiceServerOperationCaller<ROS_SERVICE_T, variant>(proxy_operation_caller));
+    }
+    return NextVariant<void>::connect(operation);
   }
 
-  template<typename Dummy>
-  static typename DisableIfHasNextVariant<Ptr>::type tryNextVariant(RTT::OperationInterfacePart* operation, Dummy* = 0) {
-    return Ptr();
+  virtual bool call(typename ROS_SERVICE_T::Request& request, typename ROS_SERVICE_T::Response& response) const {
+    // Check if the operation caller is ready, and then call it.
+    if (!proxy_operation_caller_->ready()) return false;
+    return Wrapper::call(*proxy_operation_caller_, request, response);
   }
 
   ROSServiceServerOperationCaller(const boost::shared_ptr<ProxyOperationCallerType>& impl)