Add support for action topic and services (ROS2) #214
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Adds support for parsing .action files to add message definitions for the various action subtypes (feedback message and service request / response message for SendGoal and GetResult)
| namespace foxglove { | ||
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| // Match datatype names (foo_msgs/Bar or foo_msgs/msg/Bar or foo_msgs/srv/Bar) | ||
| static const std::regex PACKAGE_TYPENAME_REGEX{ | ||
| R"(^([a-zA-Z0-9_]+)/(?:msg/|srv/|action/)?([a-zA-Z0-9_]+)$)"}; | ||
| R"(^([a-zA-Z0-9_]+)/((?:msg|srv|action)?)/?([a-zA-Z0-9_]+)$)"}; |
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the / after the subtype name should not be optional
| // These type definitions may include additional fields such as the goal_id. | ||
| // See also https://design.ros2.org/articles/actions.html | ||
| const std::map<std::string, std::string> action_type_definitions = { | ||
| {"_FeedbackMessage", "unique_identifier_msgs/UUID goal_id\n" + feedbackDef}, | ||
| {"_GetResult_Request", "unique_identifier_msgs/UUID goal_id\n"}, | ||
| {"_GetResult_Response", "int8 status\n" + resultDef}, | ||
| {"_SendGoal_Request", "unique_identifier_msgs/UUID goal_id\n" + goalDef}, | ||
| {"_SendGoal_Response", "bool accepted\nbuiltin_interfaces/msg/Time stamp"}}; |
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The linked design doc discusses these fields at a high level, but where is it documented that these are actually added to the definitions?
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I also have not found proper documentation for that. Best documentation I could find is the source code that generates the action types:
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| // Create a MessageSpec instance for every action subtype and add it to the cache. | ||
| for (const auto& [action_suffix, definition] : action_type_definitions) { | ||
| DefinitionIdentifier definitionIdentifier; |
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I see mixed snake & camel case in this file, can we standardize on one?
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| // The action type name includes the subtype which we have to remove to get the action name. | ||
| // Type name: Fibonacci_FeedbackMessage -> Action name: Fibonacci | ||
| const std::string action_name = type_name.substr(0UL, type_name.find('_')); |
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do we need to handle type names that also contain underscores? do we need to verify that the suffix we stripped off is actually one of the suffixes we support?
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Yes, we should. Will do that
| constexpr char SEP[] = "---"; | ||
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| const auto definitions = split_string(action_definition, SEP); |
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What if one of the segments has a string constant with --- in it? e.g. string FOO=--- ?
I have submitted #216 for that purpose. Separate PR, since certain hidden action topics (e.g. |
Public-Facing Changes
Description
Adds support for parsing .action files to retrieve message definitions for the following action subtypes:
_FeedbackMessage) *_SendGoal_Request) *_SendGoal_Response)_GetResult_Request)_GetResult_Response) *Unfortunately, the action definition in the .action file does not include other fields such as the goal_id which are sent as part of the feedback message or SendGoal_Request and GetResult_Response. These types are therefore added to the message definition such that the entire schema is generated correctly.
Parsing IDL action definitions is currently not supported.
Example usage in Studio:
