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actions: extend idl generation to include interfaces for "action wrap…
…per types" With "action wrapper types" this means the ROS messages and services that add the `GoalId`, `TimeStamp` or other fields on top of the user defined types for the action. The introduced methods in `IRosActionDefinition` are needed to work around the missing existential type support in C# (dotnet/csharplang#5556).
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| @@ -0,0 +1,26 @@ | ||
| /* Copyright 2022 Stefan Hoffmann <stefan.hoffmann@schiller.de> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
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| namespace ROS2 | ||
| { | ||
| public interface IRosActionFeedbackMessage<TFeedback> : IRosMessage | ||
| where TFeedback : IRosMessage, new() | ||
| { | ||
| // NOTICE: cyclic reference, see `IRosActionSendGoalRequest<TGoal>` | ||
| // unique_identifier_msgs.msg.UUID GoalId { get; set; } | ||
|
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| TFeedback Feedback { get; set; } | ||
| } | ||
| } |
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| /* Copyright 2022 Stefan Hoffmann <stefan.hoffmann@schiller.de> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| public interface IRosActionGetResultRequest : IRosMessage | ||
| { | ||
| // NOTICE: cyclic reference, see `IRosActionSendGoalRequest<TGoal>` | ||
| // unique_identifier_msgs.msg.UUID GoalId { get; set; } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| /* Copyright 2022 Stefan Hoffmann <stefan.hoffmann@schiller.de> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| public interface IRosActionGetResultResponse<TResult> : IRosMessage | ||
| where TResult : IRosMessage, new() | ||
| { | ||
| sbyte Status { get; set; } | ||
|
|
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| TResult Result { get; set; } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,42 @@ | ||
| /* Copyright 2022 Stefan Hoffmann <stefan.hoffmann@schiller.de> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
||
| namespace ROS2 | ||
| { | ||
| public interface IRosActionSendGoalRequest<TGoal> : IRosMessage | ||
| where TGoal : IRosMessage, new() | ||
| { | ||
| // NOTICE: This would cause a cyclic reference: | ||
| // | ||
| // - `unique_identifier_msgs.msg.UUID` in the `unique_identifier_msgs` | ||
| // assembly references `IRosMessage` in the `rcldotnet_common` | ||
| // assembly. | ||
| // - `IRosActionSendGoalRequest<TGoal>` in the `rcldotnet_common` | ||
| // assembly references `unique_identifier_msgs.msg.UUID` in the | ||
| // `unique_identifier_msgs` assembly. | ||
| // | ||
| // So we need a workaround: | ||
| // - Use reflection later on to get to this. | ||
| // - Or use types like `byte[]` (or ValueTuple<int, int> for | ||
| // `builtin_interfaces.msg.Time`) and generate accessor methods that | ||
| // convert and use those types. | ||
| // - Or provide property `IRosMessage GoalIdRosMessage { get; set; }` | ||
| // and cast to the concrete type on usage. | ||
| // | ||
| // unique_identifier_msgs.msg.UUID GoalId { get; set; } | ||
|
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| TGoal Goal { get; set; } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| /* Copyright 2022 Stefan Hoffmann <stefan.hoffmann@schiller.de> | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| */ | ||
|
|
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| namespace ROS2 | ||
| { | ||
| public interface IRosActionSendGoalResponse : IRosMessage | ||
| { | ||
| bool Accepted { get; set; } | ||
|
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| // NOTICE: cyclic reference, see `IRosActionSendGoalRequest<TGoal>` | ||
| // builtin_interfaces.msg.Time Stamp { get; set; } | ||
| } | ||
| } |
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