Added basic create_action_client function

examples/minimal_action_client_server/Cargo.toml

@@ -22,5 +22,5 @@ version = "0.3"
 [dependencies.rosidl_runtime_rs]
 version = "0.3"
 
-[dependencies.action_msgs]
+[dependencies.example_interfaces]
 version = "*"

examples/minimal_action_client_server/package.xml

@@ -14,11 +14,11 @@
 
  <build_depend>rclrs</build_depend>
  <build_depend>rosidl_runtime_rs</build_depend>
- <build_depend>action_msgs</build_depend>
+ <build_depend>example_interfaces</build_depend>
 
  <exec_depend>rclrs</exec_depend>
  <exec_depend>rosidl_runtime_rs</exec_depend>
- <exec_depend>action_msgs</exec_depend>
+ <exec_depend>example_interfaces</exec_depend>
 
  <export>
  <build_type>ament_cargo</build_type>

examples/minimal_action_client_server/src/minimal_action_client.rs

@@ -5,7 +5,9 @@ use anyhow::{Error, Result};
 fn main() -> Result<(), Error> {
  let context = rclrs::Context::new(env::args())?;
 
- let _node = rclrs::create_node(&context, "minimal_action_client")?;
+ let mut node = rclrs::create_node(&context, "minimal_client")?;
+
+ let _client = node.create_action_client::<example_interfaces::action::Fibonacci>("fibonacci")?;
 
  Ok(())
 }

rclrs/src/lib.rs

@@ -5,6 +5,7 @@
 //!
 //! [1]: https://github.com/ros2-rust/ros2_rust/blob/main/README.md
 
+mod action;
 mod arguments;
 mod client;
 mod context;
@@ -25,6 +26,7 @@ pub mod dynamic_message;
 
 use std::time::Duration;
 
+pub use action::*;
 pub use arguments::*;
 pub use client::*;
 pub use context::*;

rclrs/src/node.rs

@@ -13,9 +13,9 @@ pub use self::builder::*;
 pub use self::graph::*;
 use crate::rcl_bindings::*;
 use crate::{
- Client, ClientBase, Context, GuardCondition, ParameterOverrideMap, Publisher, QoSProfile,
- RclrsError, Service, ServiceBase, Subscription, SubscriptionBase, SubscriptionCallback,
- ToResult,
+ ActionClient, Client, ClientBase, Context, GuardCondition, ParameterOverrideMap, Publisher,
+ QoSProfile, RclrsError, Service, ServiceBase, Subscription, SubscriptionBase,
+ SubscriptionCallback, ToResult,
 };
 
 impl Drop for rcl_node_t {
@@ -190,6 +190,26 @@ impl Node {
  Ok(client)
  }
 
+ /// Creates a [`Client`][1].
+ ///
+ /// [1]: crate::ActionClient
+ // TODO: make action client's lifetime depend on node's lifetime
+ pub fn create_action_client<T>(
+ &mut self,
+ topic: &str,
+ ) -> Result<Arc<ActionClient<T>>, RclrsError>
+ where
+ T: rosidl_runtime_rs::Action,
+ {
+ let client = Arc::new(ActionClient::<T>::new(
+ Arc::clone(&self.rcl_node_mtx),
+ topic,
+ )?);
+ // self.clients
+ // .push(Arc::downgrade(&client) as Weak<dyn ClientBase>);
+ Ok(client)
+ }
+
  /// Creates a [`GuardCondition`][1] with no callback.
  ///
  /// A weak pointer to the `GuardCondition` is stored within this node.

rosidl_generator_rs/resource/action.rs.em

@@ -35,3 +35,20 @@ TEMPLATE(
  get_idiomatic_rs_type=get_idiomatic_rs_type,
  constant_value_to_rs=constant_value_to_rs)
 }@
+
+@[for subfolder, action_spec in action_specs]
+
+@{
+type_name = action_spec.namespaced_type.name
+}@
+
+ // Corresponds to @(package_name)__@(subfolder)__@(type_name)
+ pub struct @(type_name);
+
+ impl rosidl_runtime_rs::Action for @(type_name) {
+ type Goal = crate::@(subfolder)::rmw::@(type_name)_Goal;
+ type Result = crate::@(subfolder)::rmw::@(type_name)_Result;
+ type Feedback = crate::@(subfolder)::rmw::@(type_name)_Feedback;
+ }
+
+@[end for]

rosidl_generator_rs/resource/lib.rs.em

@@ -7,3 +7,7 @@ pub mod msg;
 @[if len(srv_specs) > 0]@
 pub mod srv;
 @[end if]@
+
+@[if len(action_specs) > 0]@
+pub mod action;
+@[end if]@

rosidl_runtime_rs/src/lib.rs

@@ -9,4 +9,4 @@ mod string;
 pub use string::{BoundedString, BoundedWString, String, StringExceedsBoundsError, WString};
 
 mod traits;
-pub use traits::{Message, RmwMessage, SequenceAlloc, Service};
+pub use traits::{Action, Message, RmwMessage, SequenceAlloc, Service};

rosidl_runtime_rs/src/traits.rs

@@ -160,3 +160,17 @@ pub trait Service: 'static {
  /// Get a pointer to the correct `rosidl_service_type_support_t` structure.
  fn get_type_support() -> *const std::os::raw::c_void;
 }
+
+/// Trait for actions.
+///
+/// User code never needs to call this trait's method, much less implement this trait.
+pub trait Action: 'static {
+ /// The goal message associated with this service.
+ type Goal: Message;
+
+ /// The result message associated with this service.
+ type Result: Message;
+
+ /// The feedback message associated with this service.
+ type Feedback: Message;
+}