Make GoalUuid into a newtype

Author: nwn

rclrs/src/action.rs

@@ -3,12 +3,37 @@ mod server;
 mod server_goal_handle;
 
 use crate::rcl_bindings::RCL_ACTION_UUID_SIZE;
+use std::fmt;
 
 pub use client::{ActionClient, ActionClientBase};
 pub use server::{ActionServer, ActionServerBase};
 pub use server_goal_handle::ServerGoalHandle;
 
-pub type GoalUUID = [u8; RCL_ACTION_UUID_SIZE];
+#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub struct GoalUuid(pub [u8; RCL_ACTION_UUID_SIZE]);
+
+impl fmt::Display for GoalUuid {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        write!(f, "{:02x}{:02x}{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}{:02x}{:02x}{:02x}{:02x}",
+               self.0[0],
+               self.0[1],
+               self.0[2],
+               self.0[3],
+               self.0[4],
+               self.0[5],
+               self.0[6],
+               self.0[7],
+               self.0[8],
+               self.0[9],
+               self.0[10],
+               self.0[11],
+               self.0[12],
+               self.0[13],
+               self.0[14],
+               self.0[15],
+               )
+    }
+}
 
 pub enum GoalResponse {
     Reject = 1,

rclrs/src/action/server_goal_handle.rs

@@ -1,4 +1,4 @@
-use crate::{rcl_bindings::*, RclrsError, ToResult};
+use crate::{rcl_bindings::*, GoalUuid, RclrsError, ToResult};
 use std::{
     marker::PhantomData,
     sync::{Arc, Mutex},
@@ -29,16 +29,22 @@ where
 {
     rcl_handle: Arc<Mutex<rcl_action_goal_handle_t>>,
     goal_request: Arc<T>,
+    uuid: GoalUuid,
 }
 
 impl<T> ServerGoalHandle<T>
 where
     T: rosidl_runtime_rs::Action,
 {
-    pub fn new(rcl_handle: Arc<Mutex<rcl_action_goal_handle_t>>, goal_request: Arc<T>) -> Self {
+    pub(crate) fn new(
+        rcl_handle: Arc<Mutex<rcl_action_goal_handle_t>>,
+        goal_request: Arc<T>,
+        uuid: GoalUuid,
+    ) -> Self {
         Self {
             rcl_handle,
             goal_request: Arc::clone(&goal_request),
+            uuid,
         }
     }
 
@@ -127,6 +133,10 @@ where
             Ok(false)
         }
     }
+
+    pub fn goal_id(&self) -> GoalUuid {
+        self.uuid
+    }
 }
 
 impl<T> Drop for ServerGoalHandle<T>

rclrs/src/node.rs

@@ -14,7 +14,7 @@ use rosidl_runtime_rs::Message;
 pub use self::{builder::*, graph::*};
 use crate::{
     rcl_bindings::*, ActionClient, ActionServer, CancelResponse, Client, ClientBase, Clock,
-    Context, ContextHandle, GoalResponse, GoalUUID, GuardCondition, ParameterBuilder,
+    Context, ContextHandle, GoalResponse, GoalUuid, GuardCondition, ParameterBuilder,
     ParameterInterface, ParameterVariant, Parameters, Publisher, QoSProfile, RclrsError,
     ServerGoalHandle, Service, ServiceBase, Subscription, SubscriptionBase, SubscriptionCallback,
     TimeSource, ENTITY_LIFECYCLE_MUTEX,
@@ -232,7 +232,7 @@ impl Node {
     pub fn create_action_server<T>(
         &mut self,
         topic: &str,
-        handle_goal: fn(&crate::action::GoalUUID, Arc<T::Goal>) -> GoalResponse,
+        handle_goal: fn(&crate::action::GoalUuid, Arc<T::Goal>) -> GoalResponse,
         handle_cancel: fn(Arc<ServerGoalHandle<T>>) -> CancelResponse,
         handle_accepted: fn(Arc<ServerGoalHandle<T>>),
     ) -> Result<Arc<ActionServer<T>>, RclrsError>