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Remove workaround for empty struct in RPC #2812

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Dec 3, 2020
Merged

Remove workaround for empty struct in RPC #2812

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11 changes: 0 additions & 11 deletions AirLib/include/api/RpcLibAdapatorsBase.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -405,12 +405,6 @@ class RpcLibAdapatorsBase {
image_data_uint8 = s.image_data_uint8;
image_data_float = s.image_data_float;

//TODO: remove bug workaround for https://github.com/rpclib/rpclib/issues/152
if (image_data_uint8.size() == 0)
image_data_uint8.push_back(0);
if (image_data_float.size() == 0)
image_data_float.push_back(0);

camera_name = s.camera_name;
camera_position = Vector3r(s.camera_position);
camera_orientation = Quaternionr(s.camera_orientation);
Expand Down Expand Up @@ -481,11 +475,6 @@ class RpcLibAdapatorsBase {
{
time_stamp = s.time_stamp;
point_cloud = s.point_cloud;

//TODO: remove bug workaround for https://github.com/rpclib/rpclib/issues/152
if (point_cloud.size() == 0)
point_cloud.push_back(0);

pose = s.pose;
}

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7 changes: 1 addition & 6 deletions AirLib/src/api/RpcLibServerBase.cpp
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Expand Up @@ -128,12 +128,7 @@ RpcLibServerBase::RpcLibServerBase(ApiProvider* api_provider, const std::string&
return RpcLibAdapatorsBase::ImageResponse::from(response);
});
pimpl_->server.bind("simGetImage", [&](const std::string& camera_name, ImageCaptureBase::ImageType type, const std::string& vehicle_name) -> vector<uint8_t> {
auto result = getVehicleSimApi(vehicle_name)->getImage(camera_name, type);
if (result.size() == 0) {
// rpclib has a bug with serializing empty vectors, so we return a 1 byte vector instead.
result.push_back(0);
}
return result;
return getVehicleSimApi(vehicle_name)->getImage(camera_name, type);
});

pimpl_->server.bind("simGetMeshPositionVertexBuffers", [&]() ->vector<RpcLibAdapatorsBase::MeshPositionVertexBuffersResponse> {
Expand Down