From c52932b3d38d412ca8c1673622dccd70880bb42f Mon Sep 17 00:00:00 2001
From: Matt Richard <mattric@microsoft.com>
Date: Mon, 17 Feb 2020 10:23:52 -0800
Subject: [PATCH] Read action type support

---
 src/rcl_utilities.cpp | 15 +++++++++++++++
 src/rcl_utilities.hpp |  5 +++++
 2 files changed, 20 insertions(+)

diff --git a/src/rcl_utilities.cpp b/src/rcl_utilities.cpp
index 32a822ad..e7899ad8 100644
--- a/src/rcl_utilities.cpp
+++ b/src/rcl_utilities.cpp
@@ -18,6 +18,7 @@
 #include <dlfcn.h>
 #endif
 #include <rcl/rcl.h>
+#include <rcl_action/rcl_action.h>
 #include <string>
 
 #if defined(OS_WINDOWS)
@@ -28,6 +29,7 @@ namespace rclnodejs {
 
 typedef const rosidl_message_type_support_t* (*GetMessageTypeSupportFunction)();
 typedef const rosidl_service_type_support_t* (*GetServiceTypeSupportFunction)();
+typedef const rosidl_action_type_support_t* (*GetActionTypeSupportFunction)();
 
 #if defined(OS_MACOS)
 const char* lib_prefix = "lib";
@@ -80,6 +82,19 @@ const rosidl_service_type_support_t* GetServiceTypeSupport(
     return nullptr;
 }
 
+const rosidl_action_type_support_t* GetActionTypeSupport(
+    const std::string& package_name,
+    const std::string& action_name) {
+  void* function = GetTypeSupportFunctionByInterfaceSymbolName(
+      "rosidl_typesupport_c__get_action_type_support_handle__" + package_name +
+          "__action__" + action_name,
+      lib_prefix + package_name + "__rosidl_typesupport_c" + lib_ext);
+  if (function)
+    return reinterpret_cast<GetActionTypeSupportFunction>(function)();
+  else
+    return nullptr;
+}
+
 const char* GetErrorMessageAndClear() {
   return dlerror();
 }
diff --git a/src/rcl_utilities.hpp b/src/rcl_utilities.hpp
index 42c172b1..641185ad 100644
--- a/src/rcl_utilities.hpp
+++ b/src/rcl_utilities.hpp
@@ -19,6 +19,7 @@
 
 struct rosidl_message_type_support_t;
 struct rosidl_service_type_support_t;
+struct rosidl_action_type_support_t;
 
 namespace rclnodejs {
 
@@ -31,6 +32,10 @@ const rosidl_service_type_support_t* GetServiceTypeSupport(
     const std::string& package_name,
     const std::string& service_name);
 
+const rosidl_action_type_support_t* GetActionTypeSupport(
+    const std::string& package_name,
+    const std::string& action_name);
+
 const char* GetErrorMessageAndClear();
 
 }  // namespace rclnodejs