missed impls for call_service

RosLibRust · Dec 17, 2024 · d022e78 · d022e78
1 parent 0769b61
commit d022e78
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diff --git a/roslibrust_mock/src/lib.rs b/roslibrust_mock/src/lib.rs
@@ -113,6 +113,15 @@ impl ServiceProvider for MockRos {
     type ServiceClient<T: RosServiceType> = MockServiceClient<T>;
     type ServiceServer = ();
 
+    async fn call_service<T: RosServiceType>(
+        &self,
+        topic: &str,
+        request: T::Request,
+    ) -> RosLibRustResult<T::Response> {
+        let client = self.service_client::<T>(topic).await?;
+        client.call(&request).await
+    }
+
     async fn service_client<T: RosServiceType + 'static>(
         &self,
         topic: &str,

diff --git a/roslibrust_zenoh/src/lib.rs b/roslibrust_zenoh/src/lib.rs
@@ -213,6 +213,16 @@ impl ServiceProvider for ZenohClient {
     type ServiceClient<T: RosServiceType> = ZenohServiceClient<T>;
     type ServiceServer = ZenohServiceServer;
 
+    async fn call_service<T: RosServiceType>(
+        &self,
+        topic: &str,
+        request: T::Request,
+    ) -> RosLibRustResult<T::Response> {
+        // TODO should be able to optimize this...
+        let client = self.service_client::<T>(topic).await?;
+        client.call(&request).await
+    }
+
     async fn service_client<T: RosServiceType + 'static>(
         &self,
         topic: &str,