Serialization in ServiceResponse

neocoretechs · Dec 15, 2020 · 99755e2 · 99755e2
1 parent 1acc930
commit 99755e2
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Showing 2 changed files with 9 additions and 2 deletions.
diff --git a/src/main/java/org/ros/internal/node/service/ServiceRequestHandler.java b/src/main/java/org/ros/internal/node/service/ServiceRequestHandler.java
@@ -50,7 +50,7 @@ private void handleRequest(T request, ByteBuffer responseBuffer) throws ServiceE
   private void handleSuccess(final ChannelHandlerContext ctx, ServiceServerResponse response, ByteBuffer responseBuffer) {
     response.setErrorCode(1);
     response.setMessageLength(responseBuffer.limit());
-    response.setMessage(responseBuffer);
+    response.setMessageBytes(responseBuffer.array());
     ByteBuffer resbuf = messageBufferPool.acquire();
     Utility.serialize(response,  resbuf);
     try {
@@ -65,6 +65,7 @@ private void handleError(final ChannelHandlerContext ctx, ServiceServerResponse
     ByteBuffer encodedMessage = Charset.forName("US-ASCII").encode(message);
     response.setMessageLength(encodedMessage.limit());
     response.setMessage(encodedMessage);
+    response.setMessageBytes(encodedMessage.array());
     Utility.serialize(response,  responseBuffer);
     try {
 		ctx.write(responseBuffer.array());

diff --git a/src/main/java/org/ros/internal/node/service/ServiceServerResponse.java b/src/main/java/org/ros/internal/node/service/ServiceServerResponse.java
@@ -14,9 +14,10 @@
 */
 class ServiceServerResponse implements Serializable {
   private static final long serialVersionUID = -5429450419100506243L;
-  private ByteBuffer message;
+  private transient ByteBuffer message;
   private int errorCode;
   private int messageLength;
+  private byte[] messageBytes;
 
   public ServiceServerResponse() {}
 
@@ -43,4 +44,9 @@ public void setMessageLength(int messageLength) {
   public int getMessageLength() {
     return messageLength;
   }
+
+  public byte[] getMessageBytes() { return messageBytes; }
+
+  public void setMessageBytes(byte[] b) { messageBytes = b; }
+
 }