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Cleanup ActionImpl using type aliases #1

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merged 1 commit into from
Oct 11, 2024
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Cleanup ActionImpl using type aliases #1

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48 changes: 30 additions & 18 deletions rosidl_runtime_rs/src/traits.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -199,69 +199,81 @@ pub trait ActionImpl: 'static + Action {
/// Create a goal request message with the given UUID and goal.
fn create_goal_request(
goal_id: &[u8; 16],
goal: <<Self as Action>::Goal as Message>::RmwMsg,
) -> <<Self::SendGoalService as Service>::Request as Message>::RmwMsg;
goal: RmwGoalData<Self>,
) -> RmwGoalRequest<Self>;

/// Get the UUID of a goal request.
fn get_goal_request_uuid(
request: &<<Self::SendGoalService as Service>::Request as Message>::RmwMsg,
request: &RmwGoalRequest<Self>,
) -> &[u8; 16];

/// Create a goal response message with the given acceptance and timestamp.
fn create_goal_response(
accepted: bool,
stamp: (i32, u32),
) -> <<Self::SendGoalService as Service>::Response as Message>::RmwMsg;
) -> RmwGoalResponse<Self>;

/// Get the `accepted` field of a goal response.
fn get_goal_response_accepted(
response: &<<Self::SendGoalService as Service>::Response as Message>::RmwMsg,
response: &RmwGoalResponse<Self>,
) -> bool;

/// Get the `stamp` field of a goal response.
fn get_goal_response_stamp(
response: &<<Self::SendGoalService as Service>::Response as Message>::RmwMsg,
response: &RmwGoalResponse<Self>,
) -> (i32, u32);

/// Create a feedback message with the given goal ID and contents.
fn create_feedback_message(
goal_id: &[u8; 16],
feedback: <<Self as Action>::Feedback as Message>::RmwMsg,
) -> <Self::FeedbackMessage as Message>::RmwMsg;
feedback: RmwFeedback<Self>,
) -> RmwFeedbackMessage<Self>;

/// Get the UUID of a feedback message.
fn get_feedback_message_uuid(
feedback: &<Self::FeedbackMessage as Message>::RmwMsg,
feedback: &RmwFeedbackMessage<Self>,
) -> &[u8; 16];

/// Get the feedback of a feedback message.
fn get_feedback_message_feedback(
feedback: &<Self::FeedbackMessage as Message>::RmwMsg,
) -> &<<Self as Action>::Feedback as Message>::RmwMsg;
feedback: &RmwFeedbackMessage<Self>,
) -> &RmwFeedback<Self>;

/// Create a result request message with the given goal ID.
fn create_result_request(
goal_id: &[u8; 16],
) -> <<Self::GetResultService as Service>::Request as Message>::RmwMsg;
) -> RmwResultRequest<Self>;

/// Get the UUID of a result request.
fn get_result_request_uuid(
request: &<<Self::GetResultService as Service>::Request as Message>::RmwMsg,
request: &RmwResultRequest<Self>,
) -> &[u8; 16];

/// Create a result response message with the given status and contents.
fn create_result_response(
status: i8,
result: <<Self as Action>::Result as Message>::RmwMsg,
) -> <<Self::GetResultService as Service>::Response as Message>::RmwMsg;
result: RmwResultData<Self>,
) -> RmwResultResponse<Self>;

/// Get the result of a result response.
fn get_result_response_result(
response: &<<Self::GetResultService as Service>::Response as Message>::RmwMsg,
) -> &<<Self as Action>::Result as Message>::RmwMsg;
response: &RmwResultResponse<Self>,
) -> &RmwResultData<Self>;

/// Get the status of a result response.
fn get_result_response_status(
response: &<<Self::GetResultService as Service>::Response as Message>::RmwMsg,
response: &RmwResultResponse<Self>,
) -> i8;
}

// Type definitions to simplify the ActionImpl trait
pub type RmwServiceRequest<S> = <<S as Service>::Request as Message>::RmwMsg;
pub type RmwServiceResponse<S> = <<S as Service>::Response as Message>::RmwMsg;
pub type RmwGoalRequest<A> = RmwServiceRequest<<A as ActionImpl>::SendGoalService>;
pub type RmwGoalResponse<A> = RmwServiceResponse<<A as ActionImpl>::SendGoalService>;
pub type RmwGoalData<A> = <<A as Action>::Goal as Message>::RmwMsg;
pub type RmwFeedback<A> = <<A as Action>::Feedback as Message>::RmwMsg;
pub type RmwFeedbackMessage<A> = <<A as ActionImpl>::FeedbackMessage as Message>::RmwMsg;
pub type RmwResultRequest<A> = RmwServiceRequest<<A as ActionImpl>::GetResultService>;
pub type RmwResultResponse<A> = RmwServiceResponse<<A as ActionImpl>::GetResultService>;
pub type RmwResultData<A> = <<A as Action>::Result as Message>::RmwMsg;