rclcpp_action Server implementation (#593)

* Commiting to back up work, does not function

* Can call user callback when goal request received

* fini action server in destructor

* rename user callback virtual functions

* handle_execute test passes

* Remove out of date comment

* Refactor execute into three functions

* Remove unused file

* Add failing cancel test

* Cancel test passes

* Remove out of date comments

* Make sure server publishes status when accepting a goal

* Send status when goals transition to cancelling

* Refactored sending goal request to its own function

* Refactor cancel request into it's own function

* Comment with remaining tests

* Executing and terminal state statuses

* publish feedback works

* server sends result to clients that request it

* Remove out of date comment

* Add ServerGoalHandle::is_active()

* Cleanup when goals expire

* Can pass in action server options

* cpplint and uncrustify fixes

* Fix clang warnings

* Copy rcl goal handle

* Fix clang warning

* Use intermediate value to avoid left shift on 32bit integer

* RCLCPP_ACTION_PUBLIC everwhere

* Change callback parameter from C type to C++

* Add accessors for request and uuid

* Feedback must include goal id

* Document Server<> and ServerBase<>

* handle_execute -> handle_accepted

* Test deferred execution

* only publish feedback if goal is executing

* Documentation for ServerGoalHandle

* document msg parameters

* remove unnecessary fini

* notify_goal_done only takes server

* Use unique_indentifier_msgs

* create_server accepts group and removes waitable

* uncrustify

* Use weak ptr to avoid crash if goal handle lives longer than server

* Handle goal callback const message

* Goal handle doesn't have server pointer anymore

* Lock goal_handles_ on Server<>

* rcl_action_server_t protected with mutex

* ServerBase results protected with mutex

* protect rcl goal handle with mutex

* is_cancel_request -> is_canceling

* Add missing include

* use GoalID and change uuid -> goal_id

* Keep rcl goal handle alive until it expires on server

* uncrustify

* Move UUID hash

* Log messages in server

* ACTION -> ActionT

* Cancel abandoned goal handles

* Add convert() for C and C++ goal id

* Remove unused variable

* Constant reference

* Move variable declaration down

* is_ready if goal expired

* map[] default constructs if it doesn't exist

* Use rcl_action_get_goal_status_array()

* Array -> GoalID

* Use reentrant mutex for everything

* comment

* scope exit to fini cancel response

* using GoalID

rclcpp_action/CMakeLists.txt

@@ -22,6 +22,7 @@ set(${PROJECT_NAME}_SRCS
   src/client.cpp
   src/server.cpp
   src/server_goal_handle.cpp
+  src/types.cpp
 )
 
 add_library(${PROJECT_NAME}