Pass rcl_clock_t from Node to ActionServer

This is needed to initialize the rcl_action_server_t. In rclcpp, the
clock ends up stored in the Server itself (by way of ServerBase and
ServerBaseImpl); we'll see if that ends up being necessary here.

Author: nwn

rclrs/src/action.rs

@@ -1,4 +1,4 @@
-use crate::{error::ToResult, rcl_bindings::*, NodeHandle, RclrsError, ENTITY_LIFECYCLE_MUTEX};
+use crate::{error::ToResult, rcl_bindings::*, Clock, NodeHandle, RclrsError, ENTITY_LIFECYCLE_MUTEX};
 use std::{
     ffi::CString,
     sync::{atomic::AtomicBool, Arc, Mutex, MutexGuard},
@@ -203,7 +203,7 @@ where
     T: rosidl_runtime_rs::Action,
 {
     /// Creates a new action server.
-    pub(crate) fn new(node_handle: Arc<NodeHandle>, topic: &str) -> Result<Self, RclrsError>
+    pub(crate) fn new(node_handle: Arc<NodeHandle>, clock: Clock, topic: &str) -> Result<Self, RclrsError>
     where
         T: rosidl_runtime_rs::Action,
     {
@@ -221,6 +221,8 @@ where
 
         {
             let mut rcl_node = node_handle.rcl_node.lock().unwrap();
+            let rcl_clock = clock.rcl_clock();
+            let mut rcl_clock = rcl_clock.lock().unwrap();
             let _lifecycle_lock = ENTITY_LIFECYCLE_MUTEX.lock().unwrap();
             unsafe {
                 // SAFETY:
@@ -233,7 +235,7 @@ where
                 rcl_action_server_init(
                     &mut rcl_action_server,
                     &mut *rcl_node,
-                    todo!("pass in a rcl_clock_t"),
+                    &mut *rcl_clock,
                     type_support,
                     topic_c_string.as_ptr(),
                     &action_server_options,

rclrs/src/clock.rs

@@ -88,6 +88,11 @@ impl Clock {
         self.kind
     }
 
+    /// Returns the clock's `rcl_clock_t`.
+    pub(crate) fn rcl_clock(&self) -> Arc<Mutex<rcl_clock_t>> {
+        Arc::clone(&self.rcl_clock)
+    }
+
     /// Returns the current clock's timestamp.
     pub fn now(&self) -> Time {
         let mut clock = self.rcl_clock.lock().unwrap();

rclrs/src/node.rs

@@ -239,7 +239,7 @@ impl Node {
     where
         T: rosidl_runtime_rs::Action,
     {
-        let action_server = Arc::new(ActionServer::<T>::new(Arc::clone(&self.handle), topic)?);
+        let action_server = Arc::new(ActionServer::<T>::new(Arc::clone(&self.handle), self.get_clock(), topic)?);
         // self.servers
         //     .push(Arc::downgrade(&server) as Weak<dyn ClientBase>);
         Ok(action_server)