Skeleton for Action Server and Client (#579)

* Skeleton for ActionServer and ActionClient

rclcpp_action/include/rclcpp_action/server.hpp

@@ -0,0 +1,95 @@
+// Copyright 2018 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef RCLCPP_ACTION__SERVER_HPP_
+#define RCLCPP_ACTION__SERVER_HPP_
+
+#include <rosidl_generator_c/action_type_support_struct.h>
+#include <rosidl_typesupport_cpp/action_type_support.hpp>
+#include <rclcpp/node_interfaces/node_base_interface.hpp>
+
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp_action/visibility_control.hpp"
+#include "rclcpp_action/server_goal_handle.hpp"
+
+namespace rclcpp_action
+{
+// Forward declaration
+class ServerBaseImpl;
+
+/// Base Action Server implementation
+/// It is responsible for interfacing with the C action server API.
+class ServerBase
+{
+public:
+  // TODO(sloretz) NodeLoggingInterface when it can be gotten off a node
+  // TODO(sloretz) accept clock instance
+  RCLCPP_ACTION_PUBLIC
+  ServerBase(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
+    const std::string & name,
+    const rosidl_action_type_support_t * type_support);
+
+  RCLCPP_ACTION_PUBLIC
+  virtual ~ServerBase();
+
+  // TODO(sloretz) add a link between this class and callbacks in the server class
+
+private:
+  std::unique_ptr<ServerBaseImpl> pimpl_;
+};
+
+
+/// Templated Action Server class
+/// It is responsible for getting the C action type support struct from the C++ type, and
+/// calling user callbacks with goal handles of the appropriate type.
+template<typename ACTION>
+class Server : public ServerBase
+{
+public:
+  RCLCPP_SMART_PTR_DEFINITIONS_NOT_COPYABLE(Server)
+
+  using GoalCallback = std::function<void (rcl_action_goal_info_t &, typename ACTION::Goal *)>;
+  using CancelCallback = std::function<void (std::shared_ptr<ServerGoalHandle<ACTION>>)>;
+
+  // TODO(sloretz) accept clock instance
+  Server(
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base,
+    const std::string & name,
+    GoalCallback handle_goal,
+    CancelCallback handle_cancel
+  )
+  : ServerBase(
+      node_base,
+      name,
+      rosidl_typesupport_cpp::get_action_type_support_handle<ACTION>()),
+    handle_goal_(handle_goal),
+    handle_cancel_(handle_cancel)
+  {
+    // TODO(sloretz) what's the link that causes `handle_goal_` and `handle_cancel_` to be called?
+  }
+
+  virtual ~Server()
+  {
+  }
+
+private:
+  GoalCallback handle_goal_;
+  CancelCallback handle_cancel_;
+};
+}  // namespace rclcpp_action
+#endif  // RCLCPP_ACTION__SERVER_HPP_