Generate C++ typesupport for actions

[sloretz]

Feature request

Feature description

rosidl_typesupport_fastrtps_c needs to be aware of actions and generate typesupport for them.

Implementation considerations

CMake Code

The CMake code is expected to change with the IDL work, but at a minimum what's currently there needs to be able to recognize .action files.

rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp/cmake/rosidl_typesupport_fastrtps_cpp_generate_interfaces.cmake

Lines 30 to 31 in 7263c08

	set(_generated_msg_files "")
	set(_generated_srv_files "")

Services in .action folder

The service templates would need to change to allow service definitions to live in the .actions folder

rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_c/resource/srv__type_support_c.cpp.em

Lines 27 to 28 in 7263c08

	#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name + '_Request'))__rosidl_typesupport_fastrtps_c.h"
	#include "@(spec.pkg_name)/srv/@(get_header_filename_from_msg_name(spec.srv_name + '_Response'))__rosidl_typesupport_fastrtps_c.h"

Parsing code

The parsing code needs a switch if the file is an action file, and if so call the appropriate parser for actions.

rosidl_typesupport_fastrtps/rosidl_typesupport_fastrtps_cpp/rosidl_typesupport_fastrtps_cpp/__init__.py

Line 33 in 7263c08

elif extension == '.srv':

[sloretz]

Closing in favor of just making rmw specific typesupports able to generate services in another folder

#9 (comment)