Async actions

rclrs/Cargo.toml

@@ -17,12 +17,18 @@ path = "src/lib.rs"
 # Needed for dynamically finding type support libraries
 ament_rs = { version = "0.2", optional = true }
 
+# Needed to create the GoalClientStream
+async-stream = "*"
+
 # Needed for uploading documentation to docs.rs
 cfg-if = "1.0.0"
 
 # Needed for clients
 futures = "0.3"
 
+# Needed for racing futures
+futures-lite = { version = "2.6", features = ["std", "race"] }
+
 # Needed for the runtime-agnostic timeout feature
 async-std = "1.13"
 
@@ -36,6 +42,18 @@ rosidl_runtime_rs = "0.4"
 serde = { version = "1", optional = true, features = ["derive"] }
 serde-big-array = { version = "0.5.1", optional = true }
 
+# Needed to watch for the cancel signal for actions. Note that this only brings
+# in the sync module of tokio, which is a fairly light weight dependency. The
+# channels in this module work with any async runtime, so this does not lock us
+# into the tokio runtime.
+tokio = { version = "1", features = ["sync"] }
+
+# Needed to combine concurrent streams for easier ergonomics in action clients
+tokio-stream = "0.1"
+
+# Needed by action clients to generate UUID values for their goals
+uuid = { version = "1", features = ["v4"] }
+
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"

rclrs/build.rs

@@ -116,6 +116,7 @@ fn main() {
     }
 
     println!("cargo:rustc-link-lib=dylib=rcl");
+    println!("cargo:rustc-link-lib=dylib=rcl_action");
     println!("cargo:rustc-link-lib=dylib=rcl_yaml_param_parser");
     println!("cargo:rustc-link-lib=dylib=rcutils");
     println!("cargo:rustc-link-lib=dylib=rmw");