action_bridge_fibonacci_1_2.cpp

// Copyright 2019 Fraunhofer IPA
//
// 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.

#include <action_bridge/action_bridge_1_2.hpp>

#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wunused-parameter"
#endif
#include <actionlib_tutorials/FibonacciAction.h>
#ifdef __clang__
#pragma clang diagnostic pop
#endif

// include ROS 2
#include <action_tutorials_interfaces/action/fibonacci.hpp>

using FibonacciActionBridge = ActionBridge_1_2<actionlib_tutorials::FibonacciAction,
                                               action_tutorials_interfaces::action::Fibonacci>;

template <>
void FibonacciActionBridge::translate_goal_1_to_2(const ROS1Goal &goal1, ROS2Goal &goal2)
{
  goal2.order = goal1.order;
}

template <>
void FibonacciActionBridge::translate_result_2_to_1(
    ROS1Result &result1,
    const ROS2Result &result2)
{
  result1.sequence = result2.sequence;
}

template <>
void FibonacciActionBridge::translate_feedback_2_to_1(
    ROS1Feedback &feedback1,
    const ROS2Feedback &feedback2)
{
  feedback1.sequence = feedback2.partial_sequence;
}

int main(int argc, char *argv[])
{
  return FibonacciActionBridge::main("fibonacci", argc, argv);
}