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Update to the latest version of Action trait #7

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Update to the latest version of Action trait #7

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62 changes: 29 additions & 33 deletions rosidl_generator_rs/resource/action.rs.em
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand All @@ -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(
Expand Down Expand Up @@ -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(
Expand All @@ -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)
}
}

Expand Down