Fix rclrs to compile after rebase

Update uses of a `Mutex<rcl_node_t>` with a `NodeHandle`, as was done
elsewhere in the crate. Also, correct the documented UUID size to 16
rather than 24.

The minimal_action_client compiles, but the minimal_action_server does
not yet, complaining about expecting the `rmw` versions of messages
rather than the idiomatic ones.

Author: nwn

rclrs/src/action.rs

@@ -1,4 +1,4 @@
-use crate::{rcl_bindings::*, RclrsError};
+use crate::{rcl_bindings::*, NodeHandle, RclrsError};
 use std::sync::{Arc, Mutex, MutexGuard};
 
 // SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
@@ -34,7 +34,7 @@ where
     T: rosidl_runtime_rs::Action,
 {
     /// Creates a new action client.
-    pub(crate) fn new(rcl_node_mtx: Arc<Mutex<rcl_node_t>>, topic: &str) -> Result<Self, RclrsError>
+    pub(crate) fn new(node_handle: Arc<NodeHandle>, topic: &str) -> Result<Self, RclrsError>
     where
         T: rosidl_runtime_rs::Action,
     {
@@ -56,7 +56,7 @@ where
     T: rosidl_runtime_rs::Action,
 {
     /// Creates a new action server.
-    pub(crate) fn new(rcl_node_mtx: Arc<Mutex<rcl_node_t>>, topic: &str) -> Result<Self, RclrsError>
+    pub(crate) fn new(node_handle: Arc<NodeHandle>, topic: &str) -> Result<Self, RclrsError>
     where
         T: rosidl_runtime_rs::Action,
     {
@@ -79,7 +79,7 @@ impl<T> ServerGoalHandle<T>
 where
     T: rosidl_runtime_rs::Action,
 {
-    pub fn new(rcl_handle: Arc<rcl_action_goal_handle_t>,  goal_request: Arc<T>) -> Self {
+    pub fn new(rcl_handle: Arc<rcl_action_goal_handle_t>, goal_request: Arc<T>) -> Self {
         Self {
             rcl_handle,
             goal_request: Arc::clone(&goal_request),

rclrs/src/lib.rs

@@ -44,9 +44,8 @@ pub use node::*;
 pub use parameter::*;
 pub use publisher::*;
 pub use qos::*;
-use rcl_bindings::rcl_context_is_valid;
-use rcl_bindings::rcl_action_goal_handle_t;
 pub use rcl_bindings::rmw_request_id_t;
+use rcl_bindings::{rcl_action_goal_handle_t, rcl_context_is_valid};
 pub use service::*;
 pub use subscription::*;
 pub use time::*;

rclrs/src/node.rs

@@ -215,17 +215,11 @@ impl Node {
     ///
     /// [1]: crate::ActionClient
     // TODO: make action client's lifetime depend on node's lifetime
-    pub fn create_action_client<T>(
-        &self,
-        topic: &str,
-    ) -> Result<Arc<ActionClient<T>>, RclrsError>
+    pub fn create_action_client<T>(&self, topic: &str) -> Result<Arc<ActionClient<T>>, RclrsError>
     where
         T: rosidl_runtime_rs::Action,
     {
-        let action_client = Arc::new(ActionClient::<T>::new(
-            Arc::clone(&self.rcl_node_mtx),
-            topic,
-        )?);
+        let action_client = Arc::new(ActionClient::<T>::new(Arc::clone(&self.handle), topic)?);
         // self.clients
         //     .push(Arc::downgrade(&client) as Weak<dyn ClientBase>);
         Ok(action_client)
@@ -245,10 +239,7 @@ impl Node {
     where
         T: rosidl_runtime_rs::Action,
     {
-        let action_server = Arc::new(ActionServer::<T>::new(
-            Arc::clone(&self.rcl_node_mtx),
-            topic,
-        )?);
+        let action_server = Arc::new(ActionServer::<T>::new(Arc::clone(&self.handle), topic)?);
         // self.servers
         //     .push(Arc::downgrade(&server) as Weak<dyn ClientBase>);
         Ok(action_server)

rclrs/src/rcl_bindings.rs

@@ -138,7 +138,7 @@ cfg_if::cfg_if! {
         pub struct rosidl_message_type_support_t;
 
         pub const RMW_GID_STORAGE_SIZE: usize = 24;
-        pub const RCL_ACTION_UUID_SIZE: usize = 24;
+        pub const RCL_ACTION_UUID_SIZE: usize = 16;
 
         extern "C" {
             pub fn rcl_context_is_valid(context: *const rcl_context_t) -> bool;