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Unbox one of 'factory' closures on `UntypedActionSupport`

This commit is contained in:
Midnight Exigent 2022-01-07 07:14:54 +01:00
parent bfaba3d968
commit 628eedd88c
1 changed files with 3 additions and 3 deletions
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6
src/msg_types.rs
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@ -169,7 +169,7 @@ pub struct UntypedActionSupport {
pub(crate) destructure_goal_response_msg: pub(crate) destructure_goal_response_msg:
Box<dyn Fn(WrappedNativeMsgUntyped) -> (bool, builtin_interfaces::msg::Time)>, Box<dyn Fn(WrappedNativeMsgUntyped) -> (bool, builtin_interfaces::msg::Time)>,
pub(crate) make_feedback_msg: Box<dyn Fn() -> WrappedNativeMsgUntyped>, pub(crate) make_feedback_msg: fn() -> WrappedNativeMsgUntyped,
pub(crate) destructure_feedback_msg: Box< pub(crate) destructure_feedback_msg: Box<
dyn Fn( dyn Fn(
WrappedNativeMsgUntyped, WrappedNativeMsgUntyped,
@ -186,7 +186,7 @@ pub struct UntypedActionSupport {
impl UntypedActionSupport { impl UntypedActionSupport {
fn new<T>() -> Self fn new<T>() -> Self
where where
T: WrappedActionTypeSupport + 'static, T: WrappedActionTypeSupport,
{ {
// TODO: this is terrible. These closures perform json (de)serialization just to move the data. // TODO: this is terrible. These closures perform json (de)serialization just to move the data.
// FIX. // FIX.
@ -220,7 +220,7 @@ impl UntypedActionSupport {
T::destructure_goal_response_msg(msg) T::destructure_goal_response_msg(msg)
}); });
let make_feedback_msg = Box::new(WrappedNativeMsgUntyped::new::<T::FeedbackMessage>); let make_feedback_msg = WrappedNativeMsgUntyped::new::<T::FeedbackMessage>;
let destructure_feedback_msg = Box::new(|msg: WrappedNativeMsgUntyped| { let destructure_feedback_msg = Box::new(|msg: WrappedNativeMsgUntyped| {
let msg = unsafe { let msg = unsafe {