123

src/action_test/CMakeLists.txt

@@ -8,6 +8,7 @@ find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "action/Fibonacci.action"
+  "srv/AddTwoInt.srv"
 )
 # find dependencies
 find_package(ament_cmake REQUIRED)

src/action_test/srv/AddTwoInt.srv

@@ -0,0 +1,3 @@
+int32[] nums
+---
+int32 sum

src/cpp_srvcli/CMakeLists.txt

@@ -24,8 +24,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
 )
 
 
-# add_executable(server src/server.cpp)
+add_executable(server src/server.cpp)
-# ament_target_dependencies(server rclcpp example_interfaces)
+ament_target_dependencies(server rclcpp example_interfaces)
 
 # action
 add_library(action_server SHARED src/act_server.cpp)
@@ -67,7 +67,9 @@ rclcpp_components_register_node(action_client PLUGIN "action_tutorials_cpp::Fibo
 # ament_target_dependencies(testact
 #   "rclcpp"
 #   "rclcpp_action")
-
+install(TARGETS
+    server
+  DESTINATION lib/${PROJECT_NAME})
 
 install(TARGETS
   action_server

src/cpp_srvcli/src/act_client.cpp

@@ -3,20 +3,24 @@
 #include <memory>
 #include <string>
 #include <sstream>
-
+#include <iostream>
+#include <array>
 #include "action_test/action/fibonacci.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_action/rclcpp_action.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
-
+#include <thread>
 namespace action_tutorials_cpp
 {
+using namespace std;
 class FibonacciActionClient : public rclcpp::Node
 {
 public:
   using Fibonacci = action_test::action::Fibonacci;
   using GoalHandleFibonacci = rclcpp_action::ClientGoalHandle<Fibonacci>;
+  using CancelResponse = rclcpp_action::Client<Fibonacci>::CancelResponse;
+  using CancelRequest = rclcpp_action::Client<Fibonacci>::CancelRequest;
 
   explicit FibonacciActionClient(const rclcpp::NodeOptions & options)
   : Node("fibonacci_action_client", options)
@@ -28,6 +32,8 @@ public:
     this->timer_ = this->create_wall_timer(
       std::chrono::milliseconds(500),
       std::bind(&FibonacciActionClient::send_goal, this));
+    cout << sizeof(CancelRequest) << endl;
+    
   }
 
   void send_goal()
@@ -53,7 +59,17 @@ public:
       std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
     send_goal_options.result_callback =
       std::bind(&FibonacciActionClient::result_callback, this, _1);
-    this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
+    auto f = client_ptr_->async_send_goal(goal_msg, send_goal_options);
+    this_thread::sleep_for(chrono::seconds(2));
+    cout << "cancel goal: " << endl;
+    thread t1([this, f]() {
+      auto goal_handle = f.get();
+      printf("cancel goal: \n");
+      client_ptr_ ->async_cancel_goal(goal_handle, [](CancelResponse::SharedPtr) {
+          printf("cancel response: \n");
+      });
+    });
+    t1.detach();
   }
 
 private:
@@ -79,6 +95,7 @@ private:
       ss << number << " ";
     }
     RCLCPP_INFO(this->get_logger(), ss.str().c_str());
+    
   }
 
   void result_callback(const GoalHandleFibonacci::WrappedResult & result)

src/cpp_srvcli/src/act_server.cpp

@@ -38,7 +38,12 @@ private:
     std::shared_ptr<const Fibonacci::Goal> goal)
   {
     RCLCPP_INFO(this->get_logger(), "Received goal request with order %d", goal->order);
-    (void)uuid;
+    printf("uuid: ==============");
+    for (int i = 0; i < 16; i++)
+    {
+      printf("%d ", uuid[i]);
+    }
+    printf("\n");
     return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
   }
 
@@ -60,6 +65,14 @@ private:
   void execute(const std::shared_ptr<GoalHandleFibonacci> goal_handle)
   {
     RCLCPP_INFO(this->get_logger(), "Executing goal");
+    
+    while(!goal_handle->is_canceling())
+    {
+      //RCLCPP_INFO(this->get_logger(), "Waiting for canceling");
+    }
+    RCLCPP_INFO(this->get_logger(), "Canceling");
+    return;
+    
     rclcpp::Rate loop_rate(1);
     const auto goal = goal_handle->get_goal();
     auto feedback = std::make_shared<Fibonacci::Feedback>();

src/test_arr/CMakeLists.txt

@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.8)
+project(test_arr)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(action_test)
+
+add_executable(test_arr src/main.cpp)
+ament_target_dependencies(test_arr rclcpp action_test)
+
+install(TARGETS
+  test_arr
+  DESTINATION lib/${PROJECT_NAME})
+  
+ament_package()

src/test_arr/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
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+
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src/test_arr/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>test_arr</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="2360211477@qq.com">user</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/test_arr/src/main.cpp

@@ -0,0 +1,26 @@
+#include <rclcpp/rclcpp.hpp>
+#include <action_test/srv/add_two_int.hpp>
+#include <memory>
+
+using namespace std;
+void add(const shared_ptr<action_test::srv::AddTwoInt::Request> req,
+         shared_ptr<action_test::srv::AddTwoInt::Response> res)
+{
+    int sum = req->nums[0] + req->nums[1];
+    res->sum = sum;
+    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "request: %d + %d = %d", req->nums[0], req->nums[1], sum);
+}
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+
+    std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_int_server");
+
+    rclcpp::Service<action_test::srv::AddTwoInt>::SharedPtr service =
+        node->create_service<action_test::srv::AddTwoInt>("add_two_int", &add);
+
+    RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two int.");
+
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+}

test.json

@@ -0,0 +1,10 @@
+{
+    "op": "call_service",
+    "id": 1,
+    "service": "/add_two_ints",
+    "type": "/example_interfaces/srv/AddTwoInts",
+    "args": {
+        "a": 1,
+        "b": 2
+    }
+}