Add status field to action result messages

[sea-bass]

Public API Changes
Adds a new Action.setCanceled() methods to properly cancel actions server-side using roslibjs.

Description
This goes along with RobotWebTools/rosbridge_suite#953, in which a status field was added to the action_result message.

It also adds a setCanceled() helper function to the Action class to wrap the setting of the right status in cancellation settings.

[EzraBrooks]

I'm like half asleep and on a plane right now so maybe I'm missing context, but I'm not sure I grok what's going on here. Is this an action-server-side feature or action-client-side?

[sea-bass]

I'm like half asleep and on a plane right now so maybe I'm missing context, but I'm not sure I grok what's going on here. Is this an action-server-side feature or action-client-side?

This is a server-side feature.

For context, take a look at RobotWebTools/rosbridge_suite#920 and the PR that tries to solve it (RobotWebTools/rosbridge_suite#953).

Basically, there are 2 new things:

1. Now the action_result message carries a status with it (hence the additions to the setSucceeded()/setFailed() functions here)
2. Also, when you cancel a goal client-side, instead of the client automatically aborting the goal, the server is responsible for telling you that it was canceled (hence the addition of the setCanceled() function here).

[sea-bass]

I fully dropped the ball on re-requesting review. Now that rosbridge 2.x is released, this is needed for action support to be compatible.

[EzraBrooks]

Can we extract GoalStatus to an enum, since we've got typescript?

[sea-bass]

Apparently since these are .js files, things are not happy if I try it directly:

src/core/Action.js:14:6 - error TS8006: 'enum' declarations can only be used in TypeScript files.

Is there some easy way around this that fits within this PR?

[sea-bass]

I found this... please let me know if there's anything better.

https://stackoverflow.com/a/44447975

[EzraBrooks]

Did you try adding a typescript file for the enum and importing it into the JS file? I don't know in practice how that works, but it should transpile into an object?

[sea-bass]

Yeaaaa, that did work! Just had to add one more compiler option. Thank you.

[EzraBrooks]

Are you sure these two are needed? I thought allowImportingTsExtensions just lets you put .ts in the filename instead of excluding the extension from the import.

[sea-bass]

Without the first one, my npm run build failed.

The second one was simply suggested by my linter in VSCode but did not seem necessary.

[sea-bass]

Oh, you mean that I could omit the extension from the import and it may work? I will try when I get a chance

[sea-bass]

I attempted this and have an alternate error:

Relative import paths need explicit file extensions in ECMAScript imports when '--moduleResolution' is 'node16' or 'nodenext'.
Did you mean '../core/GoalStatus.js'?ts(2835)

Indeed, the tsconfig.json has "moduleResolution": "nodenext" specified.

I could get around this by switching the settings from

    "module": "nodenext",
    "moduleResolution": "nodenext",

to

    "module": "esnext",
    "moduleResolution": "bundler",

... but to be honest with you, I have no idea what I'm touching at this point. Maybe there are undesired consequences.

[EzraBrooks]

I think now that we're building roslibjs with Vite, nodenext and bundler actually are the right settings for the tsconfig. I seem to recall the previous settings being a side effect of the odd halfway step we were in a year or so ago before we adopted a fully modern toolchain.

[sea-bass]

I think now that we're building roslibjs with Vite, nodenext and bundler actually are the right settings for the tsconfig. I seem to recall the previous settings being a side effect of the odd halfway step we were in a year or so ago before we adopted a fully modern toolchain.

Confirming since right now this changes to esnext and bundler -- as nodenext did not allow importing without extensions.

[EzraBrooks]

sorry yea I meant esnext. I am half-braindead because yesterday I drove from Colorado to the east coast