[WIP] Action support

examples/minimal_action_client/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "examples_rclrs_minimal_action_client"
+version = "0.3.1"
+# This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
+authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
+edition = "2021"
+
+[[bin]]
+name = "minimal_action_client"
+path = "src/minimal_action_client.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+
+[dependencies.rclrs]
+version = "0.4"
+
+[dependencies.rosidl_runtime_rs]
+version = "0.4"
+
+[dependencies.example_interfaces]
+version = "*"

examples/minimal_action_client/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_minimal_action_client</name>
+  <version>0.3.1</version>
+  <description>Minimal action client examples for rclrs.</description>
+  <maintainer email="[email protected]">Esteve Fernandez</maintainer>
+  <maintainer email="[email protected]">Nikolai Morin</maintainer>
+  <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
+  <maintainer email="[email protected]">Jacob Hassold</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>rclrs</build_depend>
+  <build_depend>rosidl_runtime_rs</build_depend>
+  <build_depend>example_interfaces</build_depend>
+
+  <exec_depend>rclrs</exec_depend>
+  <exec_depend>rosidl_runtime_rs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

examples/minimal_action_client/src/minimal_action_client.rs

@@ -0,0 +1,14 @@
+use std::env;
+
+use anyhow::{Error, Result};
+
+fn main() -> Result<(), Error> {
+    let context = rclrs::Context::new(env::args())?;
+
+    let node = rclrs::create_node(&context, "minimal_client")?;
+
+    let _client =
+        node.create_action_client::<example_interfaces::action::Fibonacci>("fibonacci")?;
+
+    Ok(())
+}

examples/minimal_action_server/Cargo.toml

@@ -0,0 +1,22 @@
+[package]
+name = "examples_rclrs_minimal_action_server"
+version = "0.3.1"
+# This project is not military-sponsored, Jacob's employment contract just requires him to use this email address
+authors = ["Esteve Fernandez <[email protected]>", "Nikolai Morin <[email protected]>", "Jacob Hassold <[email protected]>"]
+edition = "2021"
+
+[[bin]]
+name = "minimal_action_server"
+path = "src/minimal_action_server.rs"
+
+[dependencies]
+anyhow = {version = "1", features = ["backtrace"]}
+
+[dependencies.rclrs]
+version = "0.4"
+
+[dependencies.rosidl_runtime_rs]
+version = "0.4"
+
+[dependencies.example_interfaces]
+version = "*"

examples/minimal_action_server/package.xml

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>examples_rclrs_minimal_action_server</name>
+  <version>0.3.1</version>
+  <description>Minimal action server examples for rclrs.</description>
+  <maintainer email="[email protected]">Esteve Fernandez</maintainer>
+  <maintainer email="[email protected]">Nikolai Morin</maintainer>
+  <!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
+  <maintainer email="[email protected]">Jacob Hassold</maintainer>
+  <license>Apache License 2.0</license>
+
+  <build_depend>rclrs</build_depend>
+  <build_depend>rosidl_runtime_rs</build_depend>
+  <build_depend>example_interfaces</build_depend>
+
+  <exec_depend>rclrs</exec_depend>
+  <exec_depend>rosidl_runtime_rs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+
+  <export>
+    <build_type>ament_cargo</build_type>
+  </export>
+</package>

