Action client implementation

rcl_action/CMakeLists.txt

@@ -32,6 +32,7 @@ add_executable(test_compile_headers
 )
 
 set(rcl_action_sources
+  src/${PROJECT_NAME}/action_client.c
   src/${PROJECT_NAME}/goal_handle.c
   src/${PROJECT_NAME}/goal_state_machine.c
   src/${PROJECT_NAME}/names.c
@@ -69,9 +70,22 @@ install(TARGETS ${PROJECT_NAME}
 if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
+  find_package(test_msgs REQUIRED)
   ament_lint_auto_find_test_dependencies()
   ament_find_gtest()
   # Gtests
+  ament_add_gtest(test_action_client
+    test/rcl_action/test_action_client.cpp
+  )
+  if(TARGET test_action_client)
+    target_include_directories(test_action_client PUBLIC
+      include
+    )
+    target_link_libraries(test_action_client
+      ${PROJECT_NAME}
+    )
+    ament_target_dependencies(test_action_client "rcl" "test_msgs")
+  endif()
   ament_add_gtest(test_goal_handle
     test/rcl_action/test_goal_handle.cpp
   )

rcl_action/include/rcl_action/action_client.h

@@ -20,10 +20,6 @@ extern "C"
 {
 #endif
 
-// TODO(jacobperron): replace type support typedef with one defined in rosdl_generator_c
-// #include "rosidl_generator_c/action_type_support_struct.h"
-typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;
-
 #include "rcl_action/types.h"
 #include "rcl_action/visibility_control.h"
 #include "rcl/macros.h"
@@ -167,6 +163,7 @@ rcl_action_get_zero_initialized_client(void);
  * \return `RCL_RET_OK` if action_client was initialized successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_NODE_INVALID` if the node is invalid, or
+ * \return `RCL_RET_ALREADY_INIT` if the action client is already initialized, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory failed, or
  * \return `RCL_RET_ACTION_NAME_INVALID` if the given action name is invalid, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.
@@ -176,7 +173,7 @@ RCL_WARN_UNUSED
 rcl_ret_t
 rcl_action_client_init(
   rcl_action_client_t * action_client,
-  const rcl_node_t * node,
+  rcl_node_t * node,
   const rosidl_action_type_support_t * type_support,
   const char * action_name,
   const rcl_action_client_options_t * options);
@@ -355,9 +352,7 @@ rcl_action_take_goal_response(
  * Lock-Free          | Yes
  * <i>[1] only if required when filling the feedback message, avoided for fixed sizes</i>
  *
- * \param[in] action_client handle to the client that will take the goal response
- * \param[out] goal_info pointer to a struct for meta-data about the goal associated
- *   with taken feedback
+ * \param[in] action_client handle to the client that will take action feedback
  * \param[out] ros_feedback pointer to the ROS feedback message.
  * \return `RCL_RET_OK` if the response was taken successfully, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
@@ -661,7 +656,7 @@ RCL_WARN_UNUSED
 const rcl_action_client_options_t *
 rcl_action_client_get_options(const rcl_action_client_t * action_client);
 
-/// Check that a rcl_action_clieint_t is valid.
+/// Check that a rcl_action_client_t is valid.
 /**
  * The bool returned is `false` if `action_client` is invalid.
  * The bool returned is `true` otherwise.
@@ -677,14 +672,12 @@ rcl_action_client_get_options(const rcl_action_client_t * action_client);
  * Lock-Free          | Yes
  *
  * \param[in] action_client pointer to the rcl action client
- * \param[in] error_msg_allocator a valid allocator or `NULL`
  * \return `true` if `action_client` is valid, otherwise `false`
  */
 RCL_ACTION_PUBLIC
 bool
 rcl_action_client_is_valid(
-  const rcl_action_client_t * action_client,
-  rcl_allocator_t * error_msg_allocator);
+  const rcl_action_client_t * action_client);
 
 #ifdef __cplusplus
 }

rcl_action/include/rcl_action/action_server.h

@@ -20,10 +20,6 @@ extern "C"
 {
 #endif
 
-// TODO(jacobperron): replace type support typedef with one defined in rosdl_generator_c
-// #include "rosidl_generator_c/action_type_support_struct.h"
-typedef struct rosidl_action_type_support_t rosidl_action_type_support_t;
-
 #include "rcl_action/goal_handle.h"
 #include "rcl_action/types.h"
 #include "rcl_action/visibility_control.h"

rcl_action/include/rcl_action/types.h

@@ -31,6 +31,7 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/types.h"
 
+#include "rosidl_generator_c/action_type_support_struct.h"
 
 // rcl action specific ret codes in 2XXX
 /// Action name does not pass validation return code.

rcl_action/include/rcl_action/wait.h

@@ -27,13 +27,13 @@ extern "C"
 
 /// Add a rcl_action_client_t to a wait set.
 /**
- * This function will add the underlying service clients and subscriber to the wait set.
+ * This function will add the underlying service clients and subscribers to the wait set.
  *
  * This function behaves similar to adding subscriptions to the wait set, but will add
- * four elements:
+ * five elements:
  *
  * - Three service clients
- * - One subscriber
+ * - Two subscribers
  *
  * \see rcl_wait_set_add_subscription
  *
@@ -199,6 +199,8 @@ rcl_action_server_wait_set_get_num_entities(
  * \param[out] is_result_response_ready `true` if there is a result response message ready
  *   to take, `false` otherwise
  * \return `RCL_RET_OK` if call is successful, or
+ * \return `RCL_RET_WAIT_SET_INVALID` if the wait set is zero initialized or not used
+ *   for the action client alone, or
  * \return `RCL_RET_INVALID_ARGUMENT` if any arguments are invalid, or
  * \return `RCL_RET_ACTION_CLIENT_INVALID` if the action client is invalid, or
  * \return `RCL_RET_ERROR` if an unspecified error occurs.

rcl_action/package.xml

@@ -18,6 +18,7 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>ament_lint_auto</test_depend>
+  <test_depend>test_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>