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merged 1 commit into from
Oct 13, 2025
Merged

Minimal changes for new Action trait #539

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64 changes: 30 additions & 34 deletions rclrs/src/vendor/example_interfaces/action.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -1247,26 +1247,25 @@ extern "C" {
pub struct Fibonacci;

impl rosidl_runtime_rs::Action for Fibonacci {
// --- Associated types for client library users ---
type Goal = crate::vendor::example_interfaces::action::Fibonacci_Goal;
type Result = crate::vendor::example_interfaces::action::Fibonacci_Result;
type Feedback = crate::vendor::example_interfaces::action::Fibonacci_Feedback;

// --- Associated types for client library implementation ---
type FeedbackMessage =
crate::vendor::example_interfaces::action::rmw::Fibonacci_FeedbackMessage;
type SendGoalService = crate::vendor::example_interfaces::action::rmw::Fibonacci_SendGoal;
type CancelGoalService = crate::vendor::action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::vendor::example_interfaces::action::rmw::Fibonacci_GetResult;

// --- 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__example_interfaces__action__Fibonacci()
}
}
}

impl rosidl_runtime_rs::ActionImpl for Fibonacci {
type GoalStatusMessage = crate::vendor::action_msgs::msg::rmw::GoalStatusArray;
type FeedbackMessage =
crate::vendor::example_interfaces::action::rmw::Fibonacci_FeedbackMessage;

type SendGoalService = crate::vendor::example_interfaces::action::rmw::Fibonacci_SendGoal;
type CancelGoalService = crate::vendor::action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::vendor::example_interfaces::action::rmw::Fibonacci_GetResult;

fn create_goal_request(
goal_id: &[u8; 16],
Expand All @@ -1278,10 +1277,13 @@ impl rosidl_runtime_rs::ActionImpl for Fibonacci {
}
}

fn get_goal_request_uuid(
request: &crate::vendor::example_interfaces::action::rmw::Fibonacci_SendGoal_Request,
) -> &[u8; 16] {
&request.goal_id.uuid
fn split_goal_request(
request: crate::vendor::example_interfaces::action::rmw::Fibonacci_SendGoal_Request,
) -> (
[u8; 16],
crate::vendor::example_interfaces::action::rmw::Fibonacci_Goal,
) {
(request.goal_id.uuid, request.goal)
}

fn create_goal_response(
Expand Down Expand Up @@ -1320,16 +1322,13 @@ impl rosidl_runtime_rs::ActionImpl for Fibonacci {
message
}

fn get_feedback_message_uuid(
feedback: &crate::vendor::example_interfaces::action::rmw::Fibonacci_FeedbackMessage,
) -> &[u8; 16] {
&feedback.goal_id.uuid
}

fn get_feedback_message_feedback(
feedback: &crate::vendor::example_interfaces::action::rmw::Fibonacci_FeedbackMessage,
) -> &crate::vendor::example_interfaces::action::rmw::Fibonacci_Feedback {
&feedback.feedback
fn split_feedback_message(
feedback: crate::vendor::example_interfaces::action::rmw::Fibonacci_FeedbackMessage,
) -> (
[u8; 16],
crate::vendor::example_interfaces::action::rmw::Fibonacci_Feedback,
) {
(feedback.goal_id.uuid, feedback.feedback)
}

fn create_result_request(
Expand All @@ -1356,15 +1355,12 @@ impl rosidl_runtime_rs::ActionImpl for Fibonacci {
}
}

fn get_result_response_result(
response: &crate::vendor::example_interfaces::action::rmw::Fibonacci_GetResult_Response,
) -> &crate::vendor::example_interfaces::action::rmw::Fibonacci_Result {
&response.result
}

fn get_result_response_status(
response: &crate::vendor::example_interfaces::action::rmw::Fibonacci_GetResult_Response,
) -> i8 {
response.status
fn split_result_response(
response: crate::vendor::example_interfaces::action::rmw::Fibonacci_GetResult_Response,
) -> (
i8,
crate::vendor::example_interfaces::action::rmw::Fibonacci_Result,
) {
(response.status, response.result)
}
}
121 changes: 55 additions & 66 deletions rclrs/src/vendor/test_msgs/action.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2497,25 +2497,24 @@ extern "C" {
pub struct Fibonacci;

impl rosidl_runtime_rs::Action for Fibonacci {
// --- Associated types for client library users ---
type Goal = crate::vendor::test_msgs::action::Fibonacci_Goal;
type Result = crate::vendor::test_msgs::action::Fibonacci_Result;
type Feedback = crate::vendor::test_msgs::action::Fibonacci_Feedback;

