Add documentation and clean up

Author: nwn

rclrs/src/action.rs

@@ -9,6 +9,7 @@ pub use client::{ActionClient, ActionClientBase};
 pub use server::{ActionServer, ActionServerBase};
 pub use server_goal_handle::ServerGoalHandle;
 
+/// A unique identifier for a goal request.
 #[derive(Copy, Clone, Debug, Default, PartialEq, Eq, PartialOrd, Ord, Hash)]
 pub struct GoalUuid(pub [u8; RCL_ACTION_UUID_SIZE]);
 
@@ -35,13 +36,20 @@ impl fmt::Display for GoalUuid {
     }
 }
 
+/// The response returned by an [`ActionServer`]'s goal callback when a goal request is received.
 pub enum GoalResponse {
+    /// The goal is rejected and will not be executed.
     Reject = 1,
+    /// The server accepts the goal and will begin executing it immediately.
     AcceptAndExecute = 2,
+    /// The server accepts the goal and will begin executing it later.
     AcceptAndDefer = 3,
 }
 
+/// The response returned by an [`ActionServer`]'s cancel callback when a goal is requested to be cancelled.
 pub enum CancelResponse {
+    /// The server will not try to cancel the goal.
     Reject = 1,
+    /// The server will try to cancel the goal.
     Accept = 2,
 }

rclrs/src/action/client.rs

@@ -68,8 +68,7 @@ where
     {
         // SAFETY: Getting a zero-initialized value is always safe.
         let mut rcl_action_client = unsafe { rcl_action_get_zero_initialized_client() };
-        let type_support = <T as rosidl_runtime_rs::Action>::get_type_support()
-            as *const rosidl_action_type_support_t;
+        let type_support = T::get_type_support() as *const rosidl_action_type_support_t;
         let topic_c_string = CString::new(topic).map_err(|err| RclrsError::StringContainsNul {
             err,
             s: topic.into(),

rclrs/src/action/server.rs

@@ -77,8 +77,7 @@ where
     {
         // SAFETY: Getting a zero-initialized value is always safe.
         let mut rcl_action_server = unsafe { rcl_action_get_zero_initialized_server() };
-        let type_support = <T as rosidl_runtime_rs::Action>::get_type_support()
-            as *const rosidl_action_type_support_t;
+        let type_support = T::get_type_support() as *const rosidl_action_type_support_t;
         let topic_c_string = CString::new(topic).map_err(|err| RclrsError::StringContainsNul {
             err,
             s: topic.into(),

rclrs/src/action/server_goal_handle.rs

@@ -1,8 +1,5 @@
 use crate::{rcl_bindings::*, GoalUuid, RclrsError, ToResult};
-use std::{
-    marker::PhantomData,
-    sync::{Arc, Mutex},
-};
+use std::sync::{Arc, Mutex};
 
 // SAFETY: The functions accessing this type, including drop(), shouldn't care about the thread
 // they are running in. Therefore, this type can be safely sent to another thread.
@@ -173,6 +170,16 @@ where
     pub fn goal(&self) -> Arc<ActionT::Goal> {
         Arc::clone(&self.goal_request)
     }
+
+    /// Send an update about the goal's progress.
+    ///
+    /// 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> {
+        // TODO: Invoke public_feedback callback
+        todo!()
+    }
 }
 
 impl<ActionT> Drop for ServerGoalHandle<ActionT>

rclrs/src/lib.rs

@@ -45,7 +45,6 @@ pub use parameter::*;
 pub use publisher::*;
 pub use qos::*;
 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::*;