rclcpp_action get_status returns an int, but I want the enum values. Enums provide better type safety. Casting from an int to an enum has the potential to invoke undefined behavior. Especially because there are multiple sensical enums that could apply to this, and the docs don't say which one to use.
rclcpp_action::ResultCode currently represents the state that an action can finish in, but there is no enum that represents all the states of an action. It is my understanding that get_status can return more ints than are in ResultCode.
Feature request
Feature description
rclcpp_action
get_statusreturns an int, but I want the enum values. Enums provide better type safety. Casting from anintto an enum has the potential to invoke undefined behavior. Especially because there are multiple sensical enums that could apply to this, and the docs don't say which one to use.https://github.com/ros2/rclcpp/blob/f9c4894f96ea083fc5acfcea4f1ea83850759e63/rclcpp_action/include/rclcpp_action/client_goal_handle.hpp#L93-L95
rclcpp_action::ResultCodecurrently represents the state that an action can finish in, but there is no enum that represents all the states of an action. It is my understanding thatget_statuscan return more ints than are inResultCode.I would like to add a new enum class that can represent the values of the ints returned in
get_status. It could live here: https://github.com/ros2/rclcpp/blob/f9c4894f96ea083fc5acfcea4f1ea83850759e63/rclcpp_action/include/rclcpp_action/types.hpp#L34Then, add a new function similar to
ClientGoalHandle::get_status()that returns this enum. I want this in humble, so breaking ABI is not an option.Implementation considerations
Need to come up with a name for
get_statusthat returns the enum class because you can't overload with a different return type.