From 16ba34f44bd65e418d09e7746b285b4b0b10663b Mon Sep 17 00:00:00 2001
From: William Woodall <william@osrfoundation.org>
Date: Wed, 27 Mar 2024 18:09:39 -0700
Subject: [PATCH] rclcpp_action changes that I missed

Signed-off-by: William Woodall <william@osrfoundation.org>
---
 rclcpp_action/include/rclcpp_action/server.hpp | 6 +++---
 rclcpp_action/src/server.cpp                   | 9 +++------
 rclcpp_action/test/test_client.cpp             | 6 +++---
 rclcpp_action/test/test_server.cpp             | 6 +++---
 4 files changed, 12 insertions(+), 15 deletions(-)

diff --git a/rclcpp_action/include/rclcpp_action/server.hpp b/rclcpp_action/include/rclcpp_action/server.hpp
index 0367ad4d93..7461de2867 100644
--- a/rclcpp_action/include/rclcpp_action/server.hpp
+++ b/rclcpp_action/include/rclcpp_action/server.hpp
@@ -279,19 +279,19 @@ class ServerBase : public rclcpp::Waitable
   /// \internal
   RCLCPP_ACTION_PUBLIC
   void
-  execute_goal_request_received(std::shared_ptr<void> & data);
+  execute_goal_request_received(const std::shared_ptr<void> & data);
 
   /// Handle a request to cancel goals on the server
   /// \internal
   RCLCPP_ACTION_PUBLIC
   void
-  execute_cancel_request_received(std::shared_ptr<void> & data);
+  execute_cancel_request_received(const std::shared_ptr<void> & data);
 
   /// Handle a request to get the result of an action
   /// \internal
   RCLCPP_ACTION_PUBLIC
   void
-  execute_result_request_received(std::shared_ptr<void> & data);
+  execute_result_request_received(const std::shared_ptr<void> & data);
 
   /// Handle a timeout indicating a completed goal should be forgotten by the server
   /// \internal
diff --git a/rclcpp_action/src/server.cpp b/rclcpp_action/src/server.cpp
index 1e4f4698c4..565aaa4f3b 100644
--- a/rclcpp_action/src/server.cpp
+++ b/rclcpp_action/src/server.cpp
@@ -307,7 +307,7 @@ ServerBase::execute(const std::shared_ptr<void> & data)
 }
 
 void
-ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
+ServerBase::execute_goal_request_received(const std::shared_ptr<void> & data)
 {
   auto shared_ptr = std::static_pointer_cast
     <std::tuple<rcl_ret_t, rcl_action_goal_info_t, rmw_request_id_t, std::shared_ptr<void>>>(data);
@@ -405,11 +405,10 @@ ServerBase::execute_goal_request_received(std::shared_ptr<void> & data)
     // Tell user to start executing action
     call_goal_accepted_callback(handle, uuid, message);
   }
-  data.reset();
 }
 
 void
-ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
+ServerBase::execute_cancel_request_received(const std::shared_ptr<void> & data)
 {
   auto shared_ptr = std::static_pointer_cast
     <std::tuple<rcl_ret_t, std::shared_ptr<action_msgs::srv::CancelGoal::Request>,
@@ -504,11 +503,10 @@ ServerBase::execute_cancel_request_received(std::shared_ptr<void> & data)
   if (RCL_RET_OK != ret) {
     rclcpp::exceptions::throw_from_rcl_error(ret);
   }
-  data.reset();
 }
 
 void
-ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
+ServerBase::execute_result_request_received(const std::shared_ptr<void> & data)
 {
   auto shared_ptr = std::static_pointer_cast
     <std::tuple<rcl_ret_t, std::shared_ptr<void>, rmw_request_id_t>>(data);
@@ -568,7 +566,6 @@ ServerBase::execute_result_request_received(std::shared_ptr<void> & data)
       rclcpp::exceptions::throw_from_rcl_error(rcl_ret);
     }
   }
-  data.reset();
 }
 
 void
diff --git a/rclcpp_action/test/test_client.cpp b/rclcpp_action/test/test_client.cpp
index d5be45840b..08093cb873 100644
--- a/rclcpp_action/test/test_client.cpp
+++ b/rclcpp_action/test/test_client.cpp
@@ -397,13 +397,13 @@ TEST_F(TestClient, is_ready) {
   ASSERT_EQ(
     RCL_RET_OK,
     rcl_wait_set_init(&wait_set, 10, 10, 10, 10, 10, 10, rcl_context, allocator));
-  ASSERT_NO_THROW(action_client->add_to_wait_set(&wait_set));
-  EXPECT_TRUE(action_client->is_ready(&wait_set));
+  ASSERT_NO_THROW(action_client->add_to_wait_set(wait_set));
+  EXPECT_TRUE(action_client->is_ready(wait_set));
 
   {
     auto mock = mocking_utils::patch_and_return(
       "lib:rclcpp_action", rcl_action_client_wait_set_get_entities_ready, RCL_RET_ERROR);
-    EXPECT_THROW(action_client->is_ready(&wait_set), rclcpp::exceptions::RCLError);
+    EXPECT_THROW(action_client->is_ready(wait_set), rclcpp::exceptions::RCLError);
   }
   client_node.reset();  // Drop node before action client
 }
diff --git a/rclcpp_action/test/test_server.cpp b/rclcpp_action/test/test_server.cpp
index 8687f90fbe..9ffa31797f 100644
--- a/rclcpp_action/test/test_server.cpp
+++ b/rclcpp_action/test/test_server.cpp
@@ -1107,12 +1107,12 @@ TEST_F(TestGoalRequestServer, is_ready_rcl_error) {
   {
     EXPECT_EQ(RCL_RET_OK, rcl_wait_set_fini(&wait_set));
   });
-  EXPECT_NO_THROW(action_server_->add_to_wait_set(&wait_set));
+  EXPECT_NO_THROW(action_server_->add_to_wait_set(wait_set));
 
-  EXPECT_TRUE(action_server_->is_ready(&wait_set));
+  EXPECT_TRUE(action_server_->is_ready(wait_set));
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp_action", rcl_action_server_wait_set_get_entities_ready, RCL_RET_ERROR);
-  EXPECT_THROW(action_server_->is_ready(&wait_set), rclcpp::exceptions::RCLError);
+  EXPECT_THROW(action_server_->is_ready(wait_set), rclcpp::exceptions::RCLError);
 }
 
 TEST_F(TestGoalRequestServer, execute_goal_request_received_take_goal_request_errors)