Add name and data_type traits for actions (#848)

This implements the `rosidl_generator_traits::name<>()` and
`rosidl_generator_traits::data_type<>()` trait functions for generated
actions, similarly to how it's done for messages and services.

Unit tests are added to verify this behaviour, and also extend the prior
tests to cover the data_type trait for all interface types.

Signed-off-by: Nathan Wiebe Neufeldt <[email protected]>

Author: nwn

rosidl_generator_cpp/resource/action__traits.hpp.em

@@ -52,11 +52,24 @@ TEMPLATE(
 
 @{
 action_typename = '::'.join(action.namespaced_type.namespaced_name())
+action_fully_qualified_name = '/'.join(action.namespaced_type.namespaced_name())
 }@
 @
 namespace rosidl_generator_traits
 {
 
+template<>
+inline const char * data_type<@(action_typename)>()
+{
+  return "@(action_typename)";
+}
+
+template<>
+inline const char * name<@(action_typename)>()
+{
+  return "@(action_fully_qualified_name)";
+}
+
 template<>
 struct is_action<@(action_typename)>
   : std::true_type

rosidl_generator_tests/test/rosidl_generator_cpp/test_name.cpp

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <gtest/gtest.h>
+#include "rosidl_generator_tests/action/fibonacci.hpp"
 #include "rosidl_generator_tests/msg/empty.hpp"
 #include "rosidl_generator_tests/msg/strings.hpp"
 #include "rosidl_generator_tests/srv/basic_types.hpp"
@@ -27,6 +28,15 @@ TEST(Test_rosidl_generator_traits, check_msg_name) {
     rosidl_generator_traits::name<rosidl_generator_tests::msg::Empty>());
 }
 
+TEST(Test_rosidl_generator_traits, check_msg_data_type) {
+  ASSERT_STREQ(
+    "rosidl_generator_tests::msg::Strings",
+    rosidl_generator_traits::data_type<rosidl_generator_tests::msg::Strings>());
+  ASSERT_STREQ(
+    "rosidl_generator_tests::msg::Empty",
+    rosidl_generator_traits::data_type<rosidl_generator_tests::msg::Empty>());
+}
+
 TEST(Test_rosidl_generator_traits, check_srv_name) {
   ASSERT_STREQ(
     "rosidl_generator_tests/srv/BasicTypes",
@@ -35,3 +45,24 @@ TEST(Test_rosidl_generator_traits, check_srv_name) {
     "rosidl_generator_tests/srv/Empty",
     rosidl_generator_traits::name<rosidl_generator_tests::srv::Empty>());
 }
+
+TEST(Test_rosidl_generator_traits, check_srv_data_type) {
+  ASSERT_STREQ(
+    "rosidl_generator_tests::srv::BasicTypes",
+    rosidl_generator_traits::data_type<rosidl_generator_tests::srv::BasicTypes>());
+  ASSERT_STREQ(
+    "rosidl_generator_tests::srv::Empty",
+    rosidl_generator_traits::data_type<rosidl_generator_tests::srv::Empty>());
+}
+
+TEST(Test_rosidl_generator_traits, check_action_name) {
+  ASSERT_STREQ(
+    "rosidl_generator_tests/action/Fibonacci",
+    rosidl_generator_traits::name<rosidl_generator_tests::action::Fibonacci>());
+}
+
+TEST(Test_rosidl_generator_traits, check_action_data_type) {
+  ASSERT_STREQ(
+    "rosidl_generator_tests::action::Fibonacci",
+    rosidl_generator_traits::data_type<rosidl_generator_tests::action::Fibonacci>());
+}