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Correct the parameter type of ActionServer constructor #1210

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Merged
merged 1 commit into from
Jul 29, 2025
Merged

Correct the parameter type of ActionServer constructor #1210

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10 changes: 9 additions & 1 deletion test/types/index.test-d.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -390,7 +390,8 @@ const actionServer = new rclnodejs.ActionServer(
node,
'example_interfaces/action/Fibonacci',
'fibonacci',
executeCallback
executeCallback,
goalCallback
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Copilot AI Jul 29, 2025

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[nitpick] The goalCallback parameter is being passed to the ActionServer constructor but is defined after its usage. Consider moving the goalCallback function definition before the ActionServer instantiation to improve code readability and follow the pattern used with executeCallback.

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);
expectType<rclnodejs.ActionServer<'example_interfaces/action/Fibonacci'>>(
actionServer
Expand All @@ -403,6 +404,13 @@ expectType<void>(
);
expectType<void>(actionServer.destroy());

function goalCallback(
goal: rclnodejs.ActionGoal<'example_interfaces/action/Fibonacci'>
): rclnodejs.GoalResponse {
expectType<number>(goal.order);
return rclnodejs.GoalResponse.ACCEPT;
}

function executeCallback(
goalHandle: rclnodejs.ServerGoalHandle<'example_interfaces/action/Fibonacci'>
) {
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2 changes: 1 addition & 1 deletion types/action_server.d.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ declare module 'rclnodejs' {
goalHandle: ServerGoalHandle<T>
) => Promise<ActionResult<T>> | ActionResult<T>;
type GoalCallback<T extends TypeClass<ActionTypeClassName>> = (
goalHandle: ServerGoalHandle<T>
goal: ActionGoal<T>
) => GoalResponse;
type HandleAcceptedCallback<T extends TypeClass<ActionTypeClassName>> = (
goalHandle: ServerGoalHandle<T>
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