Add rcl_action error codes

There's one error code, ActionNameInvalid, that conflicts with the
EventInvalid code. We should consult with upstream about this, as it
causes issues for representing error codes as enum values. These two
error codes are probably never returned by the same function, but it
would be better to keep them unique.

Author: nwn

rclrs/src/error.rs

@@ -174,6 +174,26 @@ pub enum RclReturnCode {
     EventInvalid = 2000,
     /// Failed to take an event from the event handle
     EventTakeFailed = 2001,
+    // ====== 2XXX: action-specific errors ======
+    /// Action name does not pass validation
+    // TODO(nwn): Consult with upstream about this reused error code.
+    // ActionNameInvalid = 2000,
+    /// Action goal accepted
+    ActionGoalAccepted = 2100,
+    /// Action goal rejected
+    ActionGoalRejected = 2101,
+    /// Action client is invalid
+    ActionClientInvalid = 2102,
+    /// Action client failed to take response
+    ActionClientTakeFailed = 2103,
+    /// Action server is invalid
+    ActionServerInvalid = 2200,
+    /// Action server failed to take request
+    ActionServerTakeFailed = 2201,
+    /// Action goal handle invalid
+    ActionGoalHandleInvalid = 2300,
+    /// Action invalid event
+    ActionGoalEventInvalid = 2301,
     // ====== 30XX: lifecycle-specific errors ======
     /// `rcl_lifecycle` state registered
     LifecycleStateRegistered = 3000,
@@ -222,6 +242,15 @@ impl TryFrom<i32> for RclReturnCode {
             x if x == Self::InvalidLogLevelRule as i32 => Self::InvalidLogLevelRule,
             x if x == Self::EventInvalid as i32 => Self::EventInvalid,
             x if x == Self::EventTakeFailed as i32 => Self::EventTakeFailed,
+            // x if x == Self::ActionNameInvalid as i32 => Self::ActionNameInvalid,
+            x if x == Self::ActionGoalAccepted as i32 => Self::ActionGoalAccepted,
+            x if x == Self::ActionGoalRejected as i32 => Self::ActionGoalRejected,
+            x if x == Self::ActionClientInvalid as i32 => Self::ActionClientInvalid,
+            x if x == Self::ActionClientTakeFailed as i32 => Self::ActionClientTakeFailed,
+            x if x == Self::ActionServerInvalid as i32 => Self::ActionServerInvalid,
+            x if x == Self::ActionServerTakeFailed as i32 => Self::ActionServerTakeFailed,
+            x if x == Self::ActionGoalHandleInvalid as i32 => Self::ActionGoalHandleInvalid,
+            x if x == Self::ActionGoalEventInvalid as i32 => Self::ActionGoalEventInvalid,
             x if x == Self::LifecycleStateRegistered as i32 => Self::LifecycleStateRegistered,
             x if x == Self::LifecycleStateNotRegistered as i32 => Self::LifecycleStateNotRegistered,
             other => {
@@ -303,6 +332,15 @@ impl Display for RclReturnCode {
             Self::EventTakeFailed => {
                 "Failed to take an event from the event handle (RCL_RET_EVENT_TAKE_FAILED)."
             }
+            // Self::ActionNameInvalid => "Action name does not pass validation (RCL_RET_ACTION_NAME_INVALID).",
+            Self::ActionGoalAccepted => "Action goal accepted (RCL_RET_ACTION_GOAL_ACCEPTED).",
+            Self::ActionGoalRejected => "Action goal rejected (RCL_RET_ACTION_GOAL_REJECTED).",
+            Self::ActionClientInvalid => "Action client is invalid (RCL_RET_ACTION_CLIENT_INVALID).",
+            Self::ActionClientTakeFailed => "Action client failed to take response (RCL_RET_ACTION_CLIENT_TAKE_FAILED).",
+            Self::ActionServerInvalid => "Action server is invalid (RCL_RET_ACTION_SERVER_INVALID).",
+            Self::ActionServerTakeFailed => "Action server failed to take request (RCL_RET_ACTION_SERVER_TAKE_FAILED).",
+            Self::ActionGoalHandleInvalid => "Action goal handle invalid (RCL_RET_ACTION_GOAL_HANDLE_INVALID).",
+            Self::ActionGoalEventInvalid => "Action invalid event (RCL_RET_ACTION_GOAL_EVENT_INVALID).",
             Self::LifecycleStateRegistered => {
                 "`rcl_lifecycle` state registered (RCL_RET_LIFECYCLE_STATE_REGISTERED)."
             }