[rcl_action] Implement init/fini functions for types (#312)

* Refactored API. Removed init/fini functions for types that do not necessarily need allocation on the heap.
* Added unit tests for implementation.

rcl_action/CMakeLists.txt

@@ -33,6 +33,7 @@ add_executable(test_compile_headers
 
 set(rcl_action_sources
   src/${PROJECT_NAME}/goal_state_machine.c
+  src/${PROJECT_NAME}/types.c
 )
 
 set_source_files_properties(
@@ -40,16 +41,17 @@ set_source_files_properties(
   PROPERTIES language "C"
 )
 
-add_library(
-  ${PROJECT_NAME}
+add_library(${PROJECT_NAME}
   ${rcl_action_sources}
 )
+target_link_libraries(${PROJECT_NAME}
+  ${rcl_LIBRARIES}
+)
 
 ament_target_dependencies(${PROJECT_NAME}
   "rcl"
   "action_msgs"
 )
-
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
 target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_ACTION_BUILDING_DLL")
@@ -82,6 +84,18 @@ if(BUILD_TESTING)
       ${PROJECT_NAME}
     )
   endif()
+  ament_add_gtest(test_types
+    test/rcl_action/test_types.cpp
+  )
+  if(TARGET test_types)
+    target_include_directories(test_types PUBLIC
+      include
+      ${rcl_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_types
+      ${PROJECT_NAME}
+    )
+  endif()
 endif()
 
 # specific order: dependents before dependencies
@@ -90,4 +104,4 @@ ament_export_libraries(${PROJECT_NAME})
 ament_export_dependencies(ament_cmake)
 ament_export_dependencies(rcl)
 ament_export_dependencies(action_msgs)
-ament_package()
+ament_package()