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Update to the latest version of Action trait #7

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Merged
merged 3 commits into from
Oct 13, 2025
Merged

Update to the latest version of Action trait #7

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f953472
Update to the latest version of Action trait
mxgrey Jul 29, 2025
0d7e707
Fix use of serde
mxgrey Oct 10, 2025
ef093bb
Merge branch 'fix_serde' into fix_actions
mxgrey Oct 10, 2025
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67 changes: 34 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 @@ -26,6 +26,8 @@ for subfolder, action in action_specs:
}@

pub mod rmw {
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
@{
TEMPLATE(
'msg_rmw.rs.em',
Expand All @@ -47,6 +49,9 @@ TEMPLATE(
}@
} // mod rmw

#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};

@{
TEMPLATE(
'msg_idiomatic.rs.em',
Expand Down Expand Up @@ -84,24 +89,23 @@ 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 +116,13 @@ 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 +160,13 @@ 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 +193,13 @@ 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
5 changes: 5 additions & 0 deletions rosidl_generator_rs/resource/msg.rs.em
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Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,6 @@
pub mod rmw {
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
@{
TEMPLATE(
'msg_rmw.rs.em',
Expand All @@ -11,6 +13,9 @@ TEMPLATE(
}@
} // mod rmw

#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};

@{
TEMPLATE(
'msg_idiomatic.rs.em',
Expand Down
2 changes: 0 additions & 2 deletions rosidl_generator_rs/resource/msg_idiomatic.rs.em
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,6 @@ from rosidl_parser.definition import UnboundedWString
@# ############ Idiomatic message types ############
@# #################################################
@# These types use standard Rust containers where possible.
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
@[for subfolder, msg_spec in msg_specs]@
@{
type_name = msg_spec.structure.namespaced_type.name
Expand Down
2 changes: 0 additions & 2 deletions rosidl_generator_rs/resource/msg_rmw.rs.em
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,6 @@ from rosidl_parser.definition import UnboundedSequence
from rosidl_parser.definition import UnboundedString
from rosidl_parser.definition import UnboundedWString
}@
#[cfg(feature = "serde")]
use serde::{Deserialize, Serialize};
@[for subfolder, msg_spec in msg_specs]@
@{
type_name = msg_spec.structure.namespaced_type.name
Expand Down