Add APIs to support actions on EventsExecutor

Signed-off-by: Mauro Passerino <mpasserino@irobot.com>
irobot-ros · Jul 5, 2021 · 9a92d03 · 9a92d03
1 parent dc6abbd
commit 9a92d03
Show file tree

Hide file tree

Showing 4 changed files with 200 additions and 0 deletions.
diff --git a/rcl_action/include/rcl_action/action_client.h b/rcl_action/include/rcl_action/action_client.h
@@ -22,6 +22,7 @@ extern "C"
 
 #include "rcl_action/types.h"
 #include "rcl_action/visibility_control.h"
+#include "rcl/event_callback.h"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 
@@ -741,6 +742,46 @@ bool
 rcl_action_client_is_valid(
   const rcl_action_client_t * action_client);
 
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_client_set_goal_client_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_client_set_cancel_client_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_client_set_result_client_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_client_set_feedback_subscription_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_client_set_status_subscription_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/rcl_action/include/rcl_action/action_server.h b/rcl_action/include/rcl_action/action_server.h
@@ -23,6 +23,7 @@ extern "C"
 #include "rcl_action/goal_handle.h"
 #include "rcl_action/types.h"
 #include "rcl_action/visibility_control.h"
+#include "rcl/event_callback.h"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 #include "rcl/time.h"
@@ -930,6 +931,30 @@ RCL_WARN_UNUSED
 bool
 rcl_action_server_is_valid_except_context(const rcl_action_server_t * action_server);
 
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_goal_service_callback(
+  const rcl_action_server_t * action_server,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_cancel_service_callback(
+  const rcl_action_server_t * action_server,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_result_service_callback(
+  const rcl_action_server_t * action_server,
+  rcl_event_callback_t callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

diff --git a/rcl_action/src/rcl_action/action_client.c b/rcl_action/src/rcl_action/action_client.c
@@ -649,6 +649,86 @@ rcl_action_client_wait_set_get_entities_ready(
   return RCL_RET_OK;
 }
 
+rcl_ret_t
+rcl_action_client_set_goal_client_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_client_is_valid(action_client)) {
+    return RCL_RET_ACTION_CLIENT_INVALID;
+  }
+
+  return rcl_client_set_on_new_response_callback(
+    &action_client->impl->goal_client,
+    callback,
+    user_data);
+}
+
+rcl_ret_t
+rcl_action_client_set_cancel_client_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_client_is_valid(action_client)) {
+    return RCL_RET_ACTION_CLIENT_INVALID;
+  }
+
+  return rcl_client_set_on_new_response_callback(
+    &action_client->impl->cancel_client,
+    callback,
+    user_data);
+}
+
+rcl_ret_t
+rcl_action_client_set_result_client_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_client_is_valid(action_client)) {
+    return RCL_RET_ACTION_CLIENT_INVALID;
+  }
+
+  return rcl_client_set_on_new_response_callback(
+    &action_client->impl->result_client,
+    callback,
+    user_data);
+}
+
+rcl_ret_t
+rcl_action_client_set_feedback_subscription_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_client_is_valid(action_client)) {
+    return RCL_RET_ACTION_CLIENT_INVALID;
+  }
+
+  return rcl_subscription_set_on_new_message_callback(
+    &action_client->impl->feedback_subscription,
+    callback,
+    user_data);
+}
+
+rcl_ret_t
+rcl_action_client_set_status_subscription_callback(
+  const rcl_action_client_t * action_client,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_client_is_valid(action_client)) {
+    return RCL_RET_ACTION_CLIENT_INVALID;
+  }
+
+  return rcl_subscription_set_on_new_message_callback(
+    &action_client->impl->status_subscription,
+    callback,
+    user_data);
+}
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/rcl_action/src/rcl_action/action_server.c b/rcl_action/src/rcl_action/action_server.c
@@ -1054,6 +1054,60 @@ rcl_action_server_wait_set_get_entities_ready(
   return RCL_RET_OK;
 }
 
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_goal_service_callback(
+  const rcl_action_server_t * action_server,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_server_is_valid_except_context(action_server)) {
+    return RCL_RET_ACTION_SERVER_INVALID;
+  }
+
+  return rcl_service_set_on_new_request_callback(
+    &action_server->impl->goal_service,
+    callback,
+    user_data);
+}
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_result_service_callback(
+  const rcl_action_server_t * action_server,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_server_is_valid_except_context(action_server)) {
+    return RCL_RET_ACTION_SERVER_INVALID;
+  }
+
+  return rcl_service_set_on_new_request_callback(
+    &action_server->impl->result_service,
+    callback,
+    user_data);
+}
+
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_cancel_service_callback(
+  const rcl_action_server_t * action_server,
+  rcl_event_callback_t callback,
+  const void * user_data)
+{
+  if (!rcl_action_server_is_valid_except_context(action_server)) {
+    return RCL_RET_ACTION_SERVER_INVALID;
+  }
+
+  return rcl_service_set_on_new_request_callback(
+    &action_server->impl->cancel_service,
+    callback,
+    user_data);
+}
+
 #ifdef __cplusplus
 }
 #endif