Replace set_result_response_status with create_result_response

rclrs needs to be able to generically construct result responses, including the user-defined result field.
nwn · Sep 28, 2024 · 7a39794 · 7a39794
1 parent 6d7021a
commit 7a39794
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em
@@ -119,8 +119,11 @@ impl rosidl_runtime_rs::ActionImpl for @(type_name) {
     request.goal_id.uuid
   }
 
-  fn set_result_response_status(response: &mut <<Self::GetResultService as rosidl_runtime_rs::Service>::Response as rosidl_runtime_rs::Message>::RmwMsg, status: i8) {
-    response.status = status;
+  fn create_result_response(status: i8, result: <<Self as Action>::Result as Message>::RmwMsg) -> <<Self::GetResultService as Service>::Response as Message>::RmwMsg {
+    <<Self::GetResultService as rosidl_runtime_rs::Service>::Response as rosidl_runtime_rs::Message>::RmwMsg {
+      status,
+      result,
+    }
   }
 }
 

diff --git a/rosidl_runtime_rs/src/traits.rs b/rosidl_runtime_rs/src/traits.rs
@@ -208,6 +208,6 @@ pub trait ActionImpl: 'static + Action {
     /// Get the UUID of a result request.
     fn get_result_request_uuid(request: &<<Self::GetResultService as Service>::Request as Message>::RmwMsg) -> [u8; 16];
 
-    /// Sets the `status` field of a result response.
-    fn set_result_response_status(response: &mut <<Self::GetResultService as Service>::Response as Message>::RmwMsg, status: i8);
+    /// Create a result response message with the given status and contents.
+    fn create_result_response(status: i8, result: <<Self as Action>::Result as Message>::RmwMsg) -> <<Self::GetResultService as Service>::Response as Message>::RmwMsg;
 }