Fix compilation after rebase

Just the bare minimum to get things working after the rebase. Lots of
clean-up still to do.

Author: nwn

examples/minimal_action_server/src/minimal_action_server.rs

@@ -1,13 +1,13 @@
 use anyhow::{Error, Result};
 use rclrs::*;
-use std::{env, sync::Arc, thread};
+use std::{sync::Arc, thread};
 
 type Fibonacci = example_interfaces::action::Fibonacci;
 type GoalHandleFibonacci = rclrs::ServerGoalHandle<Fibonacci>;
 
 fn handle_goal(
-    _uuid: &rclrs::GoalUUID,
-    goal: Arc<example_interfaces::action::rmw::Fibonacci_Goal>,
+    _uuid: rclrs::GoalUuid,
+    goal: example_interfaces::action::Fibonacci_Goal,
 ) -> rclrs::GoalResponse {
     println!("Received goal request with order {}", goal.order);
     if goal.order > 9000 {
@@ -24,11 +24,11 @@ fn handle_cancel(_goal_handle: Arc<GoalHandleFibonacci>) -> rclrs::CancelRespons
 
 fn execute(goal_handle: Arc<GoalHandleFibonacci>) {
     println!("Executing goal");
-    let feedback = example_interfaces::action::Fibonacci_Feedback {
+    let mut feedback = example_interfaces::action::Fibonacci_Feedback {
         sequence: [0, 1].to_vec(),
     };
 
-    for i in 1..goal_handle.goal_request.order {
+    for i in 1..goal_handle.goal().order {
         if goal_handle.is_canceling() {
             let result = example_interfaces::action::Fibonacci_Result {
                 sequence: Vec::new(),
@@ -50,9 +50,8 @@ fn execute(goal_handle: Arc<GoalHandleFibonacci>) {
     }
 
     let result = example_interfaces::action::Fibonacci_Result {
-        sequence: Vec::new(),
+        sequence: feedback.sequence,
     };
-    result.sequence = feedback.sequence.clone();
     goal_handle.succeed(&result);
     println!("Goal succeeded");
 }
@@ -68,7 +67,7 @@ fn main() -> Result<(), Error> {
 
     let node = executor.create_node("minimal_action_server")?;
 
-    let _action_server = node.create_action_server::<example_interfaces::action::Fibonacci>(
+    let _action_server = node.create_action_server::<example_interfaces::action::Fibonacci, _, _, _>(
         "fibonacci",
         handle_goal,
         handle_cancel,

rclrs/src/action/server.rs

@@ -66,8 +66,8 @@ pub(crate) enum ReadyMode {
 }
 
 pub type GoalCallback<ActionT> = dyn Fn(GoalUuid, <ActionT as rosidl_runtime_rs::Action>::Goal) -> GoalResponse + 'static + Send + Sync;
-pub type CancelCallback<ActionT> = dyn Fn(ServerGoalHandle<ActionT>) -> CancelResponse + 'static + Send + Sync;
-pub type AcceptedCallback<ActionT> = dyn Fn(ServerGoalHandle<ActionT>) + 'static + Send + Sync;
+pub type CancelCallback<ActionT> = dyn Fn(Arc<ServerGoalHandle<ActionT>>) -> CancelResponse + 'static + Send + Sync;
+pub type AcceptedCallback<ActionT> = dyn Fn(Arc<ServerGoalHandle<ActionT>>) + 'static + Send + Sync;
 
 pub struct ActionServer<ActionT>
 where
@@ -95,8 +95,8 @@ where
         clock: Clock,
         topic: &str,
         goal_callback: impl Fn(GoalUuid, T::Goal) -> GoalResponse + 'static + Send + Sync,
-        cancel_callback: impl Fn(ServerGoalHandle<T>) -> CancelResponse + 'static + Send + Sync,
-        accepted_callback: impl Fn(ServerGoalHandle<T>) + 'static + Send + Sync,
+        cancel_callback: impl Fn(Arc<ServerGoalHandle<T>>) -> CancelResponse + 'static + Send + Sync,
+        accepted_callback: impl Fn(Arc<ServerGoalHandle<T>>) + 'static + Send + Sync,
     ) -> Result<Self, RclrsError>
     where
         T: rosidl_runtime_rs::Action + rosidl_runtime_rs::ActionImpl,

rclrs/src/action/server_goal_handle.rs

@@ -208,10 +208,10 @@ where
     /// This may only be called when the goal is executing.
     ///
     /// Returns an error if the goal is in any state other than executing.
-    pub fn publish_feedback(&self, feedback: Arc<ActionT::Feedback>) -> Result<(), RclrsError> {
+    pub fn publish_feedback(&self, feedback: &ActionT::Feedback) -> Result<(), RclrsError> {
         // If the action server no longer exists, simply drop the message.
         if let Some(action_server) = self.action_server.upgrade() {
-            action_server.publish_feedback(&self.uuid, &*feedback)?;
+            action_server.publish_feedback(&self.uuid, feedback)?;
         }
         Ok(())
     }

rclrs/src/node.rs

@@ -325,8 +325,8 @@ impl NodeState {
     where
         ActionT: rosidl_runtime_rs::Action + rosidl_runtime_rs::ActionImpl,
         GoalCallback: Fn(GoalUuid, <ActionT as rosidl_runtime_rs::Action>::Goal) -> GoalResponse + 'static + Send + Sync,
-        CancelCallback: Fn(ServerGoalHandle<ActionT>) -> CancelResponse + 'static + Send + Sync,
-        AcceptedCallback: Fn(ServerGoalHandle<ActionT>) + 'static + Send + Sync,
+        CancelCallback: Fn(Arc<ServerGoalHandle<ActionT>>) -> CancelResponse + 'static + Send + Sync,
+        AcceptedCallback: Fn(Arc<ServerGoalHandle<ActionT>>) + 'static + Send + Sync,
     {
         let action_server = Arc::new(ActionServer::<ActionT>::new(
             self,