Action message support

rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake

@@ -37,13 +37,13 @@ foreach(_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
 
   if(_parent_folder STREQUAL "msg")
     set(_has_msg TRUE)
-    set(_idl_file_without_actions ${_idl_file_without_actions} ${_idl_file})
+    set(_idl_files ${_idl_files} ${_idl_file})
   elseif(_parent_folder STREQUAL "srv")
     set(_has_srv TRUE)
-    set(_idl_file_without_actions ${_idl_file_without_actions} ${_idl_file})
+    set(_idl_files ${_idl_files} ${_idl_file})
   elseif(_parent_folder STREQUAL "action")
     set(_has_action TRUE)
-    message(WARNING "Rust actions generation is not implemented")
+    set(_idl_files ${_idl_files} ${_idl_file})
   else()
     message(FATAL_ERROR "Interface file with unknown parent folder: ${_idl_file}")
   endif()
@@ -81,12 +81,13 @@ endforeach()
 set(target_dependencies
   "${rosidl_generator_rs_BIN}"
   ${rosidl_generator_rs_GENERATOR_FILES}
+  "${rosidl_generator_rs_TEMPLATE_DIR}/action.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/msg_idiomatic.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/msg_rmw.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/msg.rs.em"
   "${rosidl_generator_rs_TEMPLATE_DIR}/srv.rs.em"
   ${rosidl_generate_interfaces_ABS_IDL_FILES}
-  ${_idl_file_without_actions}
+  ${_idl_files}
   ${_dependency_files})
 foreach(dep ${target_dependencies})
   if(NOT EXISTS "${dep}")
@@ -99,7 +100,7 @@ rosidl_write_generator_arguments(
   "${generator_arguments_file}"
   PACKAGE_NAME "${PROJECT_NAME}"
   IDL_TUPLES "${rosidl_generate_interfaces_IDL_TUPLES}"
-  ROS_INTERFACE_FILES "${_idl_file_without_actions}"
+  ROS_INTERFACE_FILES "${_idl_files}"
   ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
   OUTPUT_DIR "${_output_path}"
   TEMPLATE_DIR "${rosidl_generator_rs_TEMPLATE_DIR}"

rosidl_generator_rs/resource/action.rs.em

@@ -0,0 +1,175 @@
+@{
+from rosidl_parser.definition import (
+    ACTION_FEEDBACK_MESSAGE_SUFFIX,
+    ACTION_FEEDBACK_SUFFIX,
+    ACTION_GOAL_SERVICE_SUFFIX,
+    ACTION_GOAL_SUFFIX,
+    ACTION_RESULT_SERVICE_SUFFIX,
+    ACTION_RESULT_SUFFIX,
+    SERVICE_REQUEST_MESSAGE_SUFFIX,
+    SERVICE_RESPONSE_MESSAGE_SUFFIX,
+)
+
+action_msg_specs = []
+
+for subfolder, action in action_specs:
+    action_msg_specs.append((subfolder, action.goal))
+    action_msg_specs.append((subfolder, action.result))
+    action_msg_specs.append((subfolder, action.feedback))
+    action_msg_specs.append((subfolder, action.feedback_message))
+
+action_srv_specs = []
+
+for subfolder, action in action_specs:
+    action_srv_specs.append((subfolder, action.send_goal_service))
+    action_srv_specs.append((subfolder, action.get_result_service))
+}@
+
+pub mod rmw {
+@{
+TEMPLATE(
+    'msg_rmw.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=action_msg_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+
+TEMPLATE(
+    'srv_rmw.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    srv_specs=action_srv_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+}  // mod rmw
+
+@{
+TEMPLATE(
+    'msg_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=action_msg_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+
+@{
+TEMPLATE(
+    'srv_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    srv_specs=action_srv_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    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
+}@
+
+#[link(name = "@(package_name)__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
+}
+
+// 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)@(ACTION_GOAL_SUFFIX);
+  type Result = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX);
+  type Feedback = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX);
+
+  fn get_type_support() -> *const std::os::raw::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_action_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
+  }
+}
+
+impl rosidl_runtime_rs::ActionImpl for @(type_name) {
+  type GoalStatusMessage = action_msgs::msg::rmw::GoalStatusArray;
+  type FeedbackMessage = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX);
+
+  type SendGoalService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX);
+  type CancelGoalService = action_msgs::srv::rmw::CancelGoal;
+  type GetResultService = crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX);
+
+  fn create_goal_request(goal_id: &[u8; 16], goal: crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+      goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id },
+      goal,
+    }
+  }
+
+  fn get_goal_request_uuid(request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX)) -> &[u8; 16] {
+    &request.goal_id.uuid
+  }
+
+  fn create_goal_response(accepted: bool, stamp: (i32, u32)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+      accepted,
+      stamp: builtin_interfaces::msg::rmw::Time {
+        sec: stamp.0,
+        nanosec: stamp.1,
+      },
+    }
+  }
+
+  fn get_goal_response_accepted(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> bool {
+    response.accepted
+  }
+
+  fn get_goal_response_stamp(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_GOAL_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> (i32, u32) {
+    (response.stamp.sec, response.stamp.nanosec)
+  }
+
+  fn create_feedback_message(goal_id: &[u8; 16], feedback: crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX) {
+    let mut message = crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)::default();
+    message.goal_id.uuid = *goal_id;
+    message.feedback = feedback;
+    message
+  }
+
+  fn get_feedback_message_uuid(feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)) -> &[u8; 16] {
+    &feedback.goal_id.uuid
+  }
+
+  fn get_feedback_message_feedback(feedback: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_MESSAGE_SUFFIX)) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_FEEDBACK_SUFFIX) {
+    &feedback.feedback
+  }
+
+  fn create_result_request(goal_id: &[u8; 16]) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX) {
+      goal_id: unique_identifier_msgs::msg::rmw::UUID { uuid: *goal_id },
+    }
+  }
+
+  fn get_result_request_uuid(request: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_REQUEST_MESSAGE_SUFFIX)) -> &[u8; 16] {
+    &request.goal_id.uuid
+  }
+
+  fn create_result_response(status: i8, result: crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX)) -> crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+    crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX) {
+      status,
+      result,
+    }
+  }
+
+  fn get_result_response_result(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SUFFIX) {
+    &response.result
+  }
+
+  fn get_result_response_status(response: &crate::@(subfolder)::rmw::@(type_name)@(ACTION_RESULT_SERVICE_SUFFIX)@(SERVICE_RESPONSE_MESSAGE_SUFFIX)) -> i8 {
+    response.status
+  }
+}
+
+@[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_generator_rs/resource/srv.rs.em

@@ -1,84 +1,23 @@
-@{
-req_res_specs = []
-
-for subfolder, service in srv_specs:
-    req_res_specs.append((subfolder, service.request_message))
-    req_res_specs.append((subfolder, service.response_message))
-}@
-
 @{
 TEMPLATE(
-    'msg_idiomatic.rs.em',
+    'srv_idiomatic.rs.em',
     package_name=package_name, interface_path=interface_path,
-    msg_specs=req_res_specs,
+    srv_specs=srv_specs,
     get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
     pre_field_serde=pre_field_serde,
     get_idiomatic_rs_type=get_idiomatic_rs_type,
     constant_value_to_rs=constant_value_to_rs)
-}@
-
-@[for subfolder, srv_spec in srv_specs]
-
-@{
-type_name = srv_spec.namespaced_type.name
-}@
-
-#[link(name = "@(package_name)__rosidl_typesupport_c")]
-extern "C" {
-    fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
 }
 
-// Corresponds to @(package_name)__@(subfolder)__@(type_name)
-pub struct @(type_name);
-
-impl rosidl_runtime_rs::Service for @(type_name) {
-  type Request = crate::@(subfolder)::@(type_name)_Request;
-  type Response = crate::@(subfolder)::@(type_name)_Response;
-
-  fn get_type_support() -> *const std::os::raw::c_void {
-    // SAFETY: No preconditions for this function.
-    unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
-  }
-}
-
-@[end for]
-
 pub mod rmw {
 @{
 TEMPLATE(
-    'msg_rmw.rs.em',
+    'srv_rmw.rs.em',
     package_name=package_name, interface_path=interface_path,
-    msg_specs=req_res_specs,
+    srv_specs=srv_specs,
     get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
     pre_field_serde=pre_field_serde,
     get_idiomatic_rs_type=get_idiomatic_rs_type,
     constant_value_to_rs=constant_value_to_rs)
 }@
-
-@[for subfolder, srv_spec in srv_specs]
-
-@{
-type_name = srv_spec.namespaced_type.name
-}@
-
-  #[link(name = "@(package_name)__rosidl_typesupport_c")]
-  extern "C" {
-      fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
-  }
-
-  // Corresponds to @(package_name)__@(subfolder)__@(type_name)
-  pub struct @(type_name);
-
-  impl rosidl_runtime_rs::Service for @(type_name) {
-    type Request = crate::@(subfolder)::rmw::@(type_name)_Request;
-    type Response = crate::@(subfolder)::rmw::@(type_name)_Response;
-
-    fn get_type_support() -> *const std::os::raw::c_void {
-      // SAFETY: No preconditions for this function.
-      unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
-    }
-  }
-
-@[end for]
-
 }  // mod rmw

rosidl_generator_rs/resource/srv_idiomatic.rs.em

@@ -0,0 +1,44 @@
+@{
+req_res_specs = []
+
+for subfolder, service in srv_specs:
+    req_res_specs.append((subfolder, service.request_message))
+    req_res_specs.append((subfolder, service.response_message))
+}@
+
+@{
+TEMPLATE(
+    'msg_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=req_res_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    pre_field_serde=pre_field_serde,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@
+
+@[for subfolder, srv_spec in srv_specs]
+
+@{
+type_name = srv_spec.namespaced_type.name
+}@
+
+#[link(name = "@(package_name)__rosidl_typesupport_c")]
+extern "C" {
+    fn rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() -> *const std::os::raw::c_void;
+}
+
+// Corresponds to @(package_name)__@(subfolder)__@(type_name)
+pub struct @(type_name);
+
+impl rosidl_runtime_rs::Service for @(type_name) {
+  type Request = crate::@(subfolder)::@(type_name)_Request;
+  type Response = crate::@(subfolder)::@(type_name)_Response;
+
+  fn get_type_support() -> *const std::os::raw::c_void {
+    // SAFETY: No preconditions for this function.
+    unsafe { rosidl_typesupport_c__get_service_type_support_handle__@(package_name)__@(subfolder)__@(type_name)() }
+  }
+}
+
+@[end for]