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* Added action template * Added action generation * Added basic create_action_client function * dded action generation * checkin * Fix missing exported pre_field_serde field * Removed extra code * Sketch out action server construction and destruction This follows generally the same pattern as the service server. It required adding a typesupport function to the Action trait and pulling in some more rcl_action bindings. * Fix action typesupport function * Add ActionImpl trait with internal messages and services This is incomplete, since the service types aren't yet being generated. * Split srv.rs.em into idiomatic and rmw template files This results in the exact same file being produced for services, except for some whitespace changes. However, it enables actions to invoke the respective service template for its generation, similar to how the it works for services and their underlying messages. * Generate underlying service definitions for actions Not tested * Add runtime trait to get the UUID from a goal request C++ uses duck typing for this, knowing that for any `Action`, the type `Action::Impl::SendGoalService::Request` will always have a `goal_id` field of type `unique_identifier_msgs::msg::UUID` without having to prove this to the compiler. Rust's generics are more strict, requiring that this be proven using type bounds. The `Request` type is also action-specific as it contains a `goal` field containing the `Goal` message type of the action. We therefore cannot enforce that all `Request`s are a specific type in `rclrs`. This seems most easily represented using associated type bounds on the `SendGoalService` associated type within `ActionImpl`. To avoid introducing to `rosidl_runtime_rs` a circular dependency on message packages like `unique_identifier_msgs`, the `ExtractUuid` trait only operates on a byte array rather than a more nicely typed `UUID` message type. I'll likely revisit this as we introduce more similar bounds on the generated types. * Integrate RMW message methods into ActionImpl Rather than having a bunch of standalone traits implementing various message functions like `ExtractUuid` and `SetAccepted`, with the trait bounds on each associated type in `ActionImpl`, we'll instead add these functions directly to the `ActionImpl` trait. This is simpler on both the rosidl_runtime_rs and the rclrs side. * Add rosidl_runtime_rs::ActionImpl::create_feedback_message() Adds a trait method to create a feedback message given the goal ID and the user-facing feedback message type. Depending on how many times we do this, it may end up valuable to define a GoalUuid type in rosidl_runtime_rs itself. We wouldn't be able to utilize the `RCL_ACTION_UUID_SIZE` constant imported from `rcl_action`, but this is pretty much guaranteed to be 16 forever. Defining this method signature also required inverting the super-trait relationship between Action and ActionImpl. Now ActionImpl is the sub-trait as this gives it access to all of Action's associated types. Action doesn't need to care about anything from ActionImpl (hopefully). * Add GetResultService methods to ActionImpl * Implement ActionImpl trait methods in generator These still don't build without errors, but it's close. * Replace set_result_response_status with create_result_response rclrs needs to be able to generically construct result responses, including the user-defined result field. * Implement client-side trait methods for action messages This adds methods to ActionImpl for creating and accessing action-specific message types. These are needed by the rclrs ActionClient to generically read and write RMW messages. Due to issues with qualified paths in certain places (rust-lang/rust#86935), the generator now refers directly to its service and message types rather than going through associated types of the various traits. This also makes the generated code a little easier to read, with the trait method signatures from rosidl_runtime_rs still enforcing type-safety. * Format the rosidl_runtime_rs::ActionImpl trait * Wrap longs lines in rosidl_generator_rs action.rs This at least makes the template easier to read, but also helps with the generated code. In general, the generated code could actually fit on one line for the function signatures, but it's not a big deal to split it across multiple. * Use idiomatic message types in Action trait This is user-facing and so should use the friendly message types. * Cleanup ActionImpl using type aliases Signed-off-by: Michael X. Grey <[email protected]> * Formatting * Switch from std::os::raw::c_void to std::ffi::c_void While these are aliases of each other, we might as well use the more appropriate std::ffi version, as requested by reviewers. * Clean up rosidl_generator_rs's cmake files Some of the variables are present but no longer used. Others were not updated with the action changes. * Add a short doc page on the message generation pipeline This should help newcomers orient themselves around the rosidl_*_rs packages. --------- Signed-off-by: Michael X. Grey <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: Michael X. Grey <[email protected]>
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