fix(service): add serdes type param S to ZClient/ZServer for non-serde message types

Author: YuanYuYuan

crates/rmw-zenoh-rs/src/rmw.rs

@@ -890,7 +890,8 @@ pub extern "C" fn rmw_create_client(
     let mut zclient_builder = node_impl
         .inner
         .create_client::<crate::msg::RosService>(&qualified_service)
-        .with_type_info(service_type_support.get_type_info());
+        .with_type_info(service_type_support.get_type_info())
+        .with_serdes::<crate::msg::RosSerdes>();
     zclient_builder.entity.qos = qos.to_protocol_qos();
     let entity = zclient_builder.entity.clone();
 
@@ -1052,7 +1053,8 @@ pub extern "C" fn rmw_create_service(
     let mut zserver_builder = node_impl
         .inner
         .create_service::<crate::msg::RosService>(&qualified_service)
-        .with_type_info(service_type_support.get_type_info());
+        .with_type_info(service_type_support.get_type_info())
+        .with_serdes::<crate::msg::RosSerdes>();
     zserver_builder.entity.qos = qos.to_protocol_qos();
     let entity = zserver_builder.entity.clone();
 

crates/rmw-zenoh-rs/src/service.rs

@@ -10,7 +10,7 @@ use zenoh::Result;
 
 /// Client implementation for RMW
 pub struct ClientImpl {
-    pub inner: ros_z::service::ZClient<crate::msg::RosService>,
+    pub inner: ros_z::service::ZClient<crate::msg::RosService, crate::msg::RosSerdes>,
     pub service_name: CString,
     pub options: rmw_client_options_t,
     pub request_ts: crate::type_support::ServiceTypeSupport,
@@ -63,9 +63,7 @@ impl ClientImpl {
         };
 
         // Send the request with notification callback
-        let _ = self
-            .inner
-            .rmw_send_request::<crate::msg::RosSerdes, _>(&req, notify_callback)?;
+        let _ = self.inner.rmw_send_request(&req, notify_callback)?;
 
         // Return the sequence number we tracked
         unsafe {
@@ -173,7 +171,8 @@ impl ClientImpl {
 
 /// Service implementation for RMW
 pub struct ServiceImpl {
-    pub inner: ros_z::service::ZServer<crate::msg::RosService>,
+    pub inner:
+        ros_z::service::ZServer<crate::msg::RosService, zenoh::query::Query, crate::msg::RosSerdes>,
     pub service_name: CString,
     pub request_ts: crate::type_support::ServiceTypeSupport,
     pub response_ts: crate::type_support::ServiceTypeSupport,
@@ -319,10 +318,7 @@ impl ServiceImpl {
         let resp = crate::msg::RosMessage::new(response, self.response_ts.response);
 
         // Send response
-        match self
-            .inner
-            .rmw_send_response::<crate::msg::RosSerdes>(&resp, &key)
-        {
+        match self.inner.rmw_send_response(&resp, &key) {
             Ok(_) => {
                 tracing::debug!("[ServiceImpl::send_response] Response sent successfully");
                 Ok(())

crates/ros-z/examples/protobuf_demo/src/lib.rs

@@ -101,7 +101,10 @@ pub fn run_service_client(
 ) -> Result<()> {
     let node = ctx.create_node("calculator_client").build()?;
 
-    let client = node.create_client::<Calculate>(service_name).build()?;
+    let client = node
+        .create_client::<Calculate>(service_name)
+        .with_serdes::<ProtobufSerdes>()
+        .build()?;
 
     println!("Calculator service client started");
     println!("Calling service '{}'...\n", service_name);
@@ -163,7 +166,10 @@ pub fn run_service_server(
 ) -> Result<()> {
     let node = ctx.create_node("calculator_server").build()?;
 
-    let mut server = node.create_service::<Calculate>(service_name).build()?;
+    let mut server = node
+        .create_service::<Calculate>(service_name)
+        .with_serdes::<ProtobufSerdes>()
+        .build()?;
 
     println!("Calculator service server started on '{}'", service_name);
     println!("Waiting for requests...\n");