Add action server implementation (#323)

* Implement action server init, fini, and is_valid functions

* Add macros for initializing services and publishers

* Implement rcl_action_server_get_default_options()

* Implement rcl_action_accept_new_goal()

* Add function, rcl_action_server_goal_exists(), for checking if goal is already being tracked by an action server

* Add unit tests

* Implement rcl_action_server_get_goal_handles()

* Implement rcl_action_server_get_options()

* Implement rcl_action_server_get_action_name()

* Implement rcl_action_get_goal_status_array()

* Bugfix: reset pointers and size in type finalize functions
Also let finalize functions be called on already finalized objects

* Implement send/take functions for action server services

* Implement action server publishers for feedback and status

* Implement rcl_action_process_cancel_request()

* Add partial communication tests

* Define UUID_SIZE

* Use type-erased pointer for rcl_action_publish_status()

* Implement rcl_action_clear_expired_goals()
Introduce rcl_clock_t to action server implementation.

* Change internal goal handle array to be an array of pointers.

* Add check for invalid action names

* Do heap allocation of temporary array to satisfy MSVC compiler

* Bugfix: finalize node in test tear downs and reset expected errors

* Update documentation

* Update package.xml

* Pass in rcl_clock_t to action server
Rather than initializing internally.

* Do not finalize goal handles in expire function
Instead, leave it up to the caller to finalize goal handles.
Renamed the function to rcl_action_expire_goals.

rcl_action/CMakeLists.txt

@@ -4,8 +4,11 @@ project(rcl_action)
 
 find_package(ament_cmake_ros REQUIRED)
 
+find_package(rosidl_generator_c REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(rcl REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
 
 include_directories(
   include
@@ -33,6 +36,7 @@ add_executable(test_compile_headers
 
 set(rcl_action_sources
   src/${PROJECT_NAME}/action_client.c
+  src/${PROJECT_NAME}/action_server.c
   src/${PROJECT_NAME}/goal_handle.c
   src/${PROJECT_NAME}/goal_state_machine.c
   src/${PROJECT_NAME}/names.c
@@ -49,8 +53,11 @@ add_library(${PROJECT_NAME}
 )
 
 ament_target_dependencies(${PROJECT_NAME}
-  "rcl"
+  "rosidl_generator_c"
   "action_msgs"
+  "rmw"
+  "rcutils"
+  "rcl"
 )
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
@@ -68,6 +75,7 @@ install(TARGETS ${PROJECT_NAME}
 )
 
 if(BUILD_TESTING)
+  find_package(test_msgs REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_lint_auto REQUIRED)
   find_package(test_msgs REQUIRED)
@@ -86,6 +94,34 @@ if(BUILD_TESTING)
     )
     ament_target_dependencies(test_action_client "rcl" "test_msgs")
   endif()
+  ament_add_gtest(test_action_communication
+    test/rcl_action/test_action_communication.cpp
+  )
+  if(TARGET test_action_communication)
+    target_include_directories(test_action_communication PUBLIC
+      include
+      ${rcl_INCLUDE_DIRS}
+      ${test_msgs_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_action_communication
+      ${PROJECT_NAME}
+    )
+    ament_target_dependencies(test_action_communication "test_msgs")
+  endif()
+  ament_add_gtest(test_action_server
+    test/rcl_action/test_action_server.cpp
+  )
+  if(TARGET test_action_server)
+    target_include_directories(test_action_server PUBLIC
+      include
+      ${rcl_INCLUDE_DIRS}
+      ${test_msgs_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_action_server
+      ${PROJECT_NAME}
+    )
+    ament_target_dependencies(test_action_server "test_msgs")
+  endif()
   ament_add_gtest(test_goal_handle
     test/rcl_action/test_goal_handle.cpp
   )
@@ -139,5 +175,8 @@ ament_export_include_directories(include)
 ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
+ament_export_dependencies(rcutils)
+ament_export_dependencies(rmw)
 ament_export_dependencies(action_msgs)
+ament_export_dependencies(rosidl_generator_c)
 ament_package()