Added action template

ros2-rust · Nov 28, 2022 · b3f0eef · b3f0eef
1 parent b9f3136
commit b3f0eef
Show file tree

Hide file tree

Showing 4 changed files with 16 additions and 9 deletions.
diff --git a/examples/minimal_action_client_server/Cargo.toml b/examples/minimal_action_client_server/Cargo.toml
@@ -24,6 +24,3 @@ version = "0.3"
 
 [dependencies.action_msgs]
 version = "*"
-
-[package.metadata.ros]
-install_to_share = ["launch"]
diff --git a/examples/minimal_action_client_server/src/minimal_action_server.rs b/examples/minimal_action_client_server/src/minimal_action_server.rs
@@ -5,7 +5,7 @@ use anyhow::{Error, Result};
 fn main() -> Result<(), Error> {
     let context = rclrs::Context::new(env::args())?;
 
-    let mut node = rclrs::create_node(&context, "minimal_action_server")?;
+    let node = rclrs::create_node(&context, "minimal_action_server")?;
 
     rclrs::spin(&node).map_err(|err| err.into())
 }
diff --git a/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake b/rosidl_generator_rs/cmake/rosidl_generator_rs_generate_interfaces.cmake
@@ -53,13 +53,13 @@ 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: ${_idl_file}")
   endif()
@@ -107,12 +107,13 @@ endforeach()
 set(target_dependencies
   "${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}")
@@ -125,7 +126,7 @@ 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}"

diff --git a/rosidl_generator_rs/resource/action.rs.em b/rosidl_generator_rs/resource/action.rs.em
@@ -0,0 +1,9 @@
+@{
+TEMPLATE(
+    'msg_idiomatic.rs.em',
+    package_name=package_name, interface_path=interface_path,
+    msg_specs=msg_specs,
+    get_rs_name=get_rs_name, get_rmw_rs_type=get_rmw_rs_type,
+    get_idiomatic_rs_type=get_idiomatic_rs_type,
+    constant_value_to_rs=constant_value_to_rs)
+}@