Backport Python Actions

rclpy/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)
 find_package(rcl REQUIRED)
+find_package(rcl_action REQUIRED)
 find_package(rcl_yaml_param_parser REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
@@ -71,17 +72,61 @@ function(configure_python_c_extension_library _library_name)
   )
 endfunction()
 
+add_library(rclpy_common
+  SHARED src/rclpy_common/src/common.c
+)
+target_link_libraries(rclpy_common
+  ${PythonExtra_LIBRARIES}
+)
+target_include_directories(rclpy_common
+  PUBLIC
+  src/rclpy_common/include
+  ${PythonExtra_INCLUDE_DIRS}
+)
+ament_target_dependencies(rclpy_common
+  "rmw"
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(rclpy_common PRIVATE "RCLPY_COMMON_BUILDING_DLL")
+
+install(TARGETS rclpy_common
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
 add_library(
   rclpy
   SHARED src/rclpy/_rclpy.c
 )
+target_link_libraries(rclpy
+  rclpy_common
+)
+
 configure_python_c_extension_library(rclpy)
 ament_target_dependencies(rclpy
   "rcl"
   "rcl_yaml_param_parser"
   "rcutils"
 )
 
+add_library(
+  rclpy_action
+  SHARED src/rclpy/_rclpy_action.c
+)
+target_link_libraries(rclpy_action
+  rclpy_common
+)
+
+configure_python_c_extension_library(rclpy_action)
+ament_target_dependencies(rclpy_action
+  "rcl"
+  "rcl_action"
+  "rcutils"
+)
+
 # Logging support provided by rcutils
 add_library(
   rclpy_logging

rclpy/package.xml

@@ -19,7 +19,9 @@
 
   <depend>rmw_implementation</depend>
   <depend>rcl</depend>
+  <depend>rcl_action</depend>
   <depend>rcl_yaml_param_parser</depend>
+  <depend>unique_identifier_msgs</depend>
 
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>builtin_interfaces</exec_depend>

rclpy/rclpy/action/__init__.py

@@ -0,0 +1,16 @@
+# Copyright 2019 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.
+
+from .client import ActionClient  # noqa
+from .server import ActionServer, CancelResponse, GoalResponse  # noqa