Split rcl_action_bindings.cpp (#1105)

This PR splits the existing rcl_action_bindings.cpp into separate files for client, goal, and server bindings and adds corresponding API functions in rcl_node_bindings.cpp. It also updates initialization in addon.cpp and the build configuration in binding.gyp to reflect the new file structure.
- Adds new action-related functions in rcl_node_bindings.cpp for fetching names and types.
- Introduces new binding files for action client, goal, and server.
- Updates addon.cpp and binding.gyp to integrate the new files.

Fix: #1104

Author: minggangw

binding.gyp

@@ -21,7 +21,9 @@
         './src/addon.cpp',
         './src/executor.cpp',
         './src/handle_manager.cpp',
-        './src/rcl_action_bindings.cpp',
+        './src/rcl_action_client_bindings.cpp',
+        './src/rcl_action_goal_bindings.cpp',
+        './src/rcl_action_server_bindings.cpp',
         './src/rcl_bindings.cpp',
         './src/rcl_client_bindings.cpp',
         './src/rcl_context_bindings.cpp',

src/addon.cpp

@@ -16,7 +16,9 @@
 #include <rcutils/logging.h>
 
 #include "macros.h"
-#include "rcl_action_bindings.h"
+#include "rcl_action_client_bindings.h"
+#include "rcl_action_goal_bindings.h"
+#include "rcl_action_server_bindings.h"
 #include "rcl_bindings.h"
 #include "rcl_client_bindings.h"
 #include "rcl_context_bindings.h"
@@ -62,6 +64,9 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::StoreEnv(env);
   // Init the C++ bindings.
   rclnodejs::InitBindings(env, exports);
+  rclnodejs::InitActionClientBindings(env, exports);
+  rclnodejs::InitActionGoalBindings(env, exports);
+  rclnodejs::InitActionServerBindings(env, exports);
   rclnodejs::InitClientBindings(env, exports);
   rclnodejs::InitContextBindings(env, exports);
   rclnodejs::InitGraphBindings(env, exports);
@@ -74,7 +79,6 @@ Napi::Object InitModule(Napi::Env env, Napi::Object exports) {
   rclnodejs::InitSubscriptionBindings(env, exports);
   rclnodejs::InitTimePointBindings(env, exports);
   rclnodejs::InitTimerBindings(env, exports);
-  rclnodejs::InitActionBindings(env, exports);
   rclnodejs::InitLifecycleBindings(env, exports);
   rclnodejs::ShadowNode::Init(env, exports);
   rclnodejs::RclHandle::Init(env, exports);

src/rcl_action_client_bindings.cpp

@@ -0,0 +1,231 @@
+// Copyright (c) 2020 Matt Richard. All rights reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rcl_action_client_bindings.h"
+
+#include <rcl/error_handling.h>
+#include <rcl/rcl.h>
+#include <rcl_action/rcl_action.h>
+
+#include <string>
+
+#include "handle_manager.h"
+#include "macros.h"
+#include "rcl_handle.h"
+#include "rcl_utilities.h"
+
+namespace rclnodejs {
+
+Napi::Value ActionCreateClient(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  std::string action_name = info[1].As<Napi::String>().Utf8Value();
+  std::string interface_name = info[2].As<Napi::String>().Utf8Value();
+  std::string package_name = info[3].As<Napi::String>().Utf8Value();
+
+  const rosidl_action_type_support_t* ts =
+      GetActionTypeSupport(package_name, interface_name);
+
+  if (ts) {
+    rcl_action_client_options_t action_client_ops =
+        rcl_action_client_get_default_options();
+
+    auto goal_service_qos = GetQoSProfile(info[4]);
+    auto result_service_qos = GetQoSProfile(info[5]);
+    auto cancel_service_qos = GetQoSProfile(info[6]);
+    auto feedback_topic_qos = GetQoSProfile(info[7]);
+    auto status_topic_qos = GetQoSProfile(info[8]);
+
+    if (goal_service_qos) {
+      action_client_ops.goal_service_qos = *goal_service_qos;
+    }
+    if (result_service_qos) {
+      action_client_ops.result_service_qos = *result_service_qos;
+    }
+    if (cancel_service_qos) {
+      action_client_ops.cancel_service_qos = *cancel_service_qos;
+    }
+    if (feedback_topic_qos) {
+      action_client_ops.feedback_topic_qos = *feedback_topic_qos;
+    }
+    if (status_topic_qos) {
+      action_client_ops.status_topic_qos = *status_topic_qos;
+    }
+
+    rcl_action_client_t* action_client = reinterpret_cast<rcl_action_client_t*>(
+        malloc(sizeof(rcl_action_client_t)));
+    *action_client = rcl_action_get_zero_initialized_client();
+
+    THROW_ERROR_IF_NOT_EQUAL(
+        rcl_action_client_init(action_client, node, ts, action_name.c_str(),
+                               &action_client_ops),
+        RCL_RET_OK, rcl_get_error_string().str);
+    auto js_obj = RclHandle::NewInstance(
+        env, action_client, node_handle, [node](void* ptr) {
+          rcl_action_client_t* action_client =
+              reinterpret_cast<rcl_action_client_t*>(ptr);
+          rcl_ret_t ret = rcl_action_client_fini(action_client, node);
+          free(ptr);
+          THROW_ERROR_IF_NOT_EQUAL(RCL_RET_OK, ret, rcl_get_error_string().str);
+        });
+
+    return js_obj;
+  } else {
+    Napi::Error::New(env, GetErrorMessageAndClear())
+        .ThrowAsJavaScriptException();
+    return env.Undefined();
+  }
+}
+
+Napi::Value ActionServerIsAvailable(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* node_handle = RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_node_t* node = reinterpret_cast<rcl_node_t*>(node_handle->ptr());
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[1].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+
+  bool is_available;
+  THROW_ERROR_IF_NOT_EQUAL(
+      RCL_RET_OK,
+      rcl_action_server_is_available(node, action_client, &is_available),
+      rcl_get_error_string().str);
+
+  return Napi::Boolean::New(env, is_available);
+}
+
+Napi::Value ActionSendGoalRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
+
+  int64_t sequence_number;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_action_send_goal_request(action_client, buffer, &sequence_number),
+      RCL_RET_OK, rcl_get_error_string().str);
+
+  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+}
+
+Napi::Value ActionTakeCancelRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_server_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_server_t* action_server =
+      reinterpret_cast<rcl_action_server_t*>(action_server_handle->ptr());
+  rmw_request_id_t* header =
+      reinterpret_cast<rmw_request_id_t*>(malloc(sizeof(rmw_request_id_t)));
+
+  void* taken_request = info[1].As<Napi::Buffer<char>>().Data();
+  rcl_ret_t ret =
+      rcl_action_take_cancel_request(action_server, header, taken_request);
+  if (ret != RCL_RET_ACTION_SERVER_TAKE_FAILED) {
+    auto js_obj = RclHandle::NewInstance(env, header, nullptr,
+                                         [](void* ptr) { free(ptr); });
+    return js_obj;
+  }
+
+  return env.Undefined();
+}
+
+Napi::Value ActionSendResultRequest(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
+
+  int64_t sequence_number;
+  THROW_ERROR_IF_NOT_EQUAL(
+      rcl_action_send_result_request(action_client, buffer, &sequence_number),
+      RCL_RET_OK, rcl_get_error_string().str);
+
+  return Napi::Number::New(env, static_cast<int32_t>(sequence_number));
+}
+
+Napi::Value ActionTakeFeedback(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
+
+  rcl_ret_t ret = rcl_action_take_feedback(action_client, buffer);
+  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    Napi::Error::New(env, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    rcl_reset_error();
+    return Napi::Boolean::New(env, false);
+  }
+
+  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    return Napi::Boolean::New(env, true);
+  }
+  return env.Undefined();
+}
+
+Napi::Value ActionTakeStatus(const Napi::CallbackInfo& info) {
+  Napi::Env env = info.Env();
+
+  RclHandle* action_client_handle =
+      RclHandle::Unwrap(info[0].As<Napi::Object>());
+  rcl_action_client_t* action_client =
+      reinterpret_cast<rcl_action_client_t*>(action_client_handle->ptr());
+  void* buffer = info[1].As<Napi::Buffer<char>>().Data();
+
+  rcl_ret_t ret = rcl_action_take_status(action_client, buffer);
+  if (ret != RCL_RET_OK && ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    rcl_reset_error();
+    Napi::Error::New(env, rcl_get_error_string().str)
+        .ThrowAsJavaScriptException();
+    return Napi::Boolean::New(env, false);
+  }
+
+  if (ret != RCL_RET_ACTION_CLIENT_TAKE_FAILED) {
+    return Napi::Boolean::New(env, true);
+  }
+  return env.Undefined();
+}
+
+Napi::Object InitActionClientBindings(Napi::Env env, Napi::Object exports) {
+  exports.Set("actionCreateClient",
+              Napi::Function::New(env, ActionCreateClient));
+  exports.Set("actionServerIsAvailable",
+              Napi::Function::New(env, ActionServerIsAvailable));
+  exports.Set("actionSendGoalRequest",
+              Napi::Function::New(env, ActionSendGoalRequest));
+  exports.Set("actionTakeCancelRequest",
+              Napi::Function::New(env, ActionTakeCancelRequest));
+  exports.Set("actionSendResultRequest",
+              Napi::Function::New(env, ActionSendResultRequest));
+  exports.Set("actionTakeFeedback",
+              Napi::Function::New(env, ActionTakeFeedback));
+  exports.Set("actionTakeStatus", Napi::Function::New(env, ActionTakeStatus));
+  return exports;
+}
+
+}  // namespace rclnodejs

src/rcl_action_bindings.h renamed to src/rcl_action_client_bindings.h

@@ -1,4 +1,4 @@
-// Copyright (c) 2017 Intel Corporation. All rights reserved.
+// Copyright (c) 2020 Matt Richard. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -12,15 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef SRC_RCL_ACTION_BINDINGS_H_
-#define SRC_RCL_ACTION_BINDINGS_H_
+#ifndef SRC_RCL_ACTION_CLIENT_BINDINGS_H_
+#define SRC_RCL_ACTION_CLIENT_BINDINGS_H_
 
 #include <napi.h>
 
 namespace rclnodejs {
 
-Napi::Object InitActionBindings(Napi::Env env, Napi::Object exports);
+Napi::Object InitActionClientBindings(Napi::Env env, Napi::Object exports);
 
-}  // namespace rclnodejs
+}
 
-#endif  // SRC_RCL_ACTION_BINDINGS_H_
+#endif  // SRC_RCL_ACTION_CLIENT_BINDINGS_H_