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Add support for ROS actions #108

Merged
merged 23 commits into from
Aug 15, 2023
Merged

Add support for ROS actions #108

merged 23 commits into from
Aug 15, 2023

Commits on May 29, 2023

  1. initial action idl generation

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  2. extend idl generation to include interfaces for "action wrapper 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).
    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  3. add accessors to UUID and Time properties for "action wrapper types" 

    This uses the base type `IMessage` to get around the cyclic references.
    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  4. add ActionDefinitionStaticMemberCache

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  5. add public action client API without implementation

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  6. rename ServiceIsReady() to ServerIsReady() and move to base class

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  7. add helper for converting guid <-> uuid

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  8. implement basic action client

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  9. add public action server API without implementation

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  10. add missing license header

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  11. change IsCancelRequested to IsCanceling, add IsExecuting

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  12. add ReadFromMessageHandle/WriteToMessageHandle helper mehtods

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  13. implement basic action server

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  14. add example action client and server

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  15. make local variable name more obvious

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  16. use return value from Interlocked.CompareExchange 

    The field access after Interlocked.CompareExchange might not reflect the updated value.
Or does it? Anyways this makes it more clear.
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  17. reorder HandleGoalResponse, HandleStatusMessage and HandleFeedbackMes… 

    …sage
    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  18. handle action specific take failed error codes

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  19. publish status before sending the result response

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  20. fix typo in dependency

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  21. fix bool pInvokes in actions

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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  22. add unittests for actions

    @hoffmann-stefan
    hoffmann-stefan committed May 29, 2023
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Commits on Aug 15, 2023

  1. update README.md

    @hoffmann-stefan
    hoffmann-stefan committed Aug 15, 2023
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