From f9534723834a7aeed1ad1e3b30fb68b88e91a5db Mon Sep 17 00:00:00 2001
From: "Michael X. Grey" <greyxmike@gmail.com>
Date: Tue, 29 Jul 2025 20:38:15 +0800
Subject: [PATCH] Update to the latest version of Action trait

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
---
 rosidl_generator_rs/resource/action.rs.em | 62 +++++++++++------------
 1 file changed, 29 insertions(+), 33 deletions(-)

diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em
index 5f463f3..e2bf530 100644
--- a/rosidl_generator_rs/resource/action.rs.em
+++ b/rosidl_generator_rs/resource/action.rs.em
@@ -84,24 +84,23 @@ extern "C" {
 pub struct @(type_name);
 
 impl rosidl_runtime_rs::Action for @(type_name) {
+  // --- Associated types for client library users ---
   type Goal = crate::@(subfolder)::@(type_name)@(ACTION_GOAL_SUFFIX);
   type Result = crate::@(subfolder)::@(type_name)@(ACTION_RESULT_SUFFIX);
   type Feedback = crate::@(subfolder)::@(type_name)@(ACTION_FEEDBACK_SUFFIX);
 
-  fn get_type_support() -> *const std::ffi::c_void {
-    // SAFETY: No preconditions for this function.
-    unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
-  }
-}
-
-impl rosidl_runtime_rs::ActionImpl for @(type_name) {
-  type GoalStatusMessage = action_msgs::msg::rmw::GoalStatusArray;
+  // --- Associated types for client library implementation ---
   type FeedbackMessage = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX);
-
   type SendGoalService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX);
   type CancelGoalService = action_msgs::srv::rmw::CancelGoal;
   type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX);
 
+  // --- Methods for client library implementation ---
+  fn get_type_support() -> *const std::ffi::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
+  }
+
   fn create_goal_request(
     goal_id: &[u8; 16],
     goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
@@ -112,10 +111,13 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) {
     }
   }
 
-  fn get_goal_request_uuid(
-    request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
-  ) -> &[u8; 16] {
-    &request.goal_id.uuid
+  fn split_goal_request(
+    request: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX),
+  ) -> (
+    [u8; 16],
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX),
+  ) {
+    (request.goal_id.uuid, request.goal)
   }
 
   fn create_goal_response(
@@ -153,16 +155,13 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) {
     message
   }
 
-  fn get_feedback_message_uuid(
-    feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
-  ) -> &[u8; 16] {
-    &feedback.goal_id.uuid
-  }
-
-  fn get_feedback_message_feedback(
-    feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
-  ) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX) {
-    &feedback.feedback
+  fn split_feedback_message(
+    feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX),
+  ) -> (
+    [u8; 16],
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX),
+  ) {
+    (feedback.goal_id.uuid, feedback.feedback)
   }
 
   fn create_result_request(
@@ -189,16 +188,13 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) {
     }
   }
 
-  fn get_result_response_result(
-    response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
-  ) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX) {
-    &response.result
-  }
-
-  fn get_result_response_status(
-    response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX),
-  ) -> i8 {
-    response.status
+  fn split_result_response(
+    response: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)
+  ) -> (
+    i8,
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX),
+  ) {
+    (response.status, response.result)
   }
 }