Action server implementation

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()