feat!: async actions (#503)

* Remove lockfiles from being tracked

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Port draft action implementation from #410

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Rework readiness for waitables

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Reworking action server goal handle lifecycles

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fleshing out the state machines for action server goals -- cancelling is WIP

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Finished action server goal state machine API -- need to finish action_server.rs

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Progress on action_server implementation

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Action server finished -- needs testing

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Creating action server and action goal receiver -- needs testing

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Introducing action clients into the wait set processing

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Incorporate action clients into wait sets

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fleshing out implementation of action clients

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Implementing goal status client

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Implementing goal result client

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* CancellationClient API in progress

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Finish action cancellation request API

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Finish API for action clients -- needs testing

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Link against rcl_action

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Add initial tests and improve ergonomics

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Add co-author credit

Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Re-export traits from rosidl_runtime_rs

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Update bindings to include actions -- added script for automating the binding generation

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Apply cargo fmt

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Update bindings for kilted

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>

* Update bindings for humble

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>

* Update bindings for rolling

Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>

* Fix use of serde

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Use desktop image so it includes rcl_action which we need for action bindings

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix serde

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Finish documentation for GoalClientStream

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Enable serde for goal status info

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix action cancellation pipeline

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* More trait re-exports

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Add tests for action cancellation

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix use of action client options

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Fix style

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* Remove use of .clear_poison because it is not stable in 1.75

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>

* chore: revert bindings-related changes (#5)

Signed-off-by: Esteve Fernandez <esteve@apache.org>

* update rosidl_runtime_rs for action support (#6)

Signed-off-by: Esteve Fernandez <esteve@apache.org>

* revert bindings generation changes

---------

Signed-off-by: Michael X. Grey <greyxmike@gmail.com>
Signed-off-by: Michael X. Grey <mxgrey@intrinsic.ai>
Signed-off-by: Esteve Fernandez <esteve@apache.org>
Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>

Author: 3 people

rclrs/Cargo.toml

@@ -17,25 +17,43 @@ path = "src/lib.rs"
 # Needed for dynamically finding type support libraries
 ament_rs = { version = "0.2", optional = true }
 
+# Needed to create the GoalClientStream
+async-stream = "*"
+
 # Needed for uploading documentation to docs.rs
 cfg-if = "1.0.0"
 
 # Needed for clients
 futures = "0.3"
 
+# Needed for racing futures
+futures-lite = { version = "2.6", features = ["std", "race"] }
+
 # Needed for the runtime-agnostic timeout feature
 async-std = "1.13"
 
 # Needed for dynamic messages
 libloading = { version = "0.8", optional = true }
 
 # Needed for the Message trait, among others
-rosidl_runtime_rs = "0.4"
+rosidl_runtime_rs = "0.5"
 
 # Needed for serliazation and deserialization of vendored messages
 serde = { version = "1", optional = true, features = ["derive"] }
 serde-big-array = { version = "0.5.1", optional = true }
 
+# Needed to watch for the cancel signal for actions. Note that this only brings
+# in the sync module of tokio, which is a fairly light weight dependency. The
+# channels in this module work with any async runtime, so this does not lock us
+# into the tokio runtime.
+tokio = { version = "1", features = ["sync"] }
+
+# Needed to combine concurrent streams for easier ergonomics in action clients
+tokio-stream = "0.1"
+
+# Needed by action clients to generate UUID values for their goals
+uuid = { version = "1", features = ["v4"] }
+
 [dev-dependencies]
 # Needed for e.g. writing yaml files in tests
 tempfile = "3.3.0"

rclrs/build.rs

@@ -55,6 +55,7 @@ fn main() {
     }
 
     println!("cargo:rustc-link-lib=dylib=rcl");
+    println!("cargo:rustc-link-lib=dylib=rcl_action");
     println!("cargo:rustc-link-lib=dylib=rcl_yaml_param_parser");
     println!("cargo:rustc-link-lib=dylib=rcutils");
     println!("cargo:rustc-link-lib=dylib=rmw");