examples/minimal_action_server/src/minimal_action_server.rs

@@ -0,0 +1,79 @@
+use std::{env, sync::Arc, thread};
+
+use anyhow::{Error, Result};
+
+type Fibonacci = example_interfaces::action::Fibonacci;
+type GoalHandleFibonacci = rclrs::ServerGoalHandle<Fibonacci>;
+
+fn handle_goal(
+    _uuid: &rclrs::GoalUUID,
+    goal: Arc<example_interfaces::action::rmw::Fibonacci_Goal>,
+) -> rclrs::GoalResponse {
+    println!("Received goal request with order {}", goal.order);
+    if goal.order > 9000 {
+        rclrs::GoalResponse::Reject
+    } else {
+        rclrs::GoalResponse::AcceptAndExecute
+    }
+}
+
+fn handle_cancel(_goal_handle: Arc<GoalHandleFibonacci>) -> rclrs::CancelResponse {
+    println!("Got request to cancel goal");
+    rclrs::CancelResponse::Accept
+}
+
+fn execute(goal_handle: Arc<GoalHandleFibonacci>) {
+    println!("Executing goal");
+    let feedback = example_interfaces::action::Fibonacci_Feedback {
+        sequence: [0, 1].to_vec(),
+    };
+
+    for i in 1..goal_handle.goal_request.order {
+        if goal_handle.is_canceling() {
+            let result = example_interfaces::action::Fibonacci_Result {
+                sequence: Vec::new(),
+            };
+
+            goal_handle.canceled(&result);
+            println!("Goal canceled");
+            return;
+        }
+
+        // Update sequence sequence
+        feedback
+            .sequence
+            .push(feedback.sequence[i as usize] + feedback.sequence[(i - 1) as usize]);
+        // Publish feedback
+        goal_handle.publish_feedback(&feedback);
+        println!("Publishing feedback");
+        thread::sleep(std::time::Duration::from_millis(100));
+    }
+
+    let result = example_interfaces::action::Fibonacci_Result {
+        sequence: Vec::new(),
+    };
+    result.sequence = feedback.sequence.clone();
+    goal_handle.succeed(&result);
+    println!("Goal succeeded");
+}
+
+fn handle_accepted(goal_handle: Arc<GoalHandleFibonacci>) {
+    thread::spawn(move || {
+        execute(goal_handle);
+    });
+}
+
+fn main() -> Result<(), Error> {
+    let context = rclrs::Context::new(env::args())?;
+
+    let mut node = rclrs::create_node(&context, "minimal_action_server")?;
+
+    let _action_server = node.create_action_server::<example_interfaces::action::Fibonacci>(
+        "fibonacci",
+        handle_goal,
+        handle_cancel,
+        handle_accepted,
+    );
+
+    rclrs::spin(node).map_err(|err| err.into())
+}

rclrs/package.xml

@@ -16,10 +16,11 @@
   <build_depend>libclang-dev</build_depend>
   <build_depend>rosidl_runtime_rs</build_depend>
   <depend>rcl</depend>
+  <depend>rcl_action</depend>
   <depend>builtin_interfaces</depend>
   <depend>rcl_interfaces</depend>
   <depend>rosgraph_msgs</depend>
-  
+
   <test_depend>test_msgs</test_depend>
 
   <export>

rclrs/src/action.rs

@@ -0,0 +1,57 @@
+pub(crate) mod client;
+pub(crate) mod server;
+mod server_goal_handle;
+
+use crate::rcl_bindings::RCL_ACTION_UUID_SIZE;
+use std::fmt;
+
+pub use client::{ActionClient, ActionClientBase};
+pub use server::{ActionServer, ActionServerBase};
+pub use server_goal_handle::ServerGoalHandle;
+
+/// A unique identifier for a goal request.
+#[derive(Copy, Clone, Debug, Default, PartialEq, Eq, PartialOrd, Ord, Hash)]
+pub struct GoalUuid(pub [u8; RCL_ACTION_UUID_SIZE]);
+
+impl fmt::Display for GoalUuid {
+    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> Result<(), fmt::Error> {
+        write!(f, "{:02x}{:02x}{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}-{:02x}{:02x}{:02x}{:02x}{:02x}{:02x}",
+               self.0[0],
+               self.0[1],
+               self.0[2],
+               self.0[3],
+               self.0[4],
+               self.0[5],
+               self.0[6],
+               self.0[7],
+               self.0[8],
+               self.0[9],
+               self.0[10],
+               self.0[11],
+               self.0[12],
+               self.0[13],
+               self.0[14],
+               self.0[15],
+               )
+    }
+}
+
+/// The response returned by an [`ActionServer`]'s goal callback when a goal request is received.
+#[derive(PartialEq, Eq)]
+pub enum GoalResponse {
+    /// The goal is rejected and will not be executed.
+    Reject = 1,
+    /// The server accepts the goal and will begin executing it immediately.
+    AcceptAndExecute = 2,
+    /// The server accepts the goal and will begin executing it later.
+    AcceptAndDefer = 3,
+}
+
+/// The response returned by an [`ActionServer`]'s cancel callback when a goal is requested to be cancelled.
+#[derive(PartialEq, Eq)]
+pub enum CancelResponse {
+    /// The server will not try to cancel the goal.
+    Reject = 1,
+    /// The server will try to cancel the goal.
+    Accept = 2,
+}