// --- Associated types for client library implementation ---
type FeedbackMessage = crate::vendor::test_msgs::action::rmw::Fibonacci_FeedbackMessage;
type SendGoalService = crate::vendor::test_msgs::action::rmw::Fibonacci_SendGoal;
type CancelGoalService = crate::vendor::action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::vendor::test_msgs::action::rmw::Fibonacci_GetResult;

// --- 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__test_msgs__action__Fibonacci()
}
}
}

impl rosidl_runtime_rs::ActionImpl for Fibonacci {
type GoalStatusMessage = crate::vendor::action_msgs::msg::rmw::GoalStatusArray;
type FeedbackMessage = crate::vendor::test_msgs::action::rmw::Fibonacci_FeedbackMessage;

type SendGoalService = crate::vendor::test_msgs::action::rmw::Fibonacci_SendGoal;
type CancelGoalService = crate::vendor::action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::vendor::test_msgs::action::rmw::Fibonacci_GetResult;

fn create_goal_request(
goal_id: &[u8; 16],
Expand All @@ -2527,10 +2526,13 @@ impl rosidl_runtime_rs::ActionImpl for Fibonacci {
}
}

fn get_goal_request_uuid(
request: &crate::vendor::test_msgs::action::rmw::Fibonacci_SendGoal_Request,
) -> &[u8; 16] {
&request.goal_id.uuid
fn split_goal_request(
request: crate::vendor::test_msgs::action::rmw::Fibonacci_SendGoal_Request,
) -> (
[u8; 16],
crate::vendor::test_msgs::action::rmw::Fibonacci_Goal,
) {
(request.goal_id.uuid, request.goal)
}

fn create_goal_response(
Expand Down Expand Up @@ -2569,16 +2571,13 @@ impl rosidl_runtime_rs::ActionImpl for Fibonacci {
message
}

fn get_feedback_message_uuid(
feedback: &crate::vendor::test_msgs::action::rmw::Fibonacci_FeedbackMessage,
) -> &[u8; 16] {
&feedback.goal_id.uuid
}

fn get_feedback_message_feedback(
feedback: &crate::vendor::test_msgs::action::rmw::Fibonacci_FeedbackMessage,
) -> &crate::vendor::test_msgs::action::rmw::Fibonacci_Feedback {
&feedback.feedback
fn split_feedback_message(
feedback: crate::vendor::test_msgs::action::rmw::Fibonacci_FeedbackMessage,
) -> (
[u8; 16],
crate::vendor::test_msgs::action::rmw::Fibonacci_Feedback,
) {
(feedback.goal_id.uuid, feedback.feedback)
}

fn create_result_request(
Expand All @@ -2602,16 +2601,10 @@ impl rosidl_runtime_rs::ActionImpl for Fibonacci {
crate::vendor::test_msgs::action::rmw::Fibonacci_GetResult_Response { status, result }
}

fn get_result_response_result(
response: &crate::vendor::test_msgs::action::rmw::Fibonacci_GetResult_Response,
) -> &crate::vendor::test_msgs::action::rmw::Fibonacci_Result {
&response.result
}

fn get_result_response_status(
response: &crate::vendor::test_msgs::action::rmw::Fibonacci_GetResult_Response,
) -> i8 {
response.status
fn split_result_response(
response: crate::vendor::test_msgs::action::rmw::Fibonacci_GetResult_Response,
) -> (i8, crate::vendor::test_msgs::action::rmw::Fibonacci_Result) {
(response.status, response.result)
}
}

Expand All @@ -2625,25 +2618,24 @@ extern "C" {
pub struct NestedMessage;

impl rosidl_runtime_rs::Action for NestedMessage {
// --- Associated types for client library users ---
type Goal = crate::vendor::test_msgs::action::NestedMessage_Goal;
type Result = crate::vendor::test_msgs::action::NestedMessage_Result;
type Feedback = crate::vendor::test_msgs::action::NestedMessage_Feedback;

// --- Associated types for client library implementation ---
type FeedbackMessage = crate::vendor::test_msgs::action::rmw::NestedMessage_FeedbackMessage;
type SendGoalService = crate::vendor::test_msgs::action::rmw::NestedMessage_SendGoal;
type CancelGoalService = crate::vendor::action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::vendor::test_msgs::action::rmw::NestedMessage_GetResult;

// --- 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__test_msgs__action__NestedMessage()
}
}
}

impl rosidl_runtime_rs::ActionImpl for NestedMessage {
type GoalStatusMessage = crate::vendor::action_msgs::msg::rmw::GoalStatusArray;
type FeedbackMessage = crate::vendor::test_msgs::action::rmw::NestedMessage_FeedbackMessage;

type SendGoalService = crate::vendor::test_msgs::action::rmw::NestedMessage_SendGoal;
type CancelGoalService = crate::vendor::action_msgs::srv::rmw::CancelGoal;
type GetResultService = crate::vendor::test_msgs::action::rmw::NestedMessage_GetResult;

fn create_goal_request(
goal_id: &[u8; 16],
Expand All @@ -2655,10 +2647,13 @@ impl rosidl_runtime_rs::ActionImpl for NestedMessage {
}
}

fn get_goal_request_uuid(
request: &crate::vendor::test_msgs::action::rmw::NestedMessage_SendGoal_Request,
) -> &[u8; 16] {
&request.goal_id.uuid
fn split_goal_request(
request: crate::vendor::test_msgs::action::rmw::NestedMessage_SendGoal_Request,
) -> (
[u8; 16],
crate::vendor::test_msgs::action::rmw::NestedMessage_Goal,
) {
(request.goal_id.uuid, request.goal)
}

fn create_goal_response(
Expand Down Expand Up @@ -2697,16 +2692,13 @@ impl rosidl_runtime_rs::ActionImpl for NestedMessage {
message
}

fn get_feedback_message_uuid(
feedback: &crate::vendor::test_msgs::action::rmw::NestedMessage_FeedbackMessage,
) -> &[u8; 16] {
&feedback.goal_id.uuid
}

fn get_feedback_message_feedback(
feedback: &crate::vendor::test_msgs::action::rmw::NestedMessage_FeedbackMessage,
) -> &crate::vendor::test_msgs::action::rmw::NestedMessage_Feedback {
&feedback.feedback
fn split_feedback_message(
feedback: crate::vendor::test_msgs::action::rmw::NestedMessage_FeedbackMessage,
) -> (
[u8; 16],
crate::vendor::test_msgs::action::rmw::NestedMessage_Feedback,
) {
(feedback.goal_id.uuid, feedback.feedback)
}

fn create_result_request(
Expand All @@ -2730,15 +2722,12 @@ impl rosidl_runtime_rs::ActionImpl for NestedMessage {
crate::vendor::test_msgs::action::rmw::NestedMessage_GetResult_Response { status, result }
}

fn get_result_response_result(
response: &crate::vendor::test_msgs::action::rmw::NestedMessage_GetResult_Response,
) -> &crate::vendor::test_msgs::action::rmw::NestedMessage_Result {
&response.result
}

fn get_result_response_status(
response: &crate::vendor::test_msgs::action::rmw::NestedMessage_GetResult_Response,
) -> i8 {
response.status
fn split_result_response(
response: crate::vendor::test_msgs::action::rmw::NestedMessage_GetResult_Response,
) -> (
i8,
crate::vendor::test_msgs::action::rmw::NestedMessage_Result,
) {
(response.status, response.result)
}
}