Modified FindAnchors.srv to specify multiple IDs using a vector.

asa_ros/CMakeLists.txt

@@ -1,6 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(asa_ros)
 
+# Deprecation Warning
+message(DEPRECATION "The anchor_id member of FindAnchor.srv is deprecated and will be \
+removed in a future release. Use the anchor_ids vector member instead.")
+
 add_definitions(-std=c++1z)
 
 find_package(catkin_simple REQUIRED)

asa_ros/include/asa_ros/asa_ros_node.h

@@ -62,6 +62,11 @@ class AsaRosNode {
   bool resetCallback(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& res);
   bool resetCompletelyCallback(std_srvs::EmptyRequest& req,
                                std_srvs::EmptyResponse& res);
+  
+  // Helper function which converts a vector of IDs into a
+  // single comma-separated string, of the sort expected by
+  // AsaRosNode::queryAnchors()
+  std::string convertIdVectorToString(const std::vector<std::string>& vec) const;
 
   // Wrappers for commonly-used calls to the interface.
   // Queries COMMA-SEPARATED list of anchor IDs, and caches them in case the

asa_ros/src/asa_ros_node.cpp

@@ -279,7 +279,18 @@ bool AsaRosNode::createAnchorCallback(asa_ros_msgs::CreateAnchorRequest& req,
 
 bool AsaRosNode::findAnchorCallback(asa_ros_msgs::FindAnchorRequest& req,
                                     asa_ros_msgs::FindAnchorResponse& res) {
-  queryAnchors(req.anchor_id);
+  // anchor_id is deprecated but still supported for now
+  // if the client leaves it empty, use the new vector member instead
+  if (req.anchor_id.empty()) {
+    queryAnchors(convertIdVectorToString(req.anchor_ids));
+  }
+  else {
+    ROS_WARN_ONCE("The anchor_id member of FindAnchor.srv is deprecated and will be "
+                  "removed in a future release. Use the anchor_ids vector member instead.");
+    
+    queryAnchors(req.anchor_id);
+  }
+                                      
   return true;
 }
 
@@ -302,6 +313,25 @@ void AsaRosNode::anchorCreatedCallback(bool success,
   }
 }
 
+std::string AsaRosNode::convertIdVectorToString(const std::vector<std::string>& vec) const
+{  
+  std::stringstream output;
+  
+  const size_t last_index = vec.size() - 1;
+  const char separator = ',';
+  
+  for (int i = 0; i < vec.size(); ++i) {
+    output << vec.at(i);
+    
+    // if this is not the last element, add the separator
+    if (i != last_index) {
+      output << separator;
+    }
+  }
+  
+  return output.str();
+}
+
 bool AsaRosNode::queryAnchors(const std::string& anchor_ids) {
   anchor_ids_ = anchor_ids;
   if (interface_->queryAnchorWithCallback(

asa_ros_msgs/srv/FindAnchor.srv

@@ -2,5 +2,9 @@
 # created on the same Azure Spatial Anchors account as used in this ROS node.
 # Found anchors will be published on the /found_anchor topic.
 # Note that you can be searching for multiple anchors at once.
+string[] anchor_ids
+
+# DEPRECATED: The anchor_id member is deprecated and will be removed in a future release.
+#             Use the anchor_ids vector member instead.
 string anchor_id
 ---