Fix unnecessary allocations in executor.cpp (ros2#2135)

cwecht · Barry-Xu-2018 · commit be1346c235bd · 2024-01-12T10:53:09.000+08:00
Signed-off-by: Christopher Wecht &lt;cwecht@mailbox.org&gt;
diff --git a/rclcpp/src/rclcpp/executor.cpp b/rclcpp/src/rclcpp/executor.cpp
@@ -558,13 +558,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)
   }
 }
 
+template<typename Taker, typename Handler>
 static
 void
 take_and_do_error_handling(
   const char * action_description,
   const char * topic_or_service_name,
-  std::function<bool()> take_action,
-  std::function<void()> handle_action)
+  Taker take_action,
+  Handler handle_action)
 {
   bool taken = false;
   try {

Original file line number	Diff line number	Diff line change
`@@ -558,13 +558,14 @@ Executor::execute_any_executable(AnyExecutable & any_exec)`
`558`	`558`	`}`
`559`	`559`	`}`
`560`	`560`
	`561`	`+template<typename Taker, typename Handler>`
`561`	`562`	`static`
`562`	`563`	`void`
`563`	`564`	`take_and_do_error_handling(`
`564`	`565`	`const char * action_description,`
`565`	`566`	`const char * topic_or_service_name,`
`566`		`- std::function<bool()> take_action,`
`567`		`- std::function<void()> handle_action)`
	`567`	`+ Taker take_action,`
	`568`	`+ Handler handle_action)`
`568`	`569`	`{`
`569`	`570`	`bool taken = false;`
`570`	`571`	`try {`