Add support for actions - Do not merge!

rcl/include/rcl/client.h

@@ -26,6 +26,8 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
+
 /// Internal rcl client implementation struct.
 struct rcl_client_impl_t;
 
@@ -407,6 +409,14 @@ RCL_PUBLIC
 bool
 rcl_client_is_valid(const rcl_client_t * client);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_client_set_listener_callback(
+  const rcl_client_t * client,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/event.h

@@ -193,6 +193,15 @@ RCL_PUBLIC
 bool
 rcl_event_is_valid(const rcl_event_t * event);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_event_set_listener_callback(
+  const rcl_event_t * event,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/guard_condition.h

@@ -26,6 +26,8 @@ extern "C"
 #include "rcl/types.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
+
 /// Internal rcl guard condition implementation struct.
 struct rcl_guard_condition_impl_t;
 
@@ -258,6 +260,15 @@ RCL_WARN_UNUSED
 rmw_guard_condition_t *
 rcl_guard_condition_get_rmw_handle(const rcl_guard_condition_t * guard_condition);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_guard_condition_set_listener_callback(
+  const rcl_guard_condition_t * guard_condition,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/service.h

@@ -26,6 +26,8 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
+
 /// Internal rcl implementation struct.
 struct rcl_service_impl_t;
 
@@ -421,6 +423,14 @@ RCL_PUBLIC
 bool
 rcl_service_is_valid(const rcl_service_t * service);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_service_set_listener_callback(
+  const rcl_service_t * service,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

rcl/include/rcl/subscription.h

@@ -26,6 +26,7 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/visibility_control.h"
 
+#include "rmw/listener_callback_type.h"
 #include "rmw/message_sequence.h"
 
 /// Internal rcl implementation struct.
@@ -604,6 +605,14 @@ RCL_PUBLIC
 bool
 rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription);
 
+RCL_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_subscription_set_listener_callback(
+  const rcl_subscription_t * subscription,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data);
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/client.c

@@ -280,6 +280,19 @@ rcl_client_is_valid(const rcl_client_t * client)
     client->impl->rmw_handle, "client's rmw handle is invalid", return false);
   return true;
 }
+
+rcl_ret_t
+rcl_client_set_listener_callback(
+  const rcl_client_t * client,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data)
+{
+  return rmw_client_set_listener_callback(
+    client->impl->rmw_handle,
+    listener_callback,
+    user_data);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/event.c

@@ -218,6 +218,20 @@ rcl_event_is_valid(const rcl_event_t * event)
   return true;
 }
 
+rcl_ret_t
+rcl_event_set_listener_callback(
+  const rcl_event_t * event,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events)
+{
+  return rmw_event_set_listener_callback(
+    &event->impl->rmw_handle,
+    listener_callback,
+    user_data,
+    use_previous_events);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/guard_condition.c

@@ -186,6 +186,20 @@ rcl_guard_condition_get_rmw_handle(const rcl_guard_condition_t * guard_condition
   return guard_condition->impl->rmw_handle;
 }
 
+rcl_ret_t
+rcl_guard_condition_set_listener_callback(
+  const rcl_guard_condition_t * guard_condition,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data,
+  bool use_previous_events)
+{
+  return rmw_guard_condition_set_listener_callback(
+    guard_condition->impl->rmw_handle,
+    listener_callback,
+    user_data,
+    use_previous_events);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/service.c

@@ -301,6 +301,19 @@ rcl_service_is_valid(const rcl_service_t * service)
   return true;
 }
 
+rcl_ret_t
+rcl_service_set_listener_callback(
+  const rcl_service_t * service,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data)
+{
+  return rmw_service_set_listener_callback(
+    service->impl->rmw_handle,
+    listener_callback,
+    user_data);
+}
+
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/subscription.c

@@ -437,6 +437,18 @@ rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription)
   return subscription->impl->rmw_handle->can_loan_messages;
 }
 
+rcl_ret_t
+rcl_subscription_set_listener_callback(
+  const rcl_subscription_t * subscription,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data)
+{
+  return rmw_subscription_set_listener_callback(
+    subscription->impl->rmw_handle,
+    listener_callback,
+    user_data);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl_action/include/rcl_action/action_client.h

@@ -25,6 +25,8 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcl/node.h"
 
+#include "rmw/listener_callback_type.h"
+
 
 /// Internal action client implementation struct.
 struct rcl_action_client_impl_t;
@@ -741,6 +743,37 @@ bool
 rcl_action_client_is_valid(
   const rcl_action_client_t * action_client);
 
+/// Get the action client events ID.
+/**
+ * This function fills the array passed as argument
+ * with the action client events ID.
+ * The IDs are pointers to the action client entities
+ * which respond to action client events.
+ * \param[in] action_client pointer to the action client
+ * \param[in] events_id the array to store the IDs
+ */
+RCL_ACTION_PUBLIC
+void
+rcl_action_client_get_events_id(
+  const rcl_action_client_t * action_client,
+  const void * events_id[]);
+
+/// Set the action client listeners callback
+/**
+ * This function set the listener callbacks to the
+ * entities conforming the action client.
+ * \param[in] action_client pointer to the action client
+ * \param[in] listener_callback the listener callback
+ * \param[in] user_data array of data used by the callbacks
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_client_set_listeners_callback(
+  const rcl_action_client_t * action_client,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data[]);
+
 #ifdef __cplusplus
 }
 #endif

rcl_action/include/rcl_action/action_server.h

@@ -27,6 +27,8 @@ extern "C"
 #include "rcl/node.h"
 #include "rcl/time.h"
 
+#include "rmw/listener_callback_type.h"
+
 #include "rosidl_runtime_c/action_type_support_struct.h"
 
 /// Internal rcl_action implementation struct.
@@ -930,6 +932,37 @@ RCL_WARN_UNUSED
 bool
 rcl_action_server_is_valid_except_context(const rcl_action_server_t * action_server);
 
+/// Get the action server events ID.
+/**
+ * This function fills the array passed as argument
+ * with the action server events ID.
+ * The IDs are pointers to the action server entities
+ * which respond to action server events.
+ * \param[in] action_server pointer to the action server
+ * \param[in] events_id the array to store the IDs
+ */
+RCL_ACTION_PUBLIC
+void
+rcl_action_server_get_events_id(
+  const rcl_action_server_t * action_server,
+  const void * events_id[]);
+
+/// Set the action server listeners callback
+/**
+ * This function set the listener callbacks to the
+ * entities conforming the action server.
+ * \param[in] action_server pointer to the action server
+ * \param[in] listener_callback the listener callback
+ * \param[in] user_data array of data used by the callbacks
+ */
+RCL_ACTION_PUBLIC
+RCL_WARN_UNUSED
+rcl_ret_t
+rcl_action_server_set_listeners_callback(
+  const rcl_action_server_t * action_server,
+  rmw_listener_callback_t listener_callback,
+  const void * user_data[]);
+
 #ifdef __cplusplus
 }
 #endif

rcl_action/include/rcl_action/types.h

@@ -113,6 +113,26 @@ typedef enum rcl_action_goal_event_t
   GOAL_EVENT_NUM_EVENTS
 } rcl_action_goal_event_t;
 
+/// Action client entities
+typedef enum rcl_action_client_entity_type_t
+{
+  GOAL_CLIENT = 0,
+  RESULT_CLIENT,
+  CANCEL_CLIENT,
+  FEEDBACK_SUBSCRIPTION,
+  STATUS_SUBSCRIPTION,
+  ACTION_CLIENT_NUM_ENTITIES
+} rcl_action_client_entity_type_t;
+
+/// Action server entities
+typedef enum rcl_action_server_entity_type_t
+{
+  GOAL_SERVICE = 0,
+  CANCEL_SERVICE,
+  RESULT_SERVICE,
+  ACTION_SERVER_NUM_ENTITIES
+} rcl_action_server_entity_type_t;
+
 /// Return a rcl_action_goal_info_t with members set to zero values.
 RCL_ACTION_PUBLIC
 RCL_WARN_UNUSED