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Use action FeedbackMessage and not Feedback message type to subscribe to the feedback topic #60

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Merged
merged 2 commits into from
Apr 14, 2021
Merged

Use action FeedbackMessage and not Feedback message type to subscribe to the feedback topic #60

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d4dbd4d
Use action FeedbackMessage and not Feedback message type to subscribe…
ivanpauno Apr 13, 2021
7015761
fix
ivanpauno Apr 13, 2021
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14 changes: 7 additions & 7 deletions rcljava/src/test/java/org/ros2/rcljava/action/MockActionClient.java
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Original file line number Diff line number Diff line change
Expand Up @@ -26,15 +26,15 @@
import org.ros2.rcljava.subscription.Subscription;

public class MockActionClient {
class FeedbackCallback implements Consumer<test_msgs.action.Fibonacci_Feedback> {
public List<test_msgs.action.Fibonacci_Feedback> feedbackReceived;
class FeedbackCallback implements Consumer<test_msgs.action.Fibonacci_FeedbackMessage> {
public List<test_msgs.action.Fibonacci_FeedbackMessage> feedbackReceived;

public FeedbackCallback() {
feedbackReceived = Collections.synchronizedList(
new ArrayList<test_msgs.action.Fibonacci_Feedback>());
new ArrayList<test_msgs.action.Fibonacci_FeedbackMessage>());
}

public void accept(final test_msgs.action.Fibonacci_Feedback feedback) {
public void accept(final test_msgs.action.Fibonacci_FeedbackMessage feedback) {
this.feedbackReceived.add(feedback);
}
}
Expand All @@ -56,7 +56,7 @@ public synchronized void accept(final action_msgs.msg.GoalStatusArray statusArra
public Client<action_msgs.srv.CancelGoal> cancelGoalClient;
public FeedbackCallback feedbackCallback;
public StatusCallback statusCallback;
public Subscription<test_msgs.action.Fibonacci_Feedback> feedbackSubscription;
public Subscription<test_msgs.action.Fibonacci_FeedbackMessage> feedbackSubscription;
public Subscription<action_msgs.msg.GoalStatusArray> statusSubscription;

public MockActionClient(Node node, String actionName) throws IllegalAccessException, NoSuchFieldException {
Expand All @@ -70,8 +70,8 @@ public MockActionClient(Node node, String actionName) throws IllegalAccessExcept
// Create mock subscriptions that make up an action client
feedbackCallback = new FeedbackCallback();
statusCallback = new StatusCallback();
feedbackSubscription = node.<test_msgs.action.Fibonacci_Feedback>createSubscription(
test_msgs.action.Fibonacci_Feedback.class,
feedbackSubscription = node.<test_msgs.action.Fibonacci_FeedbackMessage>createSubscription(
test_msgs.action.Fibonacci_FeedbackMessage.class,
actionName + "/_action/feedback",
feedbackCallback);
statusSubscription = node.<action_msgs.msg.GoalStatusArray>createSubscription(
Expand Down
2 changes: 2 additions & 0 deletions rosidl_generator_java/cmake/rosidl_generator_java_generate_interfaces.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -82,6 +82,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
"${_output_path}/${_parent_folder}/${_idl_name}_Goal.java"
"${_output_path}/${_parent_folder}/${_idl_name}_Result.java"
"${_output_path}/${_parent_folder}/${_idl_name}_Feedback.java"
"${_output_path}/${_parent_folder}/${_idl_name}_FeedbackMessage.java"
"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.java"
"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.java"
"${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.java"
Expand All @@ -93,6 +94,7 @@ foreach(_abs_idl_file ${rosidl_generate_interfaces_ABS_IDL_FILES})
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Goal.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Result.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_Feedback.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_FeedbackMessage.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Request.ep.${_typesupport_impl}.cpp")
list(APPEND _generated_extension_${_typesupport_impl}_files "${_output_path}/${_parent_folder}/${_idl_name}_SendGoal_Response.ep.${_typesupport_impl}.cpp")
Expand Down
11 changes: 11 additions & 0 deletions rosidl_generator_java/resource/action.java.em
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ type_name = action.namespaced_type.name
goal_type_name = action.goal.structure.namespaced_type.name
result_type_name = action.result.structure.namespaced_type.name
feedback_type_name = action.feedback.structure.namespaced_type.name
feedback_message_type_name = action.feedback_message.structure.namespaced_type.name
send_goal_type_name = action.send_goal_service.namespaced_type.name
get_result_type_name = action.get_result_service.namespaced_type.name

Expand Down Expand Up @@ -46,6 +47,14 @@ expand_template(
output_file,
template_basepath=template_basepath)

data.update({'message': action.feedback_message})
output_file = os.path.join(output_dir, *namespaces[1:], feedback_message_type_name + '.java')
expand_template(
'msg.java.em',
data,
output_file,
template_basepath=template_basepath)

data.update({'service': action.send_goal_service})
output_file = os.path.join(output_dir, *namespaces[1:], send_goal_type_name + '.java')
expand_template(
Expand Down Expand Up @@ -134,4 +143,6 @@ public class @(type_name) implements ActionDefinition {
public static final Class<@(type_name)_Result> ResultType = @(type_name)_Result.class;

public static final Class<@(type_name)_Feedback> FeedbackType = @(type_name)_Feedback.class;

public static final Class<@(type_name)_FeedbackMessage> FeedbackMessageType = @(type_name)_FeedbackMessage.class;
}
4 changes: 4 additions & 0 deletions rosidl_generator_java/resource/msg.cpp.em
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,8 @@ for member in message.structure.members:
include_prefix = include_prefix[:-8]
elif include_prefix.endswith('__feedback'):
include_prefix = include_prefix[:-10]
elif include_prefix.endswith('__feedback_message'):
include_prefix = include_prefix[:-18]
elif include_prefix.endswith('__send_goal'):
include_prefix = include_prefix[:-11]
elif include_prefix.endswith('__get_result'):
Expand All @@ -87,6 +89,8 @@ elif message_c_include_prefix.endswith('__result'):
message_c_include_prefix = message_c_include_prefix[:-8]
elif message_c_include_prefix.endswith('__feedback'):
message_c_include_prefix = message_c_include_prefix[:-10]
elif message_c_include_prefix.endswith('__feedback_message'):
message_c_include_prefix = message_c_include_prefix[:-18]
elif message_c_include_prefix.endswith('__send_goal'):
message_c_include_prefix = message_c_include_prefix[:-11]
elif message_c_include_prefix.endswith('__get_result'):
Expand